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@jhurliman
jhurliman committed Feb 27, 2024
1 parent 1f7a2fe commit 2310f75
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Showing 23 changed files with 1,900 additions and 1,958 deletions.
2 changes: 1 addition & 1 deletion foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -759,7 +759,7 @@ inline void Server<ServerConfiguration>::handleBinaryMessage(ConnHandle hdl, Mes
length,
data};
_handlers.clientMessageHandler(clientMessage, hdl);
} catch (const ServiceError const& e) {
} catch (ServiceError const& e) {
sendStatusAndLogMsg(hdl, StatusLevel::Error, e.what());
} catch (std::exception const& e) {
sendStatusAndLogMsg(hdl, StatusLevel::Error,
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169 changes: 83 additions & 86 deletions ros2_foxglove_bridge/include/ros2_babel_fish/babel_fish.hpp
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Original file line number Diff line number Diff line change
@@ -1,9 +1,12 @@
// Copyright (c) 2021 Stefan Fabian. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
// Licensed under the MIT license. See LICENSE file in the project root for full license
// information.

#ifndef ROS2_BABEL_FISH_BABEL_FISH_HPP
#define ROS2_BABEL_FISH_BABEL_FISH_HPP

#include <rclcpp/node.hpp>

#include "ros2_babel_fish/detail/babel_fish_action_client.hpp"
#include "ros2_babel_fish/detail/babel_fish_publisher.hpp"
#include "ros2_babel_fish/detail/babel_fish_service.hpp"
Expand All @@ -14,19 +17,14 @@
#include "ros2_babel_fish/messages/compound_message.hpp"
#include "ros2_babel_fish/messages/value_message.hpp"

#include <rclcpp/node.hpp>

namespace ros2_babel_fish
{
namespace ros2_babel_fish {

/*!
* Allows communication using message types that are not known at compile time.
*/
class BabelFish : public std::enable_shared_from_this<BabelFish>
{

class BabelFish : public std::enable_shared_from_this<BabelFish> {
public:
RCLCPP_SMART_PTR_DEFINITIONS( BabelFish )
RCLCPP_SMART_PTR_DEFINITIONS(BabelFish)

/*!
* Constructs an instance of BabelFish with a new instance of the default description provider.
Expand All @@ -35,111 +33,110 @@ class BabelFish : public std::enable_shared_from_this<BabelFish>
*/
BabelFish();

explicit BabelFish( std::vector<TypeSupportProvider::SharedPtr> type_support_providers );
explicit BabelFish(std::vector<TypeSupportProvider::SharedPtr> type_support_providers);

~BabelFish();

//! Wrapper for create_subscription without type.
template<typename CallbackT>
BabelFishSubscription::SharedPtr
create_subscription( rclcpp::Node &node, const std::string &topic, const rclcpp::QoS &qos,
CallbackT &&callback, rclcpp::CallbackGroup::SharedPtr group = nullptr,
rclcpp::SubscriptionOptions options = {},
std::chrono::nanoseconds timeout = std::chrono::nanoseconds( -1 ) )
{
template <typename CallbackT>
BabelFishSubscription::SharedPtr create_subscription(
rclcpp::Node& node, const std::string& topic, const rclcpp::QoS& qos, CallbackT&& callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr, rclcpp::SubscriptionOptions options = {},
std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1)) {
#if RCLCPP_VERSION_MAJOR >= 9
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> any_callback;
#else
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> any_callback(
options.get_allocator() );
options.get_allocator());
#endif
any_callback.set( std::forward<CallbackT>( callback ) );
return create_subscription( node, topic, qos, any_callback, std::move( group ),
std::move( options ), timeout );
any_callback.set(std::forward<CallbackT>(callback));
return create_subscription(node, topic, qos, any_callback, std::move(group), std::move(options),
timeout);
}

/*!
* This method will wait for the given topic until timeout expired (if a timeout is set) or the topic becomes available.
* As soon as the topic is available, it will create a subscription for the topic with the passed options.
* @param qos The quality of service options. Can be a number which will be the queue size, i.e., number of messages
* to queue for processing before dropping messages if the processing can't keep up.
* @param timeout The maximum time this call will block before returning. Set to 0 to not block at all.
* @return A subscription if the topic became available before the timeout expired or a nullptr otherwise.
* This method will wait for the given topic until timeout expired (if a timeout is set) or the
* topic becomes available. As soon as the topic is available, it will create a subscription for
* the topic with the passed options.
* @param qos The quality of service options. Can be a number which will be the queue size, i.e.,
* number of messages to queue for processing before dropping messages if the processing can't
* keep up.
* @param timeout The maximum time this call will block before returning. Set to 0 to not block at
* all.
* @return A subscription if the topic became available before the timeout expired or a nullptr
* otherwise.
*
* @throws BabelFishException If the message type for the given topic could not be loaded or a subscription could not
* be created for any other reason.
* @throws BabelFishException If the message type for the given topic could not be loaded or a
* subscription could not be created for any other reason.
*/
BabelFishSubscription::SharedPtr create_subscription(
rclcpp::Node &node, const std::string &topic, const rclcpp::QoS &qos,
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr, rclcpp::SubscriptionOptions options = {},
std::chrono::nanoseconds timeout = std::chrono::nanoseconds( -1 ) );
rclcpp::Node& node, const std::string& topic, const rclcpp::QoS& qos,
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr, rclcpp::SubscriptionOptions options = {},
std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));

//! Wrapper for create_subscription using type.
template<typename CallbackT>
BabelFishSubscription::SharedPtr
create_subscription( rclcpp::Node &node, const std::string &topic, const std::string &type,
const rclcpp::QoS &qos, CallbackT &&callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr,
rclcpp::SubscriptionOptions options = {} )
{
template <typename CallbackT>
BabelFishSubscription::SharedPtr create_subscription(
rclcpp::Node& node, const std::string& topic, const std::string& type, const rclcpp::QoS& qos,
CallbackT&& callback, rclcpp::CallbackGroup::SharedPtr group = nullptr,
rclcpp::SubscriptionOptions options = {}) {
#if RCLCPP_VERSION_MAJOR >= 9
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> any_callback;
#else
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> any_callback(
options.get_allocator() );
options.get_allocator());
#endif
any_callback.set( std::forward<CallbackT>( callback ) );
return create_subscription( node, topic, type, qos, any_callback, std::move( group ),
std::move( options ) );
any_callback.set(std::forward<CallbackT>(callback));
return create_subscription(node, topic, type, qos, any_callback, std::move(group),
std::move(options));
}

/*!
* This method will create a subscription for the given topic using the given message type.
* Since the message type is provided, it will not wait for the topic to become available.
* @param type The message type name for the given topic. E.g.: geometry_msgs/msg/Pose
* @param qos The quality of service options. Can be a number which will be the queue size, i.e., number of messages
* to queue for processing before dropping messages if the processing can't keep up.´
* @param qos The quality of service options. Can be a number which will be the queue size, i.e.,
* number of messages to queue for processing before dropping messages if the processing can't
* keep up.´
* @return A subscription to the given topic with the given message type.
*
* @throws BabelFishException If the given message type could not be loaded or a subscription could not
* be created for any other reason.
* @throws BabelFishException If the given message type could not be loaded or a subscription
* could not be created for any other reason.
*/
BabelFishSubscription::SharedPtr create_subscription(
rclcpp::Node &node, const std::string &topic, const std::string &type, const rclcpp::QoS &qos,
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr, rclcpp::SubscriptionOptions options = {} );

BabelFishPublisher::SharedPtr create_publisher( rclcpp::Node &node, const std::string &topic,
const std::string &type, const rclcpp::QoS &qos,
rclcpp::PublisherOptions options = {} );

template<typename CallbackT>
BabelFishService::SharedPtr
create_service( rclcpp::Node &node, const std::string &service_name, const std::string &type,
CallbackT &&callback,
const rmw_qos_profile_t &qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr )
{
AnyServiceCallback any_callback( std::forward<CallbackT>( callback ) );
return create_service( node, service_name, type, any_callback, qos_profile, group );
rclcpp::Node& node, const std::string& topic, const std::string& type, const rclcpp::QoS& qos,
rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr, rclcpp::SubscriptionOptions options = {});

BabelFishPublisher::SharedPtr create_publisher(rclcpp::Node& node, const std::string& topic,
const std::string& type, const rclcpp::QoS& qos,
rclcpp::PublisherOptions options = {});

template <typename CallbackT>
BabelFishService::SharedPtr create_service(
rclcpp::Node& node, const std::string& service_name, const std::string& type,
CallbackT&& callback, const rmw_qos_profile_t& qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr) {
AnyServiceCallback any_callback(std::forward<CallbackT>(callback));
return create_service(node, service_name, type, any_callback, qos_profile, group);
}

BabelFishService::SharedPtr
create_service( rclcpp::Node &node, const std::string &service_name, const std::string &type,
AnyServiceCallback callback,
const rmw_qos_profile_t &qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr );
BabelFishService::SharedPtr create_service(
rclcpp::Node& node, const std::string& service_name, const std::string& type,
AnyServiceCallback callback,
const rmw_qos_profile_t& qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr);

BabelFishServiceClient::SharedPtr
create_service_client( rclcpp::Node &node, const std::string &service_name, const std::string &type,
const rmw_qos_profile_t &qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr );
BabelFishServiceClient::SharedPtr create_service_client(
rclcpp::Node& node, const std::string& service_name, const std::string& type,
const rmw_qos_profile_t& qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr);

BabelFishActionClient::SharedPtr create_action_client(
rclcpp::Node &node, const std::string &name, const std::string &type,
const rcl_action_client_options_t &options = rcl_action_client_get_default_options(),
rclcpp::CallbackGroup::SharedPtr group = nullptr );
rclcpp::Node& node, const std::string& name, const std::string& type,
const rcl_action_client_options_t& options = rcl_action_client_get_default_options(),
rclcpp::CallbackGroup::SharedPtr group = nullptr);

/*!
* Creates an empty message of the given type.
Expand All @@ -148,10 +145,10 @@ class BabelFish : public std::enable_shared_from_this<BabelFish>
*
* @throws BabelFishException If the message description was not found
*/
CompoundMessage create_message( const std::string &type ) const;
CompoundMessage create_message(const std::string& type) const;

//! @copydoc create_message
CompoundMessage::SharedPtr create_message_shared( const std::string &type ) const;
CompoundMessage::SharedPtr create_message_shared(const std::string& type) const;

/*!
* Creates a service request message for the given service type.
Expand All @@ -160,22 +157,22 @@ class BabelFish : public std::enable_shared_from_this<BabelFish>
*
* @throws BabelFishException If the service description was not found
*/
CompoundMessage create_service_request( const std::string &type ) const;
CompoundMessage create_service_request(const std::string& type) const;

//! @copydoc create_service_request
CompoundMessage::SharedPtr create_service_request_shared( const std::string &type ) const;
CompoundMessage::SharedPtr create_service_request_shared(const std::string& type) const;

MessageTypeSupport::ConstSharedPtr get_message_type_support( const std::string &type ) const;
MessageTypeSupport::ConstSharedPtr get_message_type_support(const std::string& type) const;

ServiceTypeSupport::ConstSharedPtr get_service_type_support( const std::string &type ) const;
ServiceTypeSupport::ConstSharedPtr get_service_type_support(const std::string& type) const;

ActionTypeSupport::ConstSharedPtr get_action_type_support( const std::string &type ) const;
ActionTypeSupport::ConstSharedPtr get_action_type_support(const std::string& type) const;

std::vector<TypeSupportProvider::SharedPtr> type_support_providers();

private:
std::vector<TypeSupportProvider::SharedPtr> type_support_providers_;
};
} // namespace ros2_babel_fish
} // namespace ros2_babel_fish

#endif // ROS2_BABEL_FISH_BABEL_FISH_HPP
#endif // ROS2_BABEL_FISH_BABEL_FISH_HPP
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