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[rclcpp] add WaitSet class and modify entities to work without execut…
…or (ros2#1047) * add rclcpp::GuardCondition wrapping rcl_guard_condition_t Signed-off-by: William Woodall <[email protected]> * WIP second wait set refactor, just guard conditions so far Signed-off-by: William Woodall <[email protected]> * fix typo Signed-off-by: William Woodall <[email protected]> * removing a question/todo, I think this is fine as is Signed-off-by: William Woodall <[email protected]> * added subscriptions and waitable to wait sets Signed-off-by: William Woodall <[email protected]> * improve usability with subscriptions and wait sets Signed-off-by: William Woodall <[email protected]> * adding take to subscription so it can be used without the executor Signed-off-by: William Woodall <[email protected]> * add rclcpp::MessageInfo to replace use of rmw_message_info_t Signed-off-by: William Woodall <[email protected]> * refactor Subscription and Executor so they can be used separately Signed-off-by: William Woodall <[email protected]> * style and cpplint Signed-off-by: William Woodall <[email protected]> * fixup take_serialized() and add tests for it Signed-off-by: William Woodall <[email protected]> * add support for client and service to wait set Signed-off-by: William Woodall <[email protected]> * fix typo Signed-off-by: William Woodall <[email protected]> * fix typo Signed-off-by: William Woodall <[email protected]> * fix review comment Signed-off-by: William Woodall <[email protected]> * add thread-safe wait set policy Signed-off-by: William Woodall <[email protected]> * add check for use with multiple wait set Signed-off-by: William Woodall <[email protected]> * fixup visibility macro usage Signed-off-by: William Woodall <[email protected]> * remove vestigial test case Signed-off-by: William Woodall <[email protected]> * move visibility macro fixes Signed-off-by: William Woodall <[email protected]> * remove vestigial TODO Signed-off-by: William Woodall <[email protected]>
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| // Copyright 2020 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. | ||
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| #ifndef RCLCPP__GUARD_CONDITION_HPP_ | ||
| #define RCLCPP__GUARD_CONDITION_HPP_ | ||
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| #include <atomic> | ||
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| #include "rcl/guard_condition.h" | ||
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| #include "rclcpp/context.hpp" | ||
| #include "rclcpp/contexts/default_context.hpp" | ||
| #include "rclcpp/macros.hpp" | ||
| #include "rclcpp/visibility_control.hpp" | ||
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| namespace rclcpp | ||
| { | ||
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| /// A condition that can be waited on in a single wait set and asynchronously triggered. | ||
| class GuardCondition | ||
| { | ||
| public: | ||
| RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(GuardCondition) | ||
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| // TODO(wjwwood): support custom allocator, maybe restrict to polymorphic allocator | ||
| /// Construct the guard condition, optionally specifying which Context to use. | ||
| /** | ||
| * \param[in] context Optional custom context to be used. | ||
| * Defaults to using the global default context singleton. | ||
| * Shared ownership of the context is held with the guard condition until | ||
| * destruction. | ||
| * \throws std::invalid_argument if the context is nullptr. | ||
| * \throws rclcpp::exceptions::RCLError based exceptions when underlying | ||
| * rcl functions fail. | ||
| */ | ||
| RCLCPP_PUBLIC | ||
| explicit GuardCondition( | ||
| rclcpp::Context::SharedPtr context = | ||
| rclcpp::contexts::default_context::get_global_default_context()); | ||
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| RCLCPP_PUBLIC | ||
| virtual | ||
| ~GuardCondition(); | ||
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| /// Return the context used when creating this guard condition. | ||
| RCLCPP_PUBLIC | ||
| rclcpp::Context::SharedPtr | ||
| get_context() const; | ||
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| /// Return the underlying rcl guard condition structure. | ||
| RCLCPP_PUBLIC | ||
| const rcl_guard_condition_t & | ||
| get_rcl_guard_condition() const; | ||
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| /// Notify the wait set waiting on this condition, if any, that the condition had been met. | ||
| /** | ||
| * This function is thread-safe, and may be called concurrently with waiting | ||
| * on this guard condition in a wait set. | ||
| * | ||
| * \throws rclcpp::exceptions::RCLError based exceptions when underlying | ||
| * rcl functions fail. | ||
| */ | ||
| RCLCPP_PUBLIC | ||
| void | ||
| trigger(); | ||
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| /// Exchange the "in use by wait set" state for this guard condition. | ||
| /** | ||
| * This is used to ensure this guard condition is not used by multiple | ||
| * wait sets at the same time. | ||
| * | ||
| * \param[in] in_use_state the new state to exchange into the state, true | ||
| * indicates it is now in use by a wait set, and false is that it is no | ||
| * longer in use by a wait set. | ||
| * \returns the previous state. | ||
| */ | ||
| RCLCPP_PUBLIC | ||
| bool | ||
| exchange_in_use_by_wait_set_state(bool in_use_state); | ||
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| protected: | ||
| rclcpp::Context::SharedPtr context_; | ||
| rcl_guard_condition_t rcl_guard_condition_; | ||
| std::atomic<bool> in_use_by_wait_set_{false}; | ||
| }; | ||
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| } // namespace rclcpp | ||
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| #endif // RCLCPP__GUARD_CONDITION_HPP_ |
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| // Copyright 2020 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. | ||
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| #ifndef RCLCPP__MESSAGE_INFO_HPP_ | ||
| #define RCLCPP__MESSAGE_INFO_HPP_ | ||
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| #include "rmw/types.h" | ||
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| #include "rclcpp/visibility_control.hpp" | ||
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| namespace rclcpp | ||
| { | ||
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| /// Additional meta data about messages taken from subscriptions. | ||
| class RCLCPP_PUBLIC MessageInfo | ||
| { | ||
| public: | ||
| /// Default empty constructor. | ||
| MessageInfo() = default; | ||
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| /// Conversion constructor, which is intentionally not marked as explicit. | ||
| // cppcheck-suppress noExplicitConstructor | ||
| MessageInfo(const rmw_message_info_t & rmw_message_info); // NOLINT(runtime/explicit) | ||
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| virtual ~MessageInfo(); | ||
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| /// Return the message info as the underlying rmw message info type. | ||
| const rmw_message_info_t & | ||
| get_rmw_message_info() const; | ||
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| /// Return the message info as the underlying rmw message info type. | ||
| rmw_message_info_t & | ||
| get_rmw_message_info(); | ||
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| private: | ||
| rmw_message_info_t rmw_message_info_; | ||
| }; | ||
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| } // namespace rclcpp | ||
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| #endif // RCLCPP__MESSAGE_INFO_HPP_ |
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