any_service_callback.hpp

// Copyright 2015 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__ANY_SERVICE_CALLBACK_HPP_
#define RCLCPP__ANY_SERVICE_CALLBACK_HPP_
 
#include <variant>
#include <functional>
#include <memory>
#include <stdexcept>
#include <type_traits>
#include <utility>
 
#include "rclcpp/function_traits.hpp"
#include "rmw/types.h"
#include "tracetools/tracetools.h"
#include "tracetools/utils.hpp"
 
namespace rclcpp
{
 
namespace detail
{
template<typename T, typename = void>
struct can_be_nullptr : std::false_type {};
 
// Some lambdas define a comparison with nullptr,
// but we see a warning that they can never be null when using it.
// We also test if `T &` can be assigned to `nullptr` to avoid the issue.
template<typename T>
#ifdef __QNXNTO__
struct can_be_nullptr<T, std::void_t<
    decltype(std::declval<T>() == nullptr)>>: std::true_type {};
#else
struct can_be_nullptr<T, std::void_t<
    decltype(std::declval<T>() == nullptr), decltype(std::declval<T &>() = nullptr)>>
  : std::true_type {};
#endif
}  // namespace detail
 
// Forward declare
template<typename ServiceT>
class Service;
 
template<typename ServiceT>
class AnyServiceCallback
{
public:
  AnyServiceCallback()
  : callback_(std::monostate{})
  {}
 
  template<
    typename CallbackT,
    typename std::enable_if_t<!detail::can_be_nullptr<CallbackT>::value, int> = 0>
  void
  set(CallbackT && callback)
  {
    // Workaround Windows issue with std::bind
    if constexpr (
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrCallback
      >::value)
    {
      callback_.template emplace<SharedPtrCallback>(callback);
    } else if constexpr (  // NOLINT, can't satisfy both cpplint and uncrustify
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrWithRequestHeaderCallback
      >::value)
    {
      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrDeferResponseCallback
      >::value)
    {
      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrDeferResponseCallbackWithServiceHandle
      >::value)
    {
      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        ConstRefCallback
      >::value)
    {
      callback_.template emplace<ConstRefCallback>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        ConstRefWithRequestHeaderCallback
      >::value)
    {
      callback_.template emplace<ConstRefWithRequestHeaderCallback>(callback);
    } else {
      // the else clause is not needed, but anyways we should only be doing this instead
      // of all the above workaround ...
      callback_ = std::forward<CallbackT>(callback);
    }
  }
 
  template<
    typename CallbackT,
    typename std::enable_if_t<detail::can_be_nullptr<CallbackT>::value, int> = 0>
  void
  set(CallbackT && callback)
  {
    if (!callback) {
      throw std::invalid_argument("AnyServiceCallback::set(): callback cannot be nullptr");
    }
    // Workaround Windows issue with std::bind
    if constexpr (
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrCallback
      >::value)
    {
      callback_.template emplace<SharedPtrCallback>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrWithRequestHeaderCallback
      >::value)
    {
      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrDeferResponseCallback
      >::value)
    {
      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        SharedPtrDeferResponseCallbackWithServiceHandle
      >::value)
    {
      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        ConstRefCallback
      >::value)
    {
      callback_.template emplace<ConstRefCallback>(callback);
    } else if constexpr (  // NOLINT
      rclcpp::function_traits::same_arguments<
        CallbackT,
        ConstRefWithRequestHeaderCallback
      >::value)
    {
      callback_.template emplace<ConstRefWithRequestHeaderCallback>(callback);
    } else {
      // the else clause is not needed, but anyways we should only be doing this instead
      // of all the above workaround ...
      callback_ = std::forward<CallbackT>(callback);
    }
  }
 
  // template<typename Allocator = std::allocator<typename ServiceT::Response>>
  std::shared_ptr<typename ServiceT::Response>
  dispatch(
    const std::shared_ptr<rclcpp::Service<ServiceT>> & service_handle,
    const std::shared_ptr<rmw_request_id_t> & request_header,
    std::shared_ptr<typename ServiceT::Request> request)
  {
    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
    if (std::holds_alternative<std::monostate>(callback_)) {
      // TODO(ivanpauno): Remove the set method, and force the users of this class
      // to pass a callback at construnciton.
      throw std::runtime_error{"unexpected request without any callback set"};
    }
    if (std::holds_alternative<SharedPtrDeferResponseCallback>(callback_)) {
      const auto & cb = std::get<SharedPtrDeferResponseCallback>(callback_);
      cb(request_header, std::move(request));
      TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
      return nullptr;
    }
    if (std::holds_alternative<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_)) {
      const auto & cb = std::get<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_);
      cb(service_handle, request_header, std::move(request));
      TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
      return nullptr;
    }
    // auto response = allocate_shared<typename ServiceT::Response, Allocator>();
    auto response = std::make_shared<typename ServiceT::Response>();
    if (std::holds_alternative<SharedPtrCallback>(callback_)) {
      (void)request_header;
      const auto & cb = std::get<SharedPtrCallback>(callback_);
      cb(std::move(request), response);
    } else if (std::holds_alternative<SharedPtrWithRequestHeaderCallback>(callback_)) {
      const auto & cb = std::get<SharedPtrWithRequestHeaderCallback>(callback_);
      cb(request_header, std::move(request), response);
    } else if (std::holds_alternative<ConstRefCallback>(callback_)) {
      if (nullptr == request) {
        throw std::runtime_error("dispatch called with a null request");
      }
      const auto & cb = std::get<ConstRefCallback>(callback_);
      cb(*request, *response);
    } else if (std::holds_alternative<ConstRefWithRequestHeaderCallback>(callback_)) {
      if (nullptr == request_header || nullptr == request) {
        throw std::runtime_error("dispatch called with a null request header or request");
      }
      const auto & cb = std::get<ConstRefWithRequestHeaderCallback>(callback_);
      cb(*request_header, *request, *response);
    }
    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
    return response;
  }
 
  void register_callback_for_tracing()
  {
#ifndef TRACETOOLS_DISABLED
    std::visit(
      [this](auto && arg) {
        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
          char * symbol = tracetools::get_symbol(arg);
          TRACETOOLS_DO_TRACEPOINT(
            rclcpp_callback_register,
            static_cast<const void *>(this),
            symbol);
          std::free(symbol);
        }
      }, callback_);
#endif  // TRACETOOLS_DISABLED
  }
 
private:
  using SharedPtrCallback = std::function<
    void (
      std::shared_ptr<typename ServiceT::Request>,
      std::shared_ptr<typename ServiceT::Response>
    )>;
  using SharedPtrWithRequestHeaderCallback = std::function<
    void (
      std::shared_ptr<rmw_request_id_t>,
      std::shared_ptr<typename ServiceT::Request>,
      std::shared_ptr<typename ServiceT::Response>
    )>;
  using SharedPtrDeferResponseCallback = std::function<
    void (
      std::shared_ptr<rmw_request_id_t>,
      std::shared_ptr<typename ServiceT::Request>
    )>;
  using SharedPtrDeferResponseCallbackWithServiceHandle = std::function<
    void (
      std::shared_ptr<rclcpp::Service<ServiceT>>,
      std::shared_ptr<rmw_request_id_t>,
      std::shared_ptr<typename ServiceT::Request>
    )>;
  // The request and response are received as shared pointers and dereferenced before
  // calling the user callback, like AnySubscriptionCallback does for `const MessageT &`.
  using ConstRefCallback = std::function<
    void (
      const typename ServiceT::Request &,
      typename ServiceT::Response &
    )>;
  using ConstRefWithRequestHeaderCallback = std::function<
    void (
      const rmw_request_id_t &,
      const typename ServiceT::Request &,
      typename ServiceT::Response &
    )>;
 
  std::variant<
    std::monostate,
    SharedPtrCallback,
    SharedPtrWithRequestHeaderCallback,
    SharedPtrDeferResponseCallback,
    SharedPtrDeferResponseCallbackWithServiceHandle,
    ConstRefCallback,
    ConstRefWithRequestHeaderCallback> callback_;
};
 
}  // namespace rclcpp
 
#endif  // RCLCPP__ANY_SERVICE_CALLBACK_HPP_