lifecycle_utils.cpp

// Copyright (c) 2019 Intel Corporation
//
// 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 <chrono>
#include <string>
#include <thread>
#include <vector>
 
#include "lifecycle_msgs/srv/change_state.hpp"
#include "lifecycle_msgs/srv/get_state.hpp"
#include "nav2_util/lifecycle_service_client.hpp"
 
using std::string;
using lifecycle_msgs::msg::Transition;
 
namespace nav2_util
{
 
#define RETRY(fn, retries) \
  { \
    int count = 0; \
    while (true) { \
      try { \
        fn; \
        break; \
      } catch (std::runtime_error & e) { \
        ++count; \
        if (count > (retries)) { \
          throw e;} \
      } \
    } \
  }
 
static void startupLifecycleNode(
  const std::string & node_name,
  const std::chrono::seconds service_call_timeout,
  const int retries)
{
  LifecycleServiceClient sc(node_name);
 
  // Despite waiting for the service to be available and using reliable transport
  // service calls still frequently hang. To get reliable startup it's necessary
  // to timeout the service call and retry it when that happens.
  RETRY(
    sc.change_state(Transition::TRANSITION_CONFIGURE, service_call_timeout),
    retries);
  RETRY(
    sc.change_state(Transition::TRANSITION_ACTIVATE, service_call_timeout),
    retries);
}
 
void startup_lifecycle_nodes(
  const std::vector<std::string> & node_names,
  const std::chrono::seconds service_call_timeout,
  const int retries)
{
  for (const auto & node_name : node_names) {
    startupLifecycleNode(node_name, service_call_timeout, retries);
  }
}
 
static void resetLifecycleNode(
  const std::string & node_name,
  const std::chrono::seconds service_call_timeout,
  const int retries)
{
  LifecycleServiceClient sc(node_name);
 
  // Despite waiting for the service to be available and using reliable transport
  // service calls still frequently hang. To get reliable reset it's necessary
  // to timeout the service call and retry it when that happens.
  RETRY(
    sc.change_state(Transition::TRANSITION_DEACTIVATE, service_call_timeout),
    retries);
  RETRY(
    sc.change_state(Transition::TRANSITION_CLEANUP, service_call_timeout),
    retries);
}
 
void reset_lifecycle_nodes(
  const std::vector<std::string> & node_names,
  const std::chrono::seconds service_call_timeout,
  const int retries)
{
  for (const auto & node_name : node_names) {
    resetLifecycleNode(node_name, service_call_timeout, retries);
  }
}
 
}  // namespace nav2_util