simple_action_server.hpp

// 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.
 
#ifndef NAV2_UTIL__SIMPLE_ACTION_SERVER_HPP_
#define NAV2_UTIL__SIMPLE_ACTION_SERVER_HPP_
 
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <future>
#include <chrono>
#include <type_traits>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "nav2_util/node_thread.hpp"
#include "nav2_util/node_utils.hpp"
 
namespace nav2_util
{
 
template<typename ActionT>
class SimpleActionServer
{
public:
  // Callback function to complete main work. This should itself deal with its
  // own exceptions, but if for some reason one is thrown, it will be caught
  // in SimpleActionServer and terminate the action itself.
  typedef std::function<void ()> ExecuteCallback;
 
  // Callback function to notify the user that an exception was thrown that
  // the simple action server caught (or another failure) and the action was
  // terminated. To avoid using, catch exceptions in your application such that
  // the SimpleActionServer will never need to terminate based on failed action
  // ExecuteCallback.
  typedef std::function<void ()> CompletionCallback;
 
  template<typename NodeT>
  explicit SimpleActionServer(
    NodeT node,
    const std::string & action_name,
    ExecuteCallback execute_callback,
    CompletionCallback completion_callback = nullptr,
    std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500),
    bool spin_thread = false,
    const rcl_action_server_options_t & options = rcl_action_server_get_default_options(),
    const bool realtime = false)
  : SimpleActionServer(
      node->get_node_base_interface(),
      node->get_node_clock_interface(),
      node->get_node_logging_interface(),
      node->get_node_waitables_interface(),
      action_name, execute_callback, completion_callback,
      server_timeout, spin_thread, options, realtime)
  {}
 
  explicit SimpleActionServer(
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
    rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface,
    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
    rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
    const std::string & action_name,
    ExecuteCallback execute_callback,
    CompletionCallback completion_callback = nullptr,
    std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500),
    bool spin_thread = false,
    const rcl_action_server_options_t & options = rcl_action_server_get_default_options(),
    const bool realtime = false)
  : node_base_interface_(node_base_interface),
    node_clock_interface_(node_clock_interface),
    node_logging_interface_(node_logging_interface),
    node_waitables_interface_(node_waitables_interface),
    action_name_(action_name),
    execute_callback_(execute_callback),
    completion_callback_(completion_callback),
    server_timeout_(server_timeout),
    spin_thread_(spin_thread)
  {
    using namespace std::placeholders;  // NOLINT
    use_realtime_prioritization_ = realtime;
    if (spin_thread_) {
      callback_group_ = node_base_interface->create_callback_group(
        rclcpp::CallbackGroupType::MutuallyExclusive, false);
    }
    action_server_ = rclcpp_action::create_server<ActionT>(
      node_base_interface_,
      node_clock_interface_,
      node_logging_interface_,
      node_waitables_interface_,
      action_name_,
      std::bind(&SimpleActionServer::handle_goal, this, _1, _2),
      std::bind(&SimpleActionServer::handle_cancel, this, _1),
      std::bind(&SimpleActionServer::handle_accepted, this, _1),
      options,
      callback_group_);
    if (spin_thread_) {
      executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
      executor_->add_callback_group(callback_group_, node_base_interface_);
      executor_thread_ = std::make_unique<nav2_util::NodeThread>(executor_);
    }
  }
 
  rclcpp_action::GoalResponse handle_goal(
    const rclcpp_action::GoalUUID & /*uuid*/,
    std::shared_ptr<const typename ActionT::Goal>/*goal*/)
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (!server_active_) {
      RCLCPP_INFO(
        node_logging_interface_->get_logger(),
        "Action server is inactive. Rejecting the goal.");
      return rclcpp_action::GoalResponse::REJECT;
    }
 
    debug_msg("Received request for goal acceptance");
    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
  }
 
  rclcpp_action::CancelResponse handle_cancel(
    const std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> handle)
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (!handle->is_active()) {
      warn_msg(
        "Received request for goal cancellation,"
        "but the handle is inactive, so reject the request");
      return rclcpp_action::CancelResponse::REJECT;
    }
 
    debug_msg("Received request for goal cancellation");
    return rclcpp_action::CancelResponse::ACCEPT;
  }
 
  void setSoftRealTimePriority()
  {
    if (use_realtime_prioritization_) {
      nav2_util::setSoftRealTimePriority();
      debug_msg("Soft realtime prioritization successfully set!");
    }
  }
 
  void handle_accepted(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> handle)
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
    debug_msg("Receiving a new goal");
 
    if (is_active(current_handle_) || is_running()) {
      debug_msg("An older goal is active, moving the new goal to a pending slot.");
 
      if (is_active(pending_handle_)) {
        debug_msg(
          "The pending slot is occupied."
          " The previous pending goal will be terminated and replaced.");
        terminate(pending_handle_);
      }
      pending_handle_ = handle;
      preempt_requested_ = true;
    } else {
      if (is_active(pending_handle_)) {
        // Shouldn't reach a state with a pending goal but no current one.
        error_msg("Forgot to handle a preemption. Terminating the pending goal.");
        terminate(pending_handle_);
        preempt_requested_ = false;
      }
 
      current_handle_ = handle;
 
      // Return quickly to avoid blocking the executor, so spin up a new thread
      debug_msg("Executing goal asynchronously.");
      execution_future_ = std::async(
        std::launch::async, [this]() {
          setSoftRealTimePriority();
          work();
        });
    }
  }
 
  void work()
  {
    while (rclcpp::ok() && !stop_execution_ && is_active(current_handle_)) {
      debug_msg("Executing the goal...");
      try {
        execute_callback_();
      } catch (std::exception & ex) {
        RCLCPP_ERROR(
          node_logging_interface_->get_logger(),
          "Action server failed while executing action callback: \"%s\"", ex.what());
        terminate_all();
        if (completion_callback_) {completion_callback_();}
        return;
      }
 
      debug_msg("Blocking processing of new goal handles.");
      std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
      if (stop_execution_) {
        warn_msg("Stopping the thread per request.");
        terminate_all();
        if (completion_callback_) {completion_callback_();}
        break;
      }
 
      if (is_active(current_handle_)) {
        warn_msg("Current goal was not completed successfully.");
        terminate(current_handle_);
        if (completion_callback_) {completion_callback_();}
      }
 
      if (is_active(pending_handle_)) {
        debug_msg("Executing a pending handle on the existing thread.");
        accept_pending_goal();
      } else {
        debug_msg("Done processing available goals.");
        break;
      }
    }
    debug_msg("Worker thread done.");
  }
 
  void activate()
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
    server_active_ = true;
    stop_execution_ = false;
  }
 
  void deactivate()
  {
    debug_msg("Deactivating...");
 
    {
      std::lock_guard<std::recursive_mutex> lock(update_mutex_);
      server_active_ = false;
      stop_execution_ = true;
    }
 
    if (!execution_future_.valid()) {
      return;
    }
 
    if (is_running()) {
      warn_msg(
        "Requested to deactivate server but goal is still executing."
        " Should check if action server is running before deactivating.");
    }
 
    using namespace std::chrono;  //NOLINT
    auto start_time = steady_clock::now();
    while (execution_future_.wait_for(milliseconds(100)) != std::future_status::ready) {
      info_msg("Waiting for async process to finish.");
      if (steady_clock::now() - start_time >= server_timeout_) {
        terminate_all();
        if (completion_callback_) {completion_callback_();}
        error_msg("Action callback is still running and missed deadline to stop");
      }
    }
 
    debug_msg("Deactivation completed.");
  }
 
  bool is_running()
  {
    return execution_future_.valid() &&
           (execution_future_.wait_for(std::chrono::milliseconds(0)) ==
           std::future_status::timeout);
  }
 
  bool is_server_active()
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
    return server_active_;
  }
 
  bool is_preempt_requested() const
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
    return preempt_requested_;
  }
 
  const std::shared_ptr<const typename ActionT::Goal> accept_pending_goal()
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (!pending_handle_ || !pending_handle_->is_active()) {
      error_msg("Attempting to get pending goal when not available");
      return std::shared_ptr<const typename ActionT::Goal>();
    }
 
    if (is_active(current_handle_) && current_handle_ != pending_handle_) {
      debug_msg("Cancelling the previous goal");
      current_handle_->abort(empty_result());
    }
 
    current_handle_ = pending_handle_;
    pending_handle_.reset();
    preempt_requested_ = false;
 
    debug_msg("Preempted goal");
 
    return current_handle_->get_goal();
  }
 
  void terminate_pending_goal()
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (!pending_handle_ || !pending_handle_->is_active()) {
      error_msg("Attempting to terminate pending goal when not available");
      return;
    }
 
    terminate(pending_handle_);
    preempt_requested_ = false;
 
    debug_msg("Pending goal terminated");
  }
 
  const std::shared_ptr<const typename ActionT::Goal> get_current_goal() const
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (!is_active(current_handle_)) {
      error_msg("A goal is not available or has reached a final state");
      return std::shared_ptr<const typename ActionT::Goal>();
    }
 
    return current_handle_->get_goal();
  }
 
  const rclcpp_action::GoalUUID get_current_goal_id() const
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (!is_active(current_handle_)) {
      error_msg("A goal is not available or has reached a final state");
      return rclcpp_action::GoalUUID();
    }
 
    return current_handle_->get_goal_id();
  }
 
  const std::shared_ptr<const typename ActionT::Goal> get_pending_goal() const
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (!pending_handle_ || !pending_handle_->is_active()) {
      error_msg("Attempting to get pending goal when not available");
      return std::shared_ptr<const typename ActionT::Goal>();
    }
 
    return pending_handle_->get_goal();
  }
 
  bool is_cancel_requested() const
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    // A cancel request is assumed if either handle is canceled by the client.
 
    if (current_handle_ == nullptr) {
      error_msg("Checking for cancel but current goal is not available");
      return false;
    }
 
    if (pending_handle_ != nullptr) {
      return pending_handle_->is_canceling();
    }
 
    return current_handle_->is_canceling();
  }
 
  void terminate_all(
    typename std::shared_ptr<typename ActionT::Result> result =
    std::make_shared<typename ActionT::Result>())
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
    terminate(current_handle_, result);
    terminate(pending_handle_, result);
    preempt_requested_ = false;
  }
 
  void terminate_current(
    typename std::shared_ptr<typename ActionT::Result> result =
    std::make_shared<typename ActionT::Result>())
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
    terminate(current_handle_, result);
  }
 
  void succeeded_current(
    typename std::shared_ptr<typename ActionT::Result> result =
    std::make_shared<typename ActionT::Result>())
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (is_active(current_handle_)) {
      debug_msg("Setting succeed on current goal.");
      current_handle_->succeed(result);
      current_handle_.reset();
    }
  }
 
  void publish_feedback(typename std::shared_ptr<typename ActionT::Feedback> feedback)
  {
    if (!is_active(current_handle_)) {
      error_msg("Trying to publish feedback when the current goal handle is not active");
      return;
    }
 
    current_handle_->publish_feedback(feedback);
  }
 
protected:
  // The SimpleActionServer isn't itself a node, so it needs interfaces to one
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
  rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface_;
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface_;
  rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface_;
  std::string action_name_;
 
  ExecuteCallback execute_callback_;
  CompletionCallback completion_callback_;
  std::future<void> execution_future_;
  bool stop_execution_{false};
  bool use_realtime_prioritization_{false};
 
  mutable std::recursive_mutex update_mutex_;
  bool server_active_{false};
  bool preempt_requested_{false};
  std::chrono::milliseconds server_timeout_;
 
  std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> current_handle_;
  std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> pending_handle_;
 
  typename rclcpp_action::Server<ActionT>::SharedPtr action_server_;
  bool spin_thread_;
  rclcpp::CallbackGroup::SharedPtr callback_group_{nullptr};
  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
  std::unique_ptr<nav2_util::NodeThread> executor_thread_;
 
  constexpr auto empty_result() const
  {
    return std::make_shared<typename ActionT::Result>();
  }
 
  constexpr bool is_active(
    const std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> handle) const
  {
    return handle != nullptr && handle->is_active();
  }
 
  template<typename T, typename = void>
  struct has_error_msg : std::false_type {};
  template<typename T>
  struct has_error_msg<T, std::void_t<decltype(T::error_msg)>>: std::true_type {};
  template<typename T, typename = void>
  struct has_error_code : std::false_type {};
  template<typename T>
  struct has_error_code<T, std::void_t<decltype(T::error_code)>>: std::true_type {};
 
  template<typename T>
  void log_error_details_if_available(const T & result)
  {
    if constexpr (has_error_code<typename ActionT::Result>::value &&
      has_error_msg<typename ActionT::Result>::value)
    {
      warn_msg("Aborting handle. error_code:" + std::to_string(result->error_code) +
             ", error_msg:'" + result->error_msg + "'.");
    } else if constexpr (has_error_code<typename ActionT::Result>::value) {
      warn_msg("Aborting handle. error_code:" + std::to_string(result->error_code) + ".");
    } else {
      warn_msg("Aborting handle.");
    }
  }
 
  void terminate(
    std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> & handle,
    typename std::shared_ptr<typename ActionT::Result> result =
    std::make_shared<typename ActionT::Result>())
  {
    std::lock_guard<std::recursive_mutex> lock(update_mutex_);
 
    if (is_active(handle)) {
      if (handle->is_canceling()) {
        info_msg("Client requested to cancel the goal. Cancelling.");
        handle->canceled(result);
      } else {
        log_error_details_if_available(result);
        handle->abort(result);
      }
      handle.reset();
    }
  }
 
  void info_msg(const std::string & msg) const
  {
    RCLCPP_INFO(
      node_logging_interface_->get_logger(),
      "[%s] [ActionServer] %s", action_name_.c_str(), msg.c_str());
  }
 
  void debug_msg(const std::string & msg) const
  {
    RCLCPP_DEBUG(
      node_logging_interface_->get_logger(),
      "[%s] [ActionServer] %s", action_name_.c_str(), msg.c_str());
  }
 
  void error_msg(const std::string & msg) const
  {
    RCLCPP_ERROR(
      node_logging_interface_->get_logger(),
      "[%s] [ActionServer] %s", action_name_.c_str(), msg.c_str());
  }
 
  void warn_msg(const std::string & msg) const
  {
    RCLCPP_WARN(
      node_logging_interface_->get_logger(),
      "[%s] [ActionServer] %s", action_name_.c_str(), msg.c_str());
  }
};
 
}  // namespace nav2_util
 
#endif   // NAV2_UTIL__SIMPLE_ACTION_SERVER_HPP_