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rtt_roscomm: Shortcut ROS spinner callback queue for rtt subscribers #156

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rtt_roscomm: Shortcut ROS spinner callback queue for rtt subscribers #156

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8129810
rtt_roscomm: shortcut ROS spinner callback queue
spd-intermodalics Sep 10, 2020
13afcbe
rtt_roscomm: attend PR comments
spd-intermodalics Sep 30, 2020
66c6742
rtt_roscomm: add license to new files
spd-intermodalics Oct 1, 2020
6c94d12
rtt_roscomm: remove redundant documentation
spd-intermodalics Oct 1, 2020
3a73676
rtt_roscomm: use always ROS queue size of 1 for subscribers
spd-intermodalics Oct 1, 2020
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252 changes: 33 additions & 219 deletions rtt_roscomm/include/rtt_roscomm/passthrough_callback_queue.hpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@

#ifndef RTT_ROSCOMM__PASSTHROUGH_CALLBACK_QUEUE_HPP_
#define RTT_ROSCOMM__PASSTHROUGH_CALLBACK_QUEUE_HPP_

Expand All @@ -8,224 +7,39 @@
#include <ros/callback_queue.h>

namespace rtt_roscomm {
class PassthroughCallbackQueue: public ros::CallbackQueueInterface
{
public:
PassthroughCallbackQueue();

/**
* Implementation of ros::CallbackQueueInterface::addCallback()
*
* @param callback aaa
* @param owner_id aaa
*
* @return void
*/
virtual void addCallback(
const ros::CallbackInterfacePtr &callback,
uint64_t owner_id=0);

/**
* Implementation of ros::CallbackQueueInterface::removeByID()
*
* @param owner_id aaa
*
* @return void
*/
virtual void removeByID(uint64_t owner_id);

private:

/**
* Port where to write the message
*/
// base::PortInterface* output_port_ptr_;

}; // class PassthroughCallbackQueue

/**
* Helpers to generate subscribers with a custom ros::CallbackQueueInterface
*/

// template<class M, class T>
// ros::Subscriber subscribe(const std::string& topic, uint32_t queue_size,
// void(T::*fp)(const boost::shared_ptr<M const>&) const, T* obj,
// ros::CallbackQueueInterface* cq, ros::NodeHandle& nh,
// const TransportHints& transport_hints = ros::TransportHints())
// {
// ros::SubscribeOptions ops;
// ops.template init<M>(topic, queue_size, boost::bind(fp, obj, _1));
// ops.transport_hints = transport_hints;
// ops.callback_queue = cq;
// return nh.subscribe(ops);
// }

template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size, void(T::*fp)(M), T* obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template initByFullCallbackType<M>(topic, queue_size, boost::bind(fp, obj, _1));
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}

/// and the const version
template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size, void(T::*fp)(M) const, T* obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template initByFullCallbackType<M>(topic, queue_size, boost::bind(fp, obj, _1));
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size,
void(T::*fp)(const boost::shared_ptr<M const>&), T* obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template init<M>(topic, queue_size, boost::bind(fp, obj, _1));
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size,
void(T::*fp)(const boost::shared_ptr<M const>&) const, T* obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template init<M>(topic, queue_size, boost::bind(fp, obj, _1));
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size, void(T::*fp)(M),
const boost::shared_ptr<T>& obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template initByFullCallbackType<M>(topic, queue_size, boost::bind(fp, obj.get(), _1));
ops.tracked_object = obj;
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}

template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size, void(T::*fp)(M) const,
const boost::shared_ptr<T>& obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template initByFullCallbackType<M>(topic, queue_size, boost::bind(fp, obj.get(), _1));
ops.tracked_object = obj;
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size,
void(T::*fp)(const boost::shared_ptr<M const>&),
const boost::shared_ptr<T>& obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template init<M>(topic, queue_size, boost::bind(fp, obj.get(), _1));
ops.tracked_object = obj;
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M, class T>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size,
void(T::*fp)(const boost::shared_ptr<M const>&) const,
const boost::shared_ptr<T>& obj,
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template init<M>(topic, queue_size, boost::bind(fp, obj.get(), _1));
ops.tracked_object = obj;
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size, void(*fp)(M),
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template initByFullCallbackType<M>(topic, queue_size, fp);
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size,
void(*fp)(const boost::shared_ptr<M const>&),
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template init<M>(topic, queue_size, fp);
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size,
const boost::function<void (const boost::shared_ptr<M const>&)>& callback,
const ros::VoidConstPtr& tracked_object = ros::VoidConstPtr(),
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template init<M>(topic, queue_size, callback);
ops.tracked_object = tracked_object;
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
template<class M, class C>
ros::Subscriber subscribe(
ros::NodeHandle& nh, ros::CallbackQueueInterface* cq,
const std::string& topic, uint32_t queue_size,
const boost::function<void (C)>& callback,
const ros::VoidConstPtr& tracked_object = ros::VoidConstPtr(),
const ros::TransportHints& transport_hints = ros::TransportHints())
{
ros::SubscribeOptions ops;
ops.template initByFullCallbackType<C>(topic, queue_size, callback);
ops.tracked_object = tracked_object;
ops.transport_hints = transport_hints;
ops.callback_queue = cq;
return nh.subscribe(ops);
}
class PassthroughCallbackQueue: public ros::CallbackQueueInterface
{
public:
/**
* Implementation of ros::CallbackQueueInterface::addCallback()
*
* This method is executing the callback received instead of adding
* it to a queue. In this way, the queue is bypassed and immediately
* executed.
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*
* @param callback callback to execute, instead of queueing
* @param owner_id Owner of the callback, in other implementations it might
* be used to remove the callback. In this implementation
* it has no effect.
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*
* @return void
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*/
virtual void addCallback(
const ros::CallbackInterfacePtr &callback,
uint64_t owner_id=0);

/**
* Implementation of ros::CallbackQueueInterface::removeByID()
*
* No-op
*
* @param owner_id Not used.
*
* @return void
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*/
virtual void removeByID(uint64_t owner_id) {}

}; // class PassthroughCallbackQueue

} // namespace rtt_roscomm

Expand Down
21 changes: 13 additions & 8 deletions rtt_roscomm/include/rtt_roscomm/rtt_rostopic_ros_msg_transporter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,8 +148,6 @@ namespace rtt_roscomm {
}

~RosPubChannelElement() {
RTT::Logger::In in(topicname);
// RTT::log(RTT::Debug) << "Destroying RosPubChannelElement" << RTT::endlog();
act->removePublisher( this );
}

Expand Down Expand Up @@ -241,8 +239,8 @@ namespace rtt_roscomm {
std::string topicname;
ros::NodeHandle ros_node;
ros::NodeHandle ros_node_private;
PassthroughCallbackQueue passthrough_callback_queue;
ros::Subscriber ros_sub;
PassthroughCallbackQueue prassthrough_callback_queue;

public:
/**
Expand All @@ -258,23 +256,30 @@ namespace rtt_roscomm {
ros_node(),
ros_node_private("~")
{
topicname=policy.name_id;
topicname = policy.name_id;
ros::SubscribeOptions ops;
ops.template initByFullCallbackType<const RosType&>(
topicname,
policy.size > 0 ? policy.size : 1, // minimum queue_size 1
boost::bind(&RosSubChannelElement::newData, this, _1));
ops.callback_queue = &passthrough_callback_queue;

RTT::Logger::In in(topicname);
if (port->getInterface() && port->getInterface()->getOwner()) {
RTT::log(RTT::Debug)<<"Creating ROS subscriber for port "<<port->getInterface()->getOwner()->getName()<<"."<<port->getName()<<" on topic "<<policy.name_id<<RTT::endlog();
} else {
RTT::log(RTT::Debug)<<"Creating ROS subscriber for port "<<port->getName()<<" on topic "<<policy.name_id<<RTT::endlog();
}
if(topicname.length() > 1 && topicname.at(0) == '~') {
ros_sub = subscribe(ros_node_private, &prassthrough_callback_queue, policy.name_id.substr(1), policy.size > 0 ? policy.size : 1, &RosSubChannelElement::newData, this); // minimum queue_size 1
ops.topic = ops.topic.substr(1);
ros_sub = ros_node_private.subscribe(ops);
} else {
ros_sub = subscribe(ros_node, &prassthrough_callback_queue, policy.name_id, policy.size > 0 ? policy.size : 1, &RosSubChannelElement::newData, this); // minimum queue_size 1
ros_sub = ros_node.subscribe(ops);
}
}
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~RosSubChannelElement() {
RTT::Logger::In in(topicname);
// RTT::log(RTT::Debug)<<"Destroying RosSubChannelElement"<<RTT::endlog();
ros_sub.shutdown();
}

virtual bool inputReady() {
Expand Down
13 changes: 2 additions & 11 deletions rtt_roscomm/src/passthrough_callback_queue.cpp
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Original file line number Diff line number Diff line change
@@ -1,24 +1,15 @@

#include "rtt_roscomm/passthrough_callback_queue.hpp"

namespace rtt_roscomm {

PassthroughCallbackQueue::PassthroughCallbackQueue()
{}

void PassthroughCallbackQueue::addCallback(
const ros::CallbackInterfacePtr &callback,
uint64_t owner_id)
{
// Call CallbackInterface::CallResult SubscriptionQueue::call()
if (ros::CallbackInterface::TryAgain == callback->call()) {
ros::CallbackInterface::CallResult result = callback->call();
if (ros::CallbackInterface::TryAgain == result) {
ros::getGlobalCallbackQueue()->addCallback(callback, owner_id);
}
}

void PassthroughCallbackQueue::removeByID(uint64_t owner_id)
{
}

} // namespace rtt_roscomm