The two distinct operations of acquiring and subsequent checking of a
timer have to be protected by one lock_guard against races with other
threads. The releasing of a timer has to be protected by the same lock.
Given this requirement there is no use for a second mutex.
Signed-off-by: Marko Durkovic <marko@ternaris.com>
* when call wait for service in an while loop, the event will be make forever and never release
* fix it by: creating it when we need
Signed-off-by: reed-lau <geoliuwei@gmail.com>
* Fix flakey test
Signed-off-by: Pete Baughman <pete.baughman@apex.ai>
* Fix lint and uncrustify issues
Signed-off-by: Pete Baughman <pete.baughman@apex.ai>
* match renamed action types
* fix action type casting
* rename type/field to use correct term
* rename custom GoalID type to avoid naming collision, update types using unique_identifier_msgs
* remove obsolete comments
* change signature of set_succeeded / set_canceled
* change signature of on_terminal_state_(uuid_, result_msg);set_succeeded / set_canceled
* change signature of set_aborted
* change signature of publish_feedback
* update another test
There are getters for the other interfaces, but the logging interface
appears to have been overlooked.
Signed-off-by: Michael Jeronimo <michael.jeronimo@intel.com>
* Sub Node alternative
* Sub Node alternative
* Test // characters in namespaces
* Sub Node alternative
* Test // characters in namespaces
* Fixing style and warning in the order of initalizing members
* Fixing cases with / in different positions, and adding new tests
* Removing commented methods
* Changing extended_namespace to sub_namespace
* Fixed a bug when merging
* Fixed a bug when merging
* Sub Node alternative
* Sub Node alternative
* Test // characters in namespaces
* Fixing style and warning in the order of initalizing members
* Fixing cases with / in different positions, and adding new tests
* Removing commented methods
* Changing extended_namespace to sub_namespace
* Fixed a bug when merging
* Merge with origin to update branch
* improvements to API and documentation
Signed-off-by: William Woodall <william@osrfoundation.org>
* style and fixing tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup subnode specific tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* remove vestigial function
Signed-off-by: William Woodall <william@osrfoundation.org>
* improve documentation
Signed-off-by: William Woodall <william@osrfoundation.org>
* add test to check interaction between ~ and sub-nodes
Signed-off-by: William Woodall <william@osrfoundation.org>
* typo
Signed-off-by: William Woodall <william@osrfoundation.org>
* Start work on creaating NodeOptions structure.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Continue work on NodeOptions.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update tests for NodeOptions impl.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update documentation and copy/assignment.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update rclcpp_lifecycle to conform to new API.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Use builder pattern with NodeOptions.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Documentation updates.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update rclcpp_lifecycle to use NodeOptions.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* change to parameter idiom only, from builder pattern
Signed-off-by: William Woodall <william@osrfoundation.org>
* Update rclcpp/include/rclcpp/node_options.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
Signed-off-by: William Woodall <william@osrfoundation.org>
* follow up with more resets of the rcl_node_options_t
Signed-off-by: William Woodall <william@osrfoundation.org>
* todo about get env
Signed-off-by: William Woodall <william@osrfoundation.org>
* Add in the ability to get parameters in a map.
Any parameters that have a "." in them will be considered to
be part of a "map" (though they can also be get and set
individually). This PR adds two new template specializations
to the public node API so that it can take a map, and store
the list of values (so setting the parameter with a name of
"foo" and a key of "x" will end up with a parameter of "foo.x").
It also adds an API to get all of the keys corresponding to
a prefix, and returing that as a map (so a get of "foo" will
get all parameters that begin with "foo."). Note that all
parameters within the map must have the same type, otherwise
an rclcpp::ParameterTypeException will be thrown.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Fix style problems pointed out by uncrustify/cpplint.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Move tests for set_parameter_if_not_set/get_parameter map to rclcpp.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Rename get_parameter -> get_parameters.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Add in documentation from review.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* added new constructors for sync parameter client
* sync param client now has raw ptr member instead of shared ptr
* fixed pointer style
* allow objects which do not inherit from node to create a sync parameters client
* use signal safe synchronization with platform specific semaphores
Signed-off-by: William Woodall <william@osrfoundation.org>
* addressed feedback and refactored into separate files
Signed-off-by: William Woodall <william@osrfoundation.org>
* Apply suggestions from code review
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* include what you use (cpplint)
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid redundant use of SignalHandler::
Signed-off-by: William Woodall <william@osrfoundation.org>
* Update rclcpp/src/rclcpp/signal_handler.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* fix Windows build
Signed-off-by: William Woodall <william@osrfoundation.org>
* actually fix Windows
Signed-off-by: William Woodall <william@osrfoundation.org>
Resolves#595
* Separate the Node Time Source from the Node Clock
* Implement initial value checking of use_sim_time parameter parameter
* Be sure to update all newly attached clocks
* Homogenizing the behavior to use the last received value otherwise zero time when enabling sim time.
* Add virtual destructors to interface classes
* [WIP] Refactor signal handling.
* fix deadlock
Signed-off-by: William Woodall <william@osrfoundation.org>
* finished fixing signal handling and removing more global state
Signed-off-by: William Woodall <william@osrfoundation.org>
* add missing include of <condition_variable>
* use unordered map in signal handling class
Signed-off-by: William Woodall <william@osrfoundation.org>
* use consistent terminology
Signed-off-by: William Woodall <william@osrfoundation.org>
* use emplace in map
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid throwing in destructor
Signed-off-by: William Woodall <william@osrfoundation.org>
* words
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid throwing from destructors in a few places
Signed-off-by: William Woodall <william@osrfoundation.org>
* make install/uninstall thread-safe
Signed-off-by: William Woodall <william@osrfoundation.org>
* add wait_for_action_server() for action clients
Signed-off-by: William Woodall <william@osrfoundation.org>
* Handle negative timeouts in wait_for_service() and wait_for_action_server() methods.
* Fix uncrustify errors.
* Ignore take failure on services for connext
* 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
* WIP
* Removed async_cancel from action ClintGoalHandle API
* Added status handler to action client goal handler
* Added result handler to action client goal handler
* Identation fix
* Added get/set for action client goal handler
* Changed action client goal handler attrs from rcl to cpp versions
* Added check methods to action client goal handler
* Removed rcl_client pointer from action client goal handler
* Added basic waitable interface to action client
* Updated waitable execute from action client
* Added throw for rcl calls in action client
* Removed duplicated ready flags from action client
* Minor fix
* Added header to action ClientBaseImpl execute
* Mich's update to action client interface
* Added trailing suffix to client pimpl attrs
* Towards a consistent action client
* Misc fixes for the action client
* Yet more misc fixes for the action client
* Few more fixes and shortcuts to deal with missing type support.
* Fixed lint errors in action headers and client
* Fixes to action client internal workflow.
* Misc fixes to get client example to build
* More misck client fixes
* Remove debug print
* replace logging with throw_from_rcl_error
* Wrap result object given by client to user
* Fix a couple bugs trying to cancel goals
* Use unique_indentifier_msgs
* create_client accepts group and removes waitable
* Uncrustify fixes
* [rclcpp_action] Adds tests for action client.
* [WIP] Failing action client tests.
* [rclcpp_action] Action client tests passing.
* Spin both executors to make tests pass on my machine
* Feedback callback uses shared pointer
* comment about why make_result_aware is called
* Client documentation
* Execute one thing at a time
* Return nullptr instead of throwing RejectedGoalError
* ClientGoalHandle worries about feedback awareness
* cpplint + uncrustify
* Use node logging interface
* ACTION -> ActionT
* Make ClientBase constructor protected
* Return types on different line
* Avoid passing const reference to temporary
* Child logger rclcpp_action
* Child logger rclcpp_action
* possible windows fixes
* remove excess space
* swap argument order
* Misc test additions
* Windows independent_bits_engine can't do uint8_t
* Windows link issues
* refactor init to allow for non-global init
Signed-off-by: William Woodall <william@osrfoundation.org>
* Update rclcpp/include/rclcpp/utilities.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* Update rclcpp/include/rclcpp/utilities.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* Update rclcpp/include/rclcpp/utilities.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* Update rclcpp/src/rclcpp/utilities.cpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* refactor state into context objects and fix signal handling
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid nullptr access in error messages
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid exception in publish after shutdown was called
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix missing and unused headers
Signed-off-by: William Woodall <william@osrfoundation.org>
* cpplint
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixes found during testing
Signed-off-by: William Woodall <william@osrfoundation.org>
* address bug found in review comment
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixes and warnings fixed during testing
Signed-off-by: William Woodall <william@osrfoundation.org>
* addressing review comments
Signed-off-by: William Woodall <william@osrfoundation.org>
* ensure new ExecutorArgs are used everywhere
* [rclcpp] Add class Waitable
Provides a virtual API for interacting with wait sets.
* [rclcpp] Add node interface for Waitables
* [rclcpp] Implement node interface for Waitables
* [rclcpp] Integrate Waitable entities with executor
* Implement remaining logic for integrating Waitables
* Add visibility macros and other refactoring to Waitable class
* Return zero size for entities in a Waitable by default
* Bugfix: Clear list of waitable handles
* Bugfix: update Waitable handle list based on readiness
* Bugfix: update for loop condition
* Give node a node_waitables_
* Give lifecycle node a node_waitables
Now the functions take an optional output index argument.
Refactored the graph listener usage of rcl_wait_set_add_guard_condition() to take advantage of the new API.
* issue a warning if publishing on a not active publisher
* Adding a logger private member in LifecyclePublisher for avoiding creating a new one echa call
* Providing logging macro signature that accepts std::string
* - RCLCPP_ prefix to macros Add
- New tests added
* - Added doc to the functions and macros
- Functions declared as RCLCPP_PUBLIC
* - Small typo in doc corrected
* Fixed error when compiling with clang
* touch up docs
