rclcpp_action Server implementation (#593)
* Commiting to back up work, does not function * Can call user callback when goal request received * fini action server in destructor * rename user callback virtual functions * handle_execute test passes * Remove out of date comment * Refactor execute into three functions * Remove unused file * Add failing cancel test * Cancel test passes * Remove out of date comments * Make sure server publishes status when accepting a goal * Send status when goals transition to cancelling * Refactored sending goal request to its own function * Refactor cancel request into it's own function * Comment with remaining tests * Executing and terminal state statuses * publish feedback works * server sends result to clients that request it * Remove out of date comment * Add ServerGoalHandle::is_active() * Cleanup when goals expire * Can pass in action server options * cpplint and uncrustify fixes * Fix clang warnings * Copy rcl goal handle * Fix clang warning * Use intermediate value to avoid left shift on 32bit integer * RCLCPP_ACTION_PUBLIC everwhere * Change callback parameter from C type to C++ * Add accessors for request and uuid * Feedback must include goal id * Document Server<> and ServerBase<> * handle_execute -> handle_accepted * Test deferred execution * only publish feedback if goal is executing * Documentation for ServerGoalHandle * document msg parameters * remove unnecessary fini * notify_goal_done only takes server * Use unique_indentifier_msgs * create_server accepts group and removes waitable * uncrustify * Use weak ptr to avoid crash if goal handle lives longer than server * Handle goal callback const message * Goal handle doesn't have server pointer anymore * Lock goal_handles_ on Server<> * rcl_action_server_t protected with mutex * ServerBase results protected with mutex * protect rcl goal handle with mutex * is_cancel_request -> is_canceling * Add missing include * use GoalID and change uuid -> goal_id * Keep rcl goal handle alive until it expires on server * uncrustify * Move UUID hash * Log messages in server * ACTION -> ActionT * Cancel abandoned goal handles * Add convert() for C and C++ goal id * Remove unused variable * Constant reference * Move variable declaration down * is_ready if goal expired * map[] default constructs if it doesn't exist * Use rcl_action_get_goal_status_array() * Array -> GoalID * Use reentrant mutex for everything * comment * scope exit to fini cancel response * using GoalID
This commit is contained in:
Shane Loretz
GitHub
parent
91167393ea
commit
fe09d937b7
10 changed files with 2017 additions and 137 deletions
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@ -15,81 +15,471 @@
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#ifndef RCLCPP_ACTION__SERVER_HPP_
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#define RCLCPP_ACTION__SERVER_HPP_
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#include <rcl_action/action_server.h>
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#include <rosidl_generator_c/action_type_support_struct.h>
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#include <rosidl_typesupport_cpp/action_type_support.hpp>
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#include <rclcpp/node_interfaces/node_base_interface.hpp>
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#include <rclcpp/node_interfaces/node_clock_interface.hpp>
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#include <rclcpp/node_interfaces/node_logging_interface.hpp>
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#include <rclcpp/waitable.hpp>
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#include <functional>
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#include <memory>
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#include <mutex>
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#include <string>
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#include <unordered_map>
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#include <utility>
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#include "rclcpp_action/visibility_control.hpp"
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#include "rclcpp_action/server_goal_handle.hpp"
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#include "rclcpp_action/types.hpp"
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namespace rclcpp_action
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{
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// Forward declaration
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class ServerBaseImpl;
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/// A response returned by an action server callback when a goal is requested.
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enum class GoalResponse : int8_t
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{
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/// The goal is rejected and will not be executed.
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REJECT = 1,
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/// The server accepts the goal, and is going to begin execution immediately.
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ACCEPT_AND_EXECUTE = 2,
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/// The server accepts the goal, and is going to execute it later.
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ACCEPT_AND_DEFER = 3,
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};
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/// A response returned by an action server callback when a goal has been asked to be canceled.
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enum class CancelResponse : int8_t
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{
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/// The server will not try to cancel the goal.
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REJECT = 1,
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/// The server has agreed to try to cancel the goal.
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ACCEPT = 2,
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};
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/// Base Action Server implementation
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/// It is responsible for interfacing with the C action server API.
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class ServerBase
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/// \internal
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/**
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* This class should not be used directly by users writing an action server.
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* Instead users should use `rclcpp_action::Server<>`.
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*
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* Internally, this class is responsible for interfacing with the `rcl_action` API.
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*/
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class ServerBase : public rclcpp::Waitable
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{
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public:
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// TODO(sloretz) NodeLoggingInterface when it can be gotten off a node
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// TODO(sloretz) accept clock instance
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RCLCPP_ACTION_PUBLIC
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ServerBase(
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
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const std::string & name,
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const rosidl_action_type_support_t * type_support);
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RCLCPP_ACTION_PUBLIC
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virtual ~ServerBase();
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// TODO(sloretz) add a link between this class and callbacks in the server class
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// -------------
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// Waitables API
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/// Return the number of subscriptions used to implement an action server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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size_t
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get_number_of_ready_subscriptions() override;
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/// Return the number of timers used to implement an action server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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size_t
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get_number_of_ready_timers() override;
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/// Return the number of service clients used to implement an action server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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size_t
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get_number_of_ready_clients() override;
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/// Return the number of service servers used to implement an action server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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size_t
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get_number_of_ready_services() override;
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/// Return the number of guard conditions used to implement an action server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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size_t
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get_number_of_ready_guard_conditions() override;
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/// Add all entities to a wait set.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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bool
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add_to_wait_set(rcl_wait_set_t * wait_set) override;
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/// Return true if any entity belonging to the action server is ready to be executed.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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bool
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is_ready(rcl_wait_set_t *) override;
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/// Act on entities in the wait set which are ready to be acted upon.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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execute() override;
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// End Waitables API
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// -----------------
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protected:
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RCLCPP_ACTION_PUBLIC
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ServerBase(
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
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rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
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rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
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const std::string & name,
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const rosidl_action_type_support_t * type_support,
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const rcl_action_server_options_t & options);
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// -----------------------------------------------------
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// API for communication between ServerBase and Server<>
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// ServerBase will call this function when a goal request is received.
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// The subclass should convert to the real type and call a user's callback.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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std::pair<GoalResponse, std::shared_ptr<void>>
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call_handle_goal_callback(GoalID &, std::shared_ptr<void> request) = 0;
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// ServerBase will determine which goal ids are being cancelled, and then call this function for
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// each goal id.
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// The subclass should look up a goal handle and call the user's callback.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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CancelResponse
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call_handle_cancel_callback(const GoalID & uuid) = 0;
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/// Given a goal request message, return the UUID contained within.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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GoalID
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get_goal_id_from_goal_request(void * message) = 0;
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/// Create an empty goal request message so it can be taken from a lower layer.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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std::shared_ptr<void>
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create_goal_request() = 0;
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/// Call user callback to inform them a goal has been accepted.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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void
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call_goal_accepted_callback(
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std::shared_ptr<rcl_action_goal_handle_t> rcl_goal_handle,
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GoalID uuid, std::shared_ptr<void> goal_request_message) = 0;
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/// Given a result request message, return the UUID contained within.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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GoalID
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get_goal_id_from_result_request(void * message) = 0;
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/// Create an empty goal request message so it can be taken from a lower layer.
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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std::shared_ptr<void>
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create_result_request() = 0;
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/// Create an empty goal result message so it can be sent as a reply in a lower layer
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/// \internal
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RCLCPP_ACTION_PUBLIC
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virtual
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std::shared_ptr<void>
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create_result_response(decltype(action_msgs::msg::GoalStatus::status) status) = 0;
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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publish_status();
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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notify_goal_terminal_state();
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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publish_result(const GoalID & uuid, std::shared_ptr<void> result_msg);
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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publish_feedback(std::shared_ptr<void> feedback_msg);
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// End API for communication between ServerBase and Server<>
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// ---------------------------------------------------------
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private:
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/// Handle a request to add a new goal to the server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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execute_goal_request_received();
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/// Handle a request to cancel goals on the server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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execute_cancel_request_received();
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/// Handle a request to get the result of an action
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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execute_result_request_received();
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/// Handle a timeout indicating a completed goal should be forgotten by the server
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/// \internal
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RCLCPP_ACTION_PUBLIC
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void
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execute_check_expired_goals();
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/// Private implementation
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/// \internal
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std::unique_ptr<ServerBaseImpl> pimpl_;
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};
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/// Templated Action Server class
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/// It is responsible for getting the C action type support struct from the C++ type, and
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/// calling user callbacks with goal handles of the appropriate type.
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template<typename ACTION>
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class Server : public ServerBase
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/// Action Server
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/**
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* This class creates an action server.
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*
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* Create an instance of this server using `rclcpp_action::create_server()`.
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*
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* Internally, this class is responsible for:
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* - coverting between the C++ action type and generic types for `rclcpp_action::ServerBase`, and
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* - calling user callbacks.
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*/
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template<typename ActionT>
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class Server : public ServerBase, public std::enable_shared_from_this<Server<ActionT>>
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{
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public:
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RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Server)
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using GoalCallback = std::function<void (rcl_action_goal_info_t &, typename ACTION::Goal *)>;
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using CancelCallback = std::function<void (std::shared_ptr<ServerGoalHandle<ACTION>>)>;
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/// Signature of a callback that accepts or rejects goal requests.
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using GoalCallback = std::function<GoalResponse(
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const GoalID &, std::shared_ptr<const typename ActionT::Goal>)>;
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/// Signature of a callback that accepts or rejects requests to cancel a goal.
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using CancelCallback = std::function<CancelResponse(std::shared_ptr<ServerGoalHandle<ActionT>>)>;
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/// Signature of a callback that is used to notify when the goal has been accepted.
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using AcceptedCallback = std::function<void (std::shared_ptr<ServerGoalHandle<ActionT>>)>;
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// TODO(sloretz) accept clock instance
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/// Construct an action server.
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/**
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* This constructs an action server, but it will not work until it has been added to a node.
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* Use `rclcpp_action::create_server()` to both construct and add to a node.
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*
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* Three callbacks must be provided:
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* - one to accept or reject goals sent to the server,
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* - one to accept or reject requests to cancel a goal,
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* - one to receive a goal handle after a goal has been accepted.
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* All callbacks must be non-blocking.
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* The result of a goal should be set using methods on `rclcpp_action::ServerGoalHandle<>`.
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*
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* \param[in] node_base a pointer to the base interface of a node.
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* \param[in] node_clock a pointer to an interface that allows getting a node's clock.
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* \param[in] node_logging a pointer to an interface that allows getting a node's logger.
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* \param[in] name the name of an action.
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* The same name and type must be used by both the action client and action server to
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* communicate.
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* \param[in] options options to pass to the underlying `rcl_action_server_t`.
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* \param[in] handle_goal a callback that decides if a goal should be accepted or rejected.
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* \param[in] handle_cancel a callback that decides if a goal should be attemted to be canceled.
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* The return from this callback only indicates if the server will try to cancel a goal.
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* It does not indicate if the goal was actually canceled.
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* \param[in] handle_accepted a callback that is called to give the user a handle to the goal.
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* execution.
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*/
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Server(
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
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rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
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rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
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const std::string & name,
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const rcl_action_server_options_t & options,
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GoalCallback handle_goal,
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CancelCallback handle_cancel
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CancelCallback handle_cancel,
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AcceptedCallback handle_accepted
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)
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: ServerBase(
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node_base,
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node_clock,
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node_logging,
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name,
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rosidl_typesupport_cpp::get_action_type_support_handle<ACTION>()),
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rosidl_typesupport_cpp::get_action_type_support_handle<ActionT>(),
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options),
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handle_goal_(handle_goal),
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handle_cancel_(handle_cancel)
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handle_cancel_(handle_cancel),
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handle_accepted_(handle_accepted)
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{
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// TODO(sloretz) what's the link that causes `handle_goal_` and `handle_cancel_` to be called?
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}
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virtual ~Server()
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virtual ~Server() = default;
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protected:
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// -----------------------------------------------------
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// API for communication between ServerBase and Server<>
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/// \internal
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std::pair<GoalResponse, std::shared_ptr<void>>
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call_handle_goal_callback(GoalID & uuid, std::shared_ptr<void> message) override
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{
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// TODO(sloretz) update and remove assert when IDL pipeline allows nesting user's type
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static_assert(
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std::is_same<typename ActionT::Goal, typename ActionT::GoalRequestService::Request>::value,
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"Assuming user fields were merged with goal request fields");
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GoalResponse user_response = handle_goal_(
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uuid, std::static_pointer_cast<typename ActionT::Goal>(message));
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auto ros_response = std::make_shared<typename ActionT::GoalRequestService::Response>();
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ros_response->accepted = GoalResponse::ACCEPT_AND_EXECUTE == user_response ||
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GoalResponse::ACCEPT_AND_DEFER == user_response;
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return std::make_pair(user_response, ros_response);
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}
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/// \internal
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CancelResponse
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call_handle_cancel_callback(const GoalID & uuid) override
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{
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std::lock_guard<std::mutex> lock(goal_handles_mutex_);
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CancelResponse resp = CancelResponse::REJECT;
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auto element = goal_handles_.find(uuid);
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if (element != goal_handles_.end()) {
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std::shared_ptr<ServerGoalHandle<ActionT>> goal_handle = element->second.lock();
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if (goal_handle) {
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resp = handle_cancel_(goal_handle);
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if (CancelResponse::ACCEPT == resp) {
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goal_handle->_set_canceling();
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}
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}
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}
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return resp;
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}
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/// \internal
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void
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call_goal_accepted_callback(
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std::shared_ptr<rcl_action_goal_handle_t> rcl_goal_handle,
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GoalID uuid, std::shared_ptr<void> goal_request_message) override
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{
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std::shared_ptr<ServerGoalHandle<ActionT>> goal_handle;
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std::weak_ptr<Server<ActionT>> weak_this = this->shared_from_this();
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std::function<void(const GoalID &, std::shared_ptr<void>)> on_terminal_state =
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[weak_this](const GoalID & uuid, std::shared_ptr<void> result_message)
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{
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std::shared_ptr<Server<ActionT>> shared_this = weak_this.lock();
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if (!shared_this) {
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return;
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}
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// Send result message to anyone that asked
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shared_this->publish_result(uuid, result_message);
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// Publish a status message any time a goal handle changes state
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shared_this->publish_status();
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// notify base so it can recalculate the expired goal timer
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shared_this->notify_goal_terminal_state();
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// Delete data now (ServerBase and rcl_action_server_t keep data until goal handle expires)
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std::lock_guard<std::mutex> lock(shared_this->goal_handles_mutex_);
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shared_this->goal_handles_.erase(uuid);
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};
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std::function<void(const GoalID &)> on_executing =
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[weak_this](const GoalID & uuid)
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{
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std::shared_ptr<Server<ActionT>> shared_this = weak_this.lock();
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if (!shared_this) {
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return;
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}
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(void)uuid;
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// Publish a status message any time a goal handle changes state
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shared_this->publish_status();
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};
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std::function<void(std::shared_ptr<typename ActionT::Feedback>)> publish_feedback =
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[weak_this](std::shared_ptr<typename ActionT::Feedback> feedback_msg)
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{
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std::shared_ptr<Server<ActionT>> shared_this = weak_this.lock();
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if (!shared_this) {
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return;
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}
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shared_this->publish_feedback(std::static_pointer_cast<void>(feedback_msg));
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};
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goal_handle.reset(
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new ServerGoalHandle<ActionT>(
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rcl_goal_handle, uuid,
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std::static_pointer_cast<const typename ActionT::Goal>(goal_request_message),
|
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on_terminal_state, on_executing, publish_feedback));
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(goal_handles_mutex_);
|
||||
goal_handles_[uuid] = goal_handle;
|
||||
}
|
||||
handle_accepted_(goal_handle);
|
||||
}
|
||||
|
||||
/// \internal
|
||||
GoalID
|
||||
get_goal_id_from_goal_request(void * message) override
|
||||
{
|
||||
return static_cast<typename ActionT::GoalRequestService::Request *>(message)->uuid;
|
||||
}
|
||||
|
||||
/// \internal
|
||||
std::shared_ptr<void>
|
||||
create_goal_request() override
|
||||
{
|
||||
return std::shared_ptr<void>(new typename ActionT::GoalRequestService::Request());
|
||||
}
|
||||
|
||||
/// \internal
|
||||
GoalID
|
||||
get_goal_id_from_result_request(void * message) override
|
||||
{
|
||||
return static_cast<typename ActionT::GoalResultService::Request *>(message)->uuid;
|
||||
}
|
||||
|
||||
/// \internal
|
||||
std::shared_ptr<void>
|
||||
create_result_request() override
|
||||
{
|
||||
return std::shared_ptr<void>(new typename ActionT::GoalResultService::Request());
|
||||
}
|
||||
|
||||
/// \internal
|
||||
std::shared_ptr<void>
|
||||
create_result_response(decltype(action_msgs::msg::GoalStatus::status) status) override
|
||||
{
|
||||
auto result = std::make_shared<typename ActionT::GoalResultService::Response>();
|
||||
result->status = status;
|
||||
return std::static_pointer_cast<void>(result);
|
||||
}
|
||||
|
||||
// End API for communication between ServerBase and Server<>
|
||||
// ---------------------------------------------------------
|
||||
|
||||
private:
|
||||
GoalCallback handle_goal_;
|
||||
CancelCallback handle_cancel_;
|
||||
AcceptedCallback handle_accepted_;
|
||||
|
||||
using GoalHandleWeakPtr = std::weak_ptr<ServerGoalHandle<ActionT>>;
|
||||
/// A map of goal id to goal handle weak pointers.
|
||||
/// This is used to provide a goal handle to handle_cancel.
|
||||
std::unordered_map<GoalID, GoalHandleWeakPtr> goal_handles_;
|
||||
std::mutex goal_handles_mutex_;
|
||||
};
|
||||
} // namespace rclcpp_action
|
||||
#endif // RCLCPP_ACTION__SERVER_HPP_
|
||||
|
|
|
|||
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Reference in a new issue