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@pre-commit-ci @lexavtanke
pre-commit-ci[bot] authored and lexavtanke committed Feb 14, 2024
1 parent 74edf54 commit ea0e8e2
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Showing 5 changed files with 87 additions and 97 deletions.
9 changes: 5 additions & 4 deletions common/autoware_control_center/src/autoware_control_center.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ AutowareControlCenter::AutowareControlCenter(const rclcpp::NodeOptions & options
std::chrono::milliseconds lease_duration_(get_parameter("lease_duration").as_int());

callback_group_mut_ex_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);

using std::placeholders::_1;
using std::placeholders::_2;
srv_register_ = create_service<autoware_control_center_msgs::srv::AutowareNodeRegister>(
Expand Down Expand Up @@ -126,7 +126,7 @@ void AutowareControlCenter::startup_callback()
// check if some node has been registered
if (node_registry_.is_empty()) {
RCLCPP_INFO(get_logger(), "Node register map is empty. Countdown is %d", countdown);
}
}
if (countdown < 1 && node_registry_.is_empty() && startup) {
RCLCPP_INFO(
get_logger(), "Startup timeout is over. Map is empty. Start re-registering procedure.");
Expand All @@ -149,7 +149,7 @@ void AutowareControlCenter::startup_callback()
rclcpp::Client<autoware_control_center_msgs::srv::AutowareControlCenterDeregister>::SharedPtr
dereg_client_ =

Check warning on line 150 in common/autoware_control_center/src/autoware_control_center.cpp

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Unknown word (dereg)
create_client<autoware_control_center_msgs::srv::AutowareControlCenterDeregister>(
pair.first);
pair.first);
autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Request::SharedPtr req =
std::make_shared<
autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Request>();
Expand All @@ -162,7 +162,8 @@ void AutowareControlCenter::startup_callback()
auto response_received_callback = [this](ServiceResponseFuture future) {
auto response = future.get();
RCLCPP_INFO(
get_logger(), "Deregister response: %d, %s", response->status.status, response->name_node.c_str());
get_logger(), "Deregister response: %d, %s", response->status.status,
response->name_node.c_str());

if (response->status.status == 1) {
RCLCPP_INFO(get_logger(), "Node was deregistered");
Expand Down
105 changes: 47 additions & 58 deletions common/autoware_node/include/autoware_node/autoware_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,10 @@
#define AUTOWARE_NODE__AUTOWARE_NODE_HPP_

#include "autoware_node/visibility_control.hpp"
#include "rclcpp/message_memory_strategy.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/subscription_options.hpp"
#include "rclcpp/subscription_traits.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

#include "autoware_control_center_msgs/msg/autoware_node_state.hpp"
Expand All @@ -24,11 +28,6 @@
#include "autoware_control_center_msgs/srv/autoware_node_error.hpp"
#include "autoware_control_center_msgs/srv/autoware_node_register.hpp"

#include "rclcpp/subscription_options.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/subscription_traits.hpp"
#include "rclcpp/message_memory_strategy.hpp"

#include <string>

namespace autoware_node
Expand All @@ -42,69 +41,59 @@ class AutowareNode : public rclcpp_lifecycle::LifecycleNode
const std::string & node_name, const std::string & ns = "",
const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

template<
typename MessageT,
typename CallbackT,
typename AllocatorT = std::allocator<void>,
typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
template <
typename MessageT, typename CallbackT, typename AllocatorT = std::allocator<void>,
typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
std::shared_ptr<SubscriptionT> create_monitored_subscription(
const std::string & topic_name,
const float hz,
const rclcpp::QoS & qos,
CallbackT && callback,
const rclcpp::SubscriptionOptions & options =
rclcpp::SubscriptionOptions(),
typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
MessageMemoryStrategyT::create_default()
)
)
const std::string & topic_name, const float hz, const rclcpp::QoS & qos, CallbackT && callback,
const rclcpp::SubscriptionOptions & options = rclcpp::SubscriptionOptions(),
typename MessageMemoryStrategyT::SharedPtr msg_mem_strat =
(MessageMemoryStrategyT::create_default()))
{
// create proper qos based on input parameter
// update lease duration and deadline in qos
// create proper qos based on input parameter
// update lease duration and deadline in qos
RCLCPP_INFO(get_logger(), "Create monitored subscription to topic %s", topic_name.c_str());
std::chrono::milliseconds lease_duration{static_cast<int>(1.0 / hz * 1000 * 1.1)}; // add 10 % gap to lease duration (buffer)
std::chrono::milliseconds lease_duration{
static_cast<int>(1.0 / hz * 1000 * 1.1)}; // add 10 % gap to lease duration (buffer)
rclcpp::QoS qos_profile = qos;
qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
.liveliness_lease_duration(lease_duration)
.deadline(lease_duration);

rclcpp::SubscriptionOptions sub_options = options;
sub_options.event_callbacks.deadline_callback =
[=](rclcpp::QOSDeadlineRequestedInfo& event) -> void {
RCLCPP_ERROR(get_logger(), "Requested deadline missed - total %d delta %d",
event.total_count, event.total_count_change);
// NodeError service call
std::string msg = "Deadline for topic " + topic_name + " was missed.";
autoware_control_center_msgs::msg::AutowareNodeState node_state;
node_state.status = autoware_control_center_msgs::msg::AutowareNodeState::ERROR;
send_state(node_state, msg);
};

sub_options.event_callbacks.liveliness_callback =
sub_options.event_callbacks.deadline_callback =
[=](rclcpp::QOSDeadlineRequestedInfo & event) -> void {
RCLCPP_ERROR(
get_logger(), "Requested deadline missed - total %d delta %d", event.total_count,
event.total_count_change);
// NodeError service call
std::string msg = "Deadline for topic " + topic_name + " was missed.";
autoware_control_center_msgs::msg::AutowareNodeState node_state;
node_state.status = autoware_control_center_msgs::msg::AutowareNodeState::ERROR;
send_state(node_state, msg);
};

sub_options.event_callbacks.liveliness_callback =
[=](rclcpp::QOSLivelinessChangedInfo & event) -> void {
RCLCPP_INFO(get_logger(), "%s topic liveliness info changed", topic_name.c_str());
printf("Reader Liveliness changed event: \n");
printf(" alive_count: %d\n", event.alive_count);
printf(" not_alive_count: %d\n", event.not_alive_count);
printf(" alive_count_change: %d\n", event.alive_count_change);
printf(" not_alive_count_change: %d\n", event.not_alive_count_change);
if (event.alive_count == 0) {
RCLCPP_ERROR(get_logger(), "%s topic publisher is not alive.", topic_name.c_str());
// NodeError service call
std::string msg = topic_name + " topic publisher is not alive.";
autoware_control_center_msgs::msg::AutowareNodeState node_state;
node_state.status = autoware_control_center_msgs::msg::AutowareNodeState::ERROR;
send_state(node_state, msg);
}
};

return create_subscription<MessageT> (
topic_name,
qos_profile,
std::forward<CallbackT>(callback),
sub_options,
msg_mem_strat);
RCLCPP_INFO(get_logger(), "%s topic liveliness info changed", topic_name.c_str());
printf("Reader Liveliness changed event: \n");
printf(" alive_count: %d\n", event.alive_count);
printf(" not_alive_count: %d\n", event.not_alive_count);
printf(" alive_count_change: %d\n", event.alive_count_change);
printf(" not_alive_count_change: %d\n", event.not_alive_count_change);
if (event.alive_count == 0) {
RCLCPP_ERROR(get_logger(), "%s topic publisher is not alive.", topic_name.c_str());
// NodeError service call
std::string msg = topic_name + " topic publisher is not alive.";
autoware_control_center_msgs::msg::AutowareNodeState node_state;
node_state.status = autoware_control_center_msgs::msg::AutowareNodeState::ERROR;
send_state(node_state, msg);
}
};

return create_subscription<MessageT>(
topic_name, qos_profile, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
}

rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
Expand Down
1 change: 0 additions & 1 deletion common/test_node/include/test_node/test_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "test_node/visibility_control.hpp"


#include "std_msgs/msg/string.hpp"
namespace test_node
{
Expand Down
6 changes: 3 additions & 3 deletions common/test_node/src/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,15 +21,15 @@ namespace test_node

using std::placeholders::_1;


TestNode::TestNode(const rclcpp::NodeOptions & options)
: autoware_node::AutowareNode("test_node", "", options)
{
RCLCPP_INFO(
get_logger(), "TestNode constructor with name %s",
autoware_node::AutowareNode::self_name.c_str());
monitored_subscription_ = autoware_node::AutowareNode::create_monitored_subscription<std_msgs::msg::String>(
"topic", 10, 10, std::bind(&TestNode::topic_callback, this, _1));
monitored_subscription_ =
autoware_node::AutowareNode::create_monitored_subscription<std_msgs::msg::String>(
"topic", 10, 10, std::bind(&TestNode::topic_callback, this, _1));
}

void TestNode::topic_callback(const std_msgs::msg::String::SharedPtr msg)
Expand Down
63 changes: 32 additions & 31 deletions common/test_node/src/test_pub.cpp
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Original file line number Diff line number Diff line change
@@ -1,45 +1,46 @@
#include "rclcpp/rclcpp.hpp"

#include "std_msgs/msg/string.hpp"

#include <chrono>
#include <functional>
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

/* This example creates a subclass of Node and uses std::bind() to register a
* member function as a callback from the timer. */
* member function as a callback from the timer. */

class MinimalPublisher : public rclcpp::Node
{
public:
MinimalPublisher()
: Node("minimal_publisher"), count_(0)
{
rclcpp::QoS qos_profile(10);
declare_parameter<int>("hz", 10);
int hz = get_parameter("hz").as_int();
std::chrono::milliseconds timer_period{static_cast<int>(1.0 / hz * 1000)};
std::chrono::milliseconds lease_duration{static_cast<int>(1.0 / hz * 1000 * 1.1)};
qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
.liveliness_lease_duration(lease_duration)
.deadline(lease_duration);
publisher_ = this->create_publisher<std_msgs::msg::String>("topic", qos_profile);
timer_ = this->create_wall_timer(timer_period, std::bind(&MinimalPublisher::timer_callback, this));
}
public:
MinimalPublisher() : Node("minimal_publisher"), count_(0)
{
rclcpp::QoS qos_profile(10);
declare_parameter<int>("hz", 10);
int hz = get_parameter("hz").as_int();
std::chrono::milliseconds timer_period{static_cast<int>(1.0 / hz * 1000)};
std::chrono::milliseconds lease_duration{static_cast<int>(1.0 / hz * 1000 * 1.1)};
qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
.liveliness_lease_duration(lease_duration)
.deadline(lease_duration);
publisher_ = this->create_publisher<std_msgs::msg::String>("topic", qos_profile);
timer_ =
this->create_wall_timer(timer_period, std::bind(&MinimalPublisher::timer_callback, this));
}

private:
void timer_callback()
{
auto message = std_msgs::msg::String();
message.data = "Hello, world! " + std::to_string(count_++);
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
publisher_->publish(message);
}
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
size_t count_;
private:
void timer_callback()
{
auto message = std_msgs::msg::String();
message.data = "Hello, world! " + std::to_string(count_++);
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
publisher_->publish(message);
}
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
size_t count_;
};

int main(int argc, char * argv[])
Expand All @@ -48,4 +49,4 @@ int main(int argc, char * argv[])
rclcpp::spin(std::make_shared<MinimalPublisher>());
rclcpp::shutdown();
return 0;
}
}

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