service_event_publisher.c

// Copyright 2022 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 "rcl/service_event_publisher.h"
 
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
 
#include "rcl/allocator.h"
#include "rcl/error_handling.h"
#include "rcl/publisher.h"
#include "rcl/node.h"
#include "rcl/service_introspection.h"
#include "rcl/time.h"
#include "rcl/types.h"
#include "rcutils/logging_macros.h"
#include "rcutils/error_handling.h"
#include "rcutils/macros.h"
#include "rmw/error_handling.h"
#include "rmw/ret_types.h"
#include "service_msgs/msg/service_event_info.h"
 
rcl_service_event_publisher_t rcl_get_zero_initialized_service_event_publisher(void)
{
  // All members are initialized to 0 or NULL by C99 6.7.8/10.
  static rcl_service_event_publisher_t zero_service_event_publisher;
  return zero_service_event_publisher;
}
 
bool
rcl_service_event_publisher_is_valid(const rcl_service_event_publisher_t * service_event_publisher)
{
  RCL_CHECK_FOR_NULL_WITH_MSG(
    service_event_publisher, "service_event_publisher is invalid", return false);
  RCL_CHECK_FOR_NULL_WITH_MSG(
    service_event_publisher->service_type_support,
    "service_event_publisher's service type support is invalid", return false);
  if (!rcl_clock_valid(service_event_publisher->clock)) {
    RCL_SET_ERROR_MSG("service_event_publisher's clock is invalid");
    return false;
  }
  return true;
}
 
static rcl_ret_t introspection_create_publisher(
  rcl_service_event_publisher_t * service_event_publisher,
  const rcl_node_t * node)
{
  rcl_allocator_t allocator = service_event_publisher->publisher_options.allocator;
  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_ERROR);
 
  service_event_publisher->publisher = allocator.allocate(
    sizeof(rcl_publisher_t), allocator.state);
  RCL_CHECK_FOR_NULL_WITH_MSG(
    service_event_publisher->publisher,
    "allocate service_event_publisher failed in enable", return RCL_RET_BAD_ALLOC);
  *service_event_publisher->publisher = rcl_get_zero_initialized_publisher();
  rcl_ret_t ret = rcl_publisher_init(
    service_event_publisher->publisher, node,
    service_event_publisher->service_type_support->event_typesupport,
    service_event_publisher->service_event_topic_name,
    &service_event_publisher->publisher_options);
  if (RCL_RET_OK != ret) {
    allocator.deallocate(service_event_publisher->publisher, allocator.state);
    service_event_publisher->publisher = NULL;
    rcutils_reset_error();
    RCL_SET_ERROR_MSG(rcl_get_error_string().str);
    return ret;
  }
 
  return RCL_RET_OK;
}
 
rcl_ret_t rcl_service_event_publisher_init(
  rcl_service_event_publisher_t * service_event_publisher,
  const rcl_node_t * node,
  rcl_clock_t * clock,
  const rcl_publisher_options_t publisher_options,
  const char * service_name,
  const rosidl_service_type_support_t * service_type_support)
{
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ALREADY_INIT);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_NODE_INVALID);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_TOPIC_NAME_INVALID);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_PUBLISHER_INVALID);
 
  RCL_CHECK_ARGUMENT_FOR_NULL(service_event_publisher, RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_ARGUMENT_FOR_NULL(service_name, RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_ARGUMENT_FOR_NULL(service_type_support, RCL_RET_INVALID_ARGUMENT);
 
  RCL_CHECK_ALLOCATOR_WITH_MSG(
    &publisher_options.allocator,
    "allocator is invalid", return RCL_RET_ERROR);
 
  rcl_allocator_t allocator = publisher_options.allocator;
 
  rcl_ret_t ret = RCL_RET_OK;
 
  if (!rcl_node_is_valid(node)) {
    return RCL_RET_NODE_INVALID;
  }
 
  if (!rcl_clock_valid(clock)) {
    rcutils_reset_error();
    RCL_SET_ERROR_MSG("clock is invalid");
    return RCL_RET_ERROR;
  }
 
  RCUTILS_LOG_DEBUG_NAMED(
    ROS_PACKAGE_NAME, "Initializing service introspection for service name '%s'", service_name);
 
  // Typesupports have static lifetimes
  service_event_publisher->service_type_support = service_type_support;
  service_event_publisher->clock = clock;
  service_event_publisher->publisher_options = publisher_options;
 
  size_t topic_length = strlen(service_name) + strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX) + 1;
  service_event_publisher->service_event_topic_name = (char *) allocator.allocate(
    topic_length, allocator.state);
  RCL_CHECK_FOR_NULL_WITH_MSG(
    service_event_publisher->service_event_topic_name,
    "allocating memory for service introspection topic name failed",
    return RCL_RET_BAD_ALLOC;);
 
  snprintf(
    service_event_publisher->service_event_topic_name,
    topic_length,
    "%s%s", service_name, RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX);
 
  ret = introspection_create_publisher(service_event_publisher, node);
  if (ret != RCL_RET_OK) {
    goto free_topic_name;
  }
 
  RCUTILS_LOG_DEBUG_NAMED(
    ROS_PACKAGE_NAME, "Service introspection for service '%s' initialized", service_name);
 
  return RCL_RET_OK;
 
free_topic_name:
  allocator.deallocate(service_event_publisher->service_event_topic_name, allocator.state);
 
  return ret;
}
 
rcl_ret_t rcl_service_event_publisher_fini(
  rcl_service_event_publisher_t * service_event_publisher,
  rcl_node_t * node)
{
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ALREADY_SHUTDOWN);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_NODE_INVALID);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_PUBLISHER_INVALID);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
 
  if (!rcl_service_event_publisher_is_valid(service_event_publisher)) {
    return RCL_RET_ERROR;
  }
 
  if (!rcl_node_is_valid_except_context(node)) {
    return RCL_RET_NODE_INVALID;
  }
 
  rcl_allocator_t allocator = service_event_publisher->publisher_options.allocator;
  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "allocator is invalid", return RCL_RET_ERROR);
 
  if (service_event_publisher->publisher) {
    rcl_ret_t ret = rcl_publisher_fini(service_event_publisher->publisher, node);
    allocator.deallocate(service_event_publisher->publisher, allocator.state);
    service_event_publisher->publisher = NULL;
    if (RCL_RET_OK != ret) {
      return ret;
    }
  }
 
  allocator.deallocate(service_event_publisher->service_event_topic_name, allocator.state);
  service_event_publisher->service_event_topic_name = NULL;
 
  return RCL_RET_OK;
}
 
rcl_ret_t rcl_send_service_event_message(
  const rcl_service_event_publisher_t * service_event_publisher,
  const uint8_t event_type,
  const void * ros_response_request,
  const int64_t sequence_number,
  const uint8_t guid[16])
{
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_PUBLISHER_INVALID);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_ERROR);
  RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_BAD_ALLOC);
 
  RCL_CHECK_ARGUMENT_FOR_NULL(ros_response_request, RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_FOR_NULL_WITH_MSG(guid, "guid is NULL", return RCL_RET_INVALID_ARGUMENT);
 
  if (!rcl_service_event_publisher_is_valid(service_event_publisher)) {
    return RCL_RET_ERROR;
  }
 
  if (service_event_publisher->introspection_state == RCL_SERVICE_INTROSPECTION_OFF) {
    return RCL_RET_ERROR;
  }
 
  rcl_allocator_t allocator = service_event_publisher->publisher_options.allocator;
  RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
 
  if (!rcl_publisher_is_valid(service_event_publisher->publisher)) {
    return RCL_RET_PUBLISHER_INVALID;
  }
 
  rcl_ret_t ret;
 
  rcl_time_point_value_t now;
  ret = rcl_clock_get_now(service_event_publisher->clock, &now);
  if (RMW_RET_OK != ret) {
    rcutils_reset_error();
    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
    return RCL_RET_ERROR;
  }
 
  rosidl_service_introspection_info_t info = {
    .event_type = event_type,
    .stamp_sec = (int32_t)RCL_NS_TO_S(now),
    .stamp_nanosec = now % (1000LL * 1000LL * 1000LL),
    .sequence_number = sequence_number,
  };
 
  memcpy(info.client_gid, guid, 16);
 
  void * service_introspection_message;
  if (service_event_publisher->introspection_state == RCL_SERVICE_INTROSPECTION_METADATA) {
    ros_response_request = NULL;
  }
  switch (event_type) {
    case service_msgs__msg__ServiceEventInfo__REQUEST_RECEIVED:
    case service_msgs__msg__ServiceEventInfo__REQUEST_SENT:
      service_introspection_message =
        service_event_publisher->service_type_support->event_message_create_handle_function(
        &info, &allocator, ros_response_request, NULL);
      break;
    case service_msgs__msg__ServiceEventInfo__RESPONSE_RECEIVED:
    case service_msgs__msg__ServiceEventInfo__RESPONSE_SENT:
      service_introspection_message =
        service_event_publisher->service_type_support->event_message_create_handle_function(
        &info, &allocator, NULL, ros_response_request);
      break;
    default:
      rcutils_reset_error();
      RCL_SET_ERROR_MSG("unsupported event type");
      return RCL_RET_ERROR;
  }
  RCL_CHECK_FOR_NULL_WITH_MSG(
    service_introspection_message, "service_introspection_message is NULL", return RCL_RET_ERROR);
 
  // and publish it out!
  ret = rcl_publish(service_event_publisher->publisher, service_introspection_message, NULL);
  // clean up before error checking
  service_event_publisher->service_type_support->event_message_destroy_handle_function(
    service_introspection_message, &allocator);
  if (RCL_RET_OK != ret) {
    rcutils_reset_error();
    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
  }
 
  return ret;
}
 
rcl_ret_t
rcl_service_event_publisher_change_state(
  rcl_service_event_publisher_t * service_event_publisher,
  rcl_service_introspection_state_t introspection_state)
{
  if (!rcl_service_event_publisher_is_valid(service_event_publisher)) {
    return RCL_RET_ERROR;
  }
 
  service_event_publisher->introspection_state = introspection_state;
 
  return RCL_RET_OK;
}