-
Notifications
You must be signed in to change notification settings - Fork 431
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Aarav Gupta <[email protected]>
- Loading branch information
Showing
7 changed files
with
275 additions
and
16 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
90 changes: 90 additions & 0 deletions
90
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_subscription.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,90 @@ | ||
| // Copyright 2024 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_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ | ||
| #define RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ | ||
|
|
||
| #include <memory> | ||
| #include <string> | ||
|
|
||
| #include "rclcpp/node_interfaces/node_base_interface.hpp" | ||
| #include "rclcpp/subscription.hpp" | ||
| #include "rclcpp/subscription_options.hpp" | ||
| #include "rclcpp/qos.hpp" | ||
|
|
||
| #include "rclcpp_lifecycle/managed_entity.hpp" | ||
|
|
||
|
|
||
| namespace rclcpp_lifecycle | ||
| { | ||
|
|
||
| /// @brief Child class of rclcpp::Subscription that adds lifecycle functionality. | ||
| /** | ||
| * This class is a child class of rclcpp::Subscription that adds a lifecycle | ||
| * check to the callback function. If the node is in an inactive state, the | ||
| * callback will not be called. | ||
| */ | ||
| template< | ||
| typename MessageT, | ||
| typename AllocatorT = std::allocator<void>, | ||
| typename SubscribedT = typename rclcpp::TypeAdapter<MessageT>::custom_type, | ||
| typename ROSMessageT = typename rclcpp::TypeAdapter<MessageT>::ros_message_type, | ||
| typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< | ||
| ROSMessageT, | ||
| AllocatorT | ||
| >> | ||
| class LifecycleSubscription : public SimpleManagedEntity, | ||
| public rclcpp::Subscription<MessageT, AllocatorT> | ||
| { | ||
| private: | ||
| using SubscriptionTopicStatisticsSharedPtr = | ||
| std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>; | ||
|
|
||
| public: | ||
| LifecycleSubscription( | ||
| rclcpp::node_interfaces::NodeBaseInterface * node_base, | ||
| const rosidl_message_type_support_t & type_support_handle, | ||
| const std::string & topic_name, | ||
| const rclcpp::QoS & qos, | ||
| rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> callback, | ||
| const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options, | ||
| typename MessageMemoryStrategyT::SharedPtr message_memory_strategy, | ||
| SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr) | ||
| : rclcpp::Subscription<MessageT>( | ||
| node_base, | ||
| type_support_handle, | ||
| topic_name, | ||
| qos, | ||
| callback, | ||
| options, | ||
| message_memory_strategy, | ||
| subscription_topic_statistics) | ||
| { | ||
| } | ||
|
|
||
| /// TODO: Hold onto the data that arrives before activation, and deliver that on activation. | ||
| /// Check if we need to handle the message, and execute the callback if we do. | ||
| void handle_message( | ||
| std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override | ||
| { | ||
| if (!this->is_activated()) { | ||
| return; | ||
| } | ||
| rclcpp::Subscription<MessageT, AllocatorT>::handle_message(message, message_info); | ||
| } | ||
| }; | ||
|
|
||
| } // namespace rclcpp_lifecycle | ||
|
|
||
| #endif // RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,165 @@ | ||
| // Copyright 2024 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. | ||
|
|
||
| #include <gtest/gtest.h> | ||
| #include <memory> | ||
| #include <string> | ||
|
|
||
| #include "lifecycle_msgs/msg/state.hpp" | ||
| #include "lifecycle_msgs/msg/transition.hpp" | ||
|
|
||
| #include "test_msgs/msg/empty.hpp" | ||
|
|
||
| #include "rclcpp_lifecycle/lifecycle_node.hpp" | ||
| #include "rclcpp_lifecycle/lifecycle_subscription.hpp" | ||
|
|
||
| using lifecycle_msgs::msg::State; | ||
| using lifecycle_msgs::msg::Transition; | ||
|
|
||
| class TestDefaultStateMachine : public ::testing::Test | ||
| { | ||
| protected: | ||
| static void SetUpTestCase() | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| } | ||
| static void TearDownTestCase() | ||
| { | ||
| rclcpp::shutdown(); | ||
| } | ||
| }; | ||
|
|
||
| /// We want to test everything for both the wall and generic timer. | ||
| enum class TimerType | ||
| { | ||
| WALL_TIMER, | ||
| GENERIC_TIMER, | ||
| }; | ||
|
|
||
| class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode | ||
| { | ||
| public: | ||
| explicit EmptyLifecycleNode(const std::string & node_name, const TimerType & timer_type) | ||
| : rclcpp_lifecycle::LifecycleNode(node_name) | ||
| { | ||
| // For coverage this is being added here | ||
| switch (timer_type) { | ||
| case TimerType::WALL_TIMER: | ||
| { | ||
| auto timer = create_wall_timer(std::chrono::seconds(1), []() {}); | ||
| add_timer_handle(timer); | ||
| break; | ||
| } | ||
| case TimerType::GENERIC_TIMER: | ||
| { | ||
| auto timer = create_timer(std::chrono::seconds(1), []() {}); | ||
| add_timer_handle(timer); | ||
| break; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| void empty_callback(const test_msgs::msg::Empty msg) {} | ||
| }; | ||
|
|
||
| class TestLifecycleSubscription : public ::testing::TestWithParam<TimerType> | ||
| { | ||
| public: | ||
| void SetUp() | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| } | ||
|
|
||
| void TearDown() | ||
| { | ||
| rclcpp::shutdown(); | ||
| } | ||
| }; | ||
|
|
||
| TEST_P(TestLifecycleSubscription, subscribe_managed_by_node) { | ||
| auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam()); | ||
|
|
||
| std::shared_ptr<rclcpp_lifecycle::LifecycleSubscription<test_msgs::msg::Empty>> subscription = | ||
| node->create_subscription<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), | ||
| bind(&EmptyLifecycleNode::empty_callback, node, std::placeholders::_1)); | ||
|
|
||
| // transition via LifecycleNode | ||
| auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; | ||
| auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR; | ||
| auto ret = reset_key; | ||
|
|
||
| EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, node->get_current_state().id()); | ||
| node->trigger_transition( | ||
| rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE), ret); | ||
| ASSERT_EQ(success, ret); | ||
| ret = reset_key; | ||
| node->trigger_transition( | ||
| rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE), ret); | ||
| ASSERT_EQ(success, ret); | ||
| ret = reset_key; | ||
| EXPECT_TRUE(subscription->is_activated()); | ||
| { | ||
| std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); | ||
| EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); | ||
| } | ||
| node->trigger_transition( | ||
| rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE), ret); | ||
| ASSERT_EQ(success, ret); | ||
| ret = reset_key; | ||
| (void)ret; // Just to make clang happy | ||
| EXPECT_FALSE(subscription->is_activated()); | ||
| { | ||
| std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); | ||
| EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); | ||
| } | ||
| } | ||
|
|
||
| TEST_P(TestLifecycleSubscription, subscribe) { | ||
| auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam()); | ||
|
|
||
| std::shared_ptr<rclcpp_lifecycle::LifecycleSubscription<test_msgs::msg::Empty>> subscription = | ||
| node->create_subscription<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), | ||
| bind(&EmptyLifecycleNode::empty_callback, node, std::placeholders::_1)); | ||
|
|
||
| // transition via LifecycleSubscription | ||
| subscription->on_deactivate(); | ||
| EXPECT_FALSE(subscription->is_activated()); | ||
| { | ||
| std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); | ||
| EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); | ||
| } | ||
|
|
||
| subscription->on_activate(); | ||
| EXPECT_TRUE(subscription->is_activated()); | ||
| { | ||
| std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); | ||
| EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); | ||
| } | ||
| } | ||
|
|
||
| INSTANTIATE_TEST_SUITE_P( | ||
| PerTimerType, TestLifecycleSubscription, | ||
| ::testing::Values(TimerType::WALL_TIMER, TimerType::GENERIC_TIMER), | ||
| [](const ::testing::TestParamInfo<TimerType> & info) -> std::string { | ||
| switch (info.param) { | ||
| case TimerType::WALL_TIMER: | ||
| return std::string("wall_timer"); | ||
| case TimerType::GENERIC_TIMER: | ||
| return std::string("generic_timer"); | ||
| default: | ||
| break; | ||
| } | ||
| return std::string("unknown"); | ||
| } | ||
| ); |