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// Copyright 2019 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 <functional>
#include <memory>
#include <mutex>
#include <stdexcept>
#include <string>
#include <vector>
#include "rcl/error_handling.h"
#include "rcl/event.h"
#include "rmw/impl/cpp/demangle.hpp"
#include "rclcpp/detail/cpp_callback_trampoline.hpp"
#include "rclcpp/event_handler.hpp"
#include "rclcpp/exceptions/exceptions.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/timer.hpp"
namespace rclcpp
{
UnsupportedEventTypeException::UnsupportedEventTypeException(
rcl_ret_t ret,
const rcl_error_state_t * error_state,
const std::string & prefix)
: UnsupportedEventTypeException(exceptions::RCLErrorBase(ret, error_state), prefix)
{}
UnsupportedEventTypeException::UnsupportedEventTypeException(
const exceptions::RCLErrorBase & base_exc,
const std::string & prefix)
: exceptions::RCLErrorBase(base_exc),
std::runtime_error(prefix + (prefix.empty() ? "" : ": ") + base_exc.formatted_message)
{}
EventHandlerBase::~EventHandlerBase()
{
if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Error in destruction of rcl event handle: %s", rcl_get_error_string().str);
rcl_reset_error();
}
}
/// Get the number of ready events.
size_t
EventHandlerBase::get_number_of_ready_events()
{
return 1;
}
/// Add the Waitable to a wait set.
void
EventHandlerBase::add_to_wait_set(rcl_wait_set_t & wait_set)
{
rcl_ret_t ret = rcl_wait_set_add_event(&wait_set, &event_handle_, &wait_set_event_index_);
if (RCL_RET_OK != ret) {
exceptions::throw_from_rcl_error(ret, "Couldn't add event to wait set");
}
}
/// Check if the Waitable is ready.
bool
EventHandlerBase::is_ready(const rcl_wait_set_t & wait_set)
{
return wait_set.events[wait_set_event_index_] == &event_handle_;
}
void
EventHandlerBase::set_on_new_event_callback(
rcl_event_callback_t callback,
const void * user_data)
{
rcl_ret_t ret = rcl_event_set_callback(
&event_handle_,
callback,
user_data);
if (RCL_RET_OK != ret) {
using rclcpp::exceptions::throw_from_rcl_error;
throw_from_rcl_error(ret, "failed to set the on new message callback for Event");
}
}
void
EventHandlerBase::set_on_ready_callback(std::function<void(size_t, int)> callback)
{
if (!callback) {
throw std::invalid_argument(
"The callback passed to set_on_ready_callback "
"is not callable.");
}
// Note: we bind the int identifier argument to this waitable's entity types
auto new_callback =
[callback, this](size_t number_of_events) {
try {
callback(number_of_events, static_cast<int>(EntityType::Event));
} catch (const std::exception & exception) {
RCLCPP_ERROR_STREAM(
// TODO(wjwwood): get this class access to the node logger it is associated with
rclcpp::get_logger("rclcpp"),
"rclcpp::EventHandlerBase@" << this <<
" caught " << rmw::impl::cpp::demangle(exception) <<
" exception in user-provided callback for the 'on ready' callback: " <<
exception.what());
} catch (...) {
RCLCPP_ERROR_STREAM(
rclcpp::get_logger("rclcpp"),
"rclcpp::EventHandlerBase@" << this <<
" caught unhandled exception in user-provided callback " <<
"for the 'on ready' callback");
}
};
std::lock_guard<std::recursive_mutex> lock(on_new_event_callback_mutex_);
// Set it temporarily to the new callback, while we replace the old one.
// This two-step setting, prevents a gap where the old std::function has
// been replaced but the middleware hasn't been told about the new one yet.
set_on_new_event_callback(
rclcpp::detail::cpp_callback_trampoline<decltype(new_callback), const void *, size_t>,
static_cast<const void *>(&new_callback));
// Store the std::function to keep it in scope, also overwrites the existing one.
on_new_event_callback_ = new_callback;
// Set it again, now using the permanent storage.
set_on_new_event_callback(
rclcpp::detail::cpp_callback_trampoline<
decltype(on_new_event_callback_), const void *, size_t>,
static_cast<const void *>(&on_new_event_callback_));
}
void
EventHandlerBase::clear_on_ready_callback()
{
std::lock_guard<std::recursive_mutex> lock(on_new_event_callback_mutex_);
if (on_new_event_callback_) {
set_on_new_event_callback(nullptr, nullptr);
on_new_event_callback_ = nullptr;
}
}
std::vector<std::shared_ptr<rclcpp::TimerBase>>
EventHandlerBase::get_timers() const
{
return {};
}
} // namespace rclcpp