Add NodeDefault option for enabling topic statistics (#1074)

* Add NodeDefault option for enabling topic statistics

Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>

* Remove unnecessary if statement

Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>

rclcpp/include/rclcpp/detail/resolve_enable_topic_statistics.hpp

@@ -0,0 +1,54 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_
+#define RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_
+
+#include <stdexcept>
+
+#include "rclcpp/topic_statistics_state.hpp"
+
+namespace rclcpp
+{
+namespace detail
+{
+
+/// Return whether or not topic statistics is enabled, resolving "NodeDefault" if needed.
+template<typename OptionsT, typename NodeBaseT>
+bool
+resolve_enable_topic_statistics(const OptionsT & options, const NodeBaseT & node_base)
+{
+  bool topic_stats_enabled;
+  switch (options.topic_stats_options.state) {
+    case TopicStatisticsState::Enable:
+      topic_stats_enabled = true;
+      break;
+    case TopicStatisticsState::Disable:
+      topic_stats_enabled = false;
+      break;
+    case TopicStatisticsState::NodeDefault:
+      topic_stats_enabled = node_base.get_enable_topic_statistics_default();
+      break;
+    default:
+      throw std::runtime_error("Unrecognized EnableTopicStatistics value");
+      break;
+  }
+
+  return topic_stats_enabled;
+}
+
+}  // namespace detail
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_

rclcpp/include/rclcpp/node_impl.hpp

@@ -38,6 +38,7 @@
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
 #include "rclcpp/create_subscription.hpp"
+#include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -42,7 +42,8 @@ public:
     const std::string & namespace_,
     rclcpp::Context::SharedPtr context,
     const rcl_node_options_t & rcl_node_options,
-    bool use_intra_process_default);
+    bool use_intra_process_default,
+    bool enable_topic_statistics_default);
 
   RCLCPP_PUBLIC
   virtual
@@ -133,11 +134,15 @@ public:
   bool
   get_use_intra_process_default() const override;
 
+  bool
+  get_enable_topic_statistics_default() const override;
+
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 
   rclcpp::Context::SharedPtr context_;
   bool use_intra_process_default_;
+  bool enable_topic_statistics_default_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -161,6 +161,12 @@ public:
   virtual
   bool
   get_use_intra_process_default() const = 0;
+
+  /// Return the default preference for enabling topic statistics collection.
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  get_enable_topic_statistics_default() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_options.hpp

@@ -43,6 +43,7 @@ public:
    *   - parameter_overrides = {}
    *   - use_global_arguments = true
    *   - use_intra_process_comms = false
+   *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
@@ -187,6 +188,23 @@ public:
   NodeOptions &
   use_intra_process_comms(bool use_intra_process_comms);
 
+  /// Return the enable_topic_statistics flag.
+  RCLCPP_PUBLIC
+  bool
+  enable_topic_statistics() const;
+
+  /// Set the enable_topic_statistics flag, return this for parameter idiom.
+  /**
+   * If true, topic statistics collection and publication will be enabled
+   * for all subscriptions.
+   * This can be used to override the global topic statistics setting.
+   *
+   * Defaults to false.
+   */
+  RCLCPP_PUBLIC
+  NodeOptions &
+  enable_topic_statistics(bool enable_topic_statistics);
+
   /// Return the start_parameter_services flag.
   RCLCPP_PUBLIC
   bool
@@ -332,6 +350,8 @@ private:
 
   bool use_intra_process_comms_ {false};
 
+  bool enable_topic_statistics_ {false};
+
   bool start_parameter_services_ {true};
 
   bool start_parameter_event_publisher_ {true};

rclcpp/include/rclcpp/subscription_options.hpp

@@ -26,6 +26,7 @@
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
+#include "rclcpp/topic_statistics_state.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -59,11 +60,8 @@ struct SubscriptionOptionsBase
   // Options to configure topic statistics collector in the subscription.
   struct TopicStatisticsOptions
   {
-    // Represent the state of topic statistics collector.
-    enum class TopicStatisticsState {ENABLED, DISABLED};
-
     // Enable and disable topic statistics calculation and publication. Defaults to disabled.
-    TopicStatisticsState state = TopicStatisticsState::DISABLED;
+    TopicStatisticsState state = TopicStatisticsState::NodeDefault;
 
     // Topic to which topic statistics get published when enabled. Defaults to /statistics.
     std::string publish_topic = "/statistics";
@@ -123,8 +121,6 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
 };
 
 using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;
-using TopicStatisticsState = SubscriptionOptionsBase::TopicStatisticsOptions::TopicStatisticsState;
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__SUBSCRIPTION_OPTIONS_HPP_

rclcpp/include/rclcpp/topic_statistics_state.hpp

@@ -0,0 +1,35 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__TOPIC_STATISTICS_STATE_HPP_
+#define RCLCPP__TOPIC_STATISTICS_STATE_HPP_
+
+namespace rclcpp
+{
+
+/// Represent the state of topic statistics collector.
+/// Used as argument in create_subscriber.
+enum class TopicStatisticsState
+{
+  /// Explicitly enable topic statistics at subscription level.
+  Enable,
+  /// Explicitly disable topic statistics at subscription level.
+  Disable,
+  /// Take topic statistics state from the node.
+  NodeDefault
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__TOPIC_STATISTICS_STATE_HPP_

rclcpp/src/rclcpp/node.cpp

@@ -103,7 +103,8 @@ Node::Node(
       namespace_,
       options.context(),
       *(options.get_rcl_node_options()),
-      options.use_intra_process_comms())),
+      options.use_intra_process_comms(),
+      options.enable_topic_statistics())),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -34,9 +34,11 @@ NodeBase::NodeBase(
   const std::string & namespace_,
   rclcpp::Context::SharedPtr context,
   const rcl_node_options_t & rcl_node_options,
-  bool use_intra_process_default)
+  bool use_intra_process_default,
+  bool enable_topic_statistics_default)
 : context_(context),
   use_intra_process_default_(use_intra_process_default),
+  enable_topic_statistics_default_(enable_topic_statistics_default),
   node_handle_(nullptr),
   default_callback_group_(nullptr),
   associated_with_executor_(false),
@@ -268,3 +270,9 @@ NodeBase::get_use_intra_process_default() const
 {
   return use_intra_process_default_;
 }
+
+bool
+NodeBase::get_enable_topic_statistics_default() const
+{
+  return enable_topic_statistics_default_;
+}

rclcpp/src/rclcpp/node_options.cpp

@@ -73,6 +73,7 @@ NodeOptions::operator=(const NodeOptions & other)
     this->use_global_arguments_ = other.use_global_arguments_;
     this->enable_rosout_ = other.enable_rosout_;
     this->use_intra_process_comms_ = other.use_intra_process_comms_;
+    this->enable_topic_statistics_ = other.enable_topic_statistics_;
     this->start_parameter_services_ = other.start_parameter_services_;
     this->allocator_ = other.allocator_;
     this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
@@ -213,6 +214,19 @@ NodeOptions::use_intra_process_comms(bool use_intra_process_comms)
   return *this;
 }
 
+bool
+NodeOptions::enable_topic_statistics() const
+{
+  return this->enable_topic_statistics_;
+}
+
+NodeOptions &
+NodeOptions::enable_topic_statistics(bool enable_topic_statistics)
+{
+  this->enable_topic_statistics_ = enable_topic_statistics;
+  return *this;
+}
+
 bool
 NodeOptions::start_parameter_services() const
 {

rclcpp/test/test_subscription_options.cpp

@@ -15,9 +15,12 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
+#include <memory>
 #include <string>
 #include <vector>
 
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
 #include "rclcpp/subscription_options.hpp"
 
 using namespace std::chrono_literals;
@@ -27,18 +30,59 @@ namespace
 constexpr const char defaultPublishTopic[] = "/statistics";
 }
 
-TEST(TestSubscriptionOptions, topic_statistics_options) {
+class TestSubscriptionOptions : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+protected:
+  void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
+  {
+    node = std::make_shared<rclcpp::Node>("test_subscription_options", node_options);
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+  rclcpp::Node::SharedPtr node;
+};
+
+TEST_F(TestSubscriptionOptions, topic_statistics_options_default_and_set) {
   auto options = rclcpp::SubscriptionOptions();
 
-  EXPECT_EQ(options.topic_stats_options.state, rclcpp::TopicStatisticsState::DISABLED);
+  EXPECT_EQ(options.topic_stats_options.state, rclcpp::TopicStatisticsState::NodeDefault);
   EXPECT_EQ(options.topic_stats_options.publish_topic, defaultPublishTopic);
   EXPECT_EQ(options.topic_stats_options.publish_period, 1s);
 
-  options.topic_stats_options.state = rclcpp::TopicStatisticsState::ENABLED;
+  options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
   options.topic_stats_options.publish_topic = "topic_statistics";
   options.topic_stats_options.publish_period = 5min;
 
-  EXPECT_EQ(options.topic_stats_options.state, rclcpp::TopicStatisticsState::ENABLED);
+  EXPECT_EQ(options.topic_stats_options.state, rclcpp::TopicStatisticsState::Enable);
   EXPECT_EQ(options.topic_stats_options.publish_topic, "topic_statistics");
   EXPECT_EQ(options.topic_stats_options.publish_period, 5min);
 }
+
+TEST_F(TestSubscriptionOptions, topic_statistics_options_node_default_mode) {
+  initialize();
+  auto subscription_options = rclcpp::SubscriptionOptions();
+
+  EXPECT_EQ(
+    subscription_options.topic_stats_options.state,
+    rclcpp::TopicStatisticsState::NodeDefault);
+  EXPECT_FALSE(
+    rclcpp::detail::resolve_enable_topic_statistics(
+      subscription_options,
+      *(node->get_node_base_interface())));
+
+  initialize(rclcpp::NodeOptions().enable_topic_statistics(true));
+  EXPECT_TRUE(
+    rclcpp::detail::resolve_enable_topic_statistics(
+      subscription_options,
+      *(node->get_node_base_interface())));
+}