Use rclcpp::guard_condition

Signed-off-by: Mauro Passerino <[email protected]>

Author: Mauro Passerino

rclcpp/include/rclcpp/executor.hpp

@@ -524,7 +524,7 @@ class Executor
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
-  rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  rclcpp::GuardCondition interrupt_guard_condition_;
 
   std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
 
@@ -548,7 +548,7 @@ class Executor
   spin_once_impl(std::chrono::nanoseconds timeout);
 
   typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
+      const rclcpp::GuardCondition *,
       std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
     WeakNodesToGuardConditionsMap;
 

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -65,7 +65,7 @@ class StaticExecutorEntitiesCollector final
   init(
     rcl_wait_set_t * p_wait_set,
     rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
-    rcl_guard_condition_t * executor_guard_condition);
+    rclcpp::GuardCondition * executor_guard_condition);
 
   /// Finalize StaticExecutorEntitiesCollector to clear resources
   RCLCPP_PUBLIC
@@ -326,7 +326,7 @@ class StaticExecutorEntitiesCollector final
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
 
   typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
+      const rclcpp::GuardCondition *,
       std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
     WeakNodesToGuardConditionsMap;
   WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -67,7 +67,7 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
     const std::string & topic_name,
     rmw_qos_profile_t qos_profile,
     rclcpp::IntraProcessBufferType buffer_type)
-  : SubscriptionIntraProcessBase(topic_name, qos_profile),
+  : SubscriptionIntraProcessBase(context, topic_name, qos_profile),
     any_callback_(callback)
   {
     if (!std::is_same<MessageT, CallbackMessageT>::value) {
@@ -80,18 +80,6 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
       qos_profile,
       allocator);
 
-    // Create the guard condition.
-    rcl_guard_condition_options_t guard_condition_options =
-      rcl_guard_condition_get_default_options();
-
-    gc_ = rcl_get_zero_initialized_guard_condition();
-    rcl_ret_t ret = rcl_guard_condition_init(
-      &gc_, context->get_rcl_context().get(), guard_condition_options);
-
-    if (RCL_RET_OK != ret) {
-      throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition");
-    }
-
     TRACEPOINT(
       rclcpp_subscription_callback_added,
       static_cast<const void *>(this),
@@ -104,15 +92,7 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
 #endif
   }
 
-  ~SubscriptionIntraProcess()
-  {
-    if (rcl_guard_condition_fini(&gc_) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rclcpp",
-        "Failed to destroy guard condition: %s",
-        rcutils_get_error_string().str);
-    }
-  }
+  ~SubscriptionIntraProcess() = default;
 
   bool
   is_ready(rcl_wait_set_t * wait_set)
@@ -168,8 +148,7 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
   void
   trigger_guard_condition()
   {
-    rcl_ret_t ret = rcl_trigger_guard_condition(&gc_);
-    (void)ret;
+    gc_.trigger();
   }
 
   template<typename T>

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -25,6 +25,7 @@
 
 #include "rcl/error_handling.h"
 
+#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/waitable.hpp"
 
@@ -39,8 +40,10 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
   RCLCPP_SMART_PTR_ALIASES_ONLY(SubscriptionIntraProcessBase)
 
   RCLCPP_PUBLIC
-  SubscriptionIntraProcessBase(const std::string & topic_name, rmw_qos_profile_t qos_profile)
-  : topic_name_(topic_name), qos_profile_(qos_profile)
+  SubscriptionIntraProcessBase(
+    rclcpp::Context::SharedPtr context,
+    const std::string & topic_name, rmw_qos_profile_t qos_profile)
+  : gc_(context), topic_name_(topic_name), qos_profile_(qos_profile)
   {}
 
   virtual ~SubscriptionIntraProcessBase() = default;
@@ -82,7 +85,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
 
 protected:
   std::recursive_mutex reentrant_mutex_;
-  rcl_guard_condition_t gc_;
+  rclcpp::GuardCondition gc_;
 
 private:
   virtual void

rclcpp/include/rclcpp/graph_listener.hpp

@@ -24,6 +24,7 @@
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
 #include "rclcpp/context.hpp"
+#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -187,7 +188,7 @@ class GraphListener : public std::enable_shared_from_this<GraphListener>
   mutable std::mutex node_graph_interfaces_mutex_;
   std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
 
-  rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  rclcpp::GuardCondition interrupt_guard_condition_;
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 };
 

rclcpp/include/rclcpp/guard_condition.hpp

@@ -47,7 +47,9 @@ class GuardCondition
   RCLCPP_PUBLIC
   explicit GuardCondition(
     rclcpp::Context::SharedPtr context =
-    rclcpp::contexts::get_global_default_context());
+    rclcpp::contexts::get_global_default_context(),
+    rcl_guard_condition_options_t guard_condition_options =
+    rcl_guard_condition_get_default_options());
 
   RCLCPP_PUBLIC
   virtual
@@ -89,6 +91,15 @@ class GuardCondition
   bool
   exchange_in_use_by_wait_set_state(bool in_use_state);
 
+  /// Adds the guard condition to a waitset
+  /**
+   * This function is thread-safe.
+   * \param[in] wait_set pointer to a wait set where to add the guard condition
+   */
+  RCLCPP_PUBLIC
+  void
+  add_to_wait_set(rcl_wait_set_t * wait_set) const;
+
 protected:
   rclcpp::Context::SharedPtr context_;
   rcl_guard_condition_t rcl_guard_condition_;

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -64,9 +64,11 @@ class RCLCPP_PUBLIC MemoryStrategy
   virtual void clear_handles() = 0;
   virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
 
-  virtual void add_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
+  virtual void
+  add_guard_condition(const rclcpp::GuardCondition * guard_condition) = 0;
 
-  virtual void remove_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
+  virtual void
+  remove_guard_condition(const rclcpp::GuardCondition * guard_condition) = 0;
 
   virtual void
   get_next_subscription(

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -104,9 +104,13 @@ class NodeBase : public NodeBaseInterface
   get_associated_with_executor_atomic() override;
 
   RCLCPP_PUBLIC
-  rcl_guard_condition_t *
+  const rcl_guard_condition_t *
   get_notify_guard_condition() override;
 
+  RCLCPP_PUBLIC
+  rclcpp::GuardCondition *
+  get_notify_rclcpp_guard_condition() override;
+
   RCLCPP_PUBLIC
   std::unique_lock<std::recursive_mutex>
   acquire_notify_guard_condition_lock() const override;
@@ -122,6 +126,10 @@ class NodeBase : public NodeBaseInterface
   resolve_topic_or_service_name(
     const std::string & name, bool is_service, bool only_expand = false) const override;
 
+  RCLCPP_PUBLIC
+  void
+  trigger_notify_guard_condition() override;
+
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 
@@ -138,7 +146,7 @@ class NodeBase : public NodeBaseInterface
 
   /// Guard condition for notifying the Executor of changes to this node.
   mutable std::recursive_mutex notify_guard_condition_mutex_;
-  rcl_guard_condition_t notify_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  rclcpp::GuardCondition notify_guard_condition_;
   bool notify_guard_condition_is_valid_;
 };
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -24,6 +24,7 @@
 
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/context.hpp"
+#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -142,9 +143,20 @@ class NodeBaseInterface
    */
   RCLCPP_PUBLIC
   virtual
-  rcl_guard_condition_t *
+  const rcl_guard_condition_t *
   get_notify_guard_condition() = 0;
 
+  /// Return guard condition that should be notified when the internal node state changes.
+  /**
+   * For example, this should be notified when a publisher is added or removed.
+   *
+   * \return the GuardCondition if it is valid, else nullptr
+   */
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::GuardCondition *
+  get_notify_rclcpp_guard_condition() = 0;
+
   /// Acquire and return a scoped lock that protects the notify guard condition.
   /** This should be used when triggering the notify guard condition. */
   RCLCPP_PUBLIC
@@ -170,6 +182,12 @@ class NodeBaseInterface
   std::string
   resolve_topic_or_service_name(
     const std::string & name, bool is_service, bool only_expand = false) const = 0;
+
+  /// Trigger the node's notify guard condition.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  trigger_notify_guard_condition() = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -61,7 +61,7 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
     allocator_ = std::make_shared<VoidAlloc>();
   }
 
-  void add_guard_condition(const rcl_guard_condition_t * guard_condition) override
+  void add_guard_condition(const rclcpp::GuardCondition * guard_condition) override
   {
     for (const auto & existing_guard_condition : guard_conditions_) {
       if (existing_guard_condition == guard_condition) {
@@ -71,7 +71,7 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
     guard_conditions_.push_back(guard_condition);
   }
 
-  void remove_guard_condition(const rcl_guard_condition_t * guard_condition) override
+  void remove_guard_condition(const rclcpp::GuardCondition * guard_condition) override
   {
     for (auto it = guard_conditions_.begin(); it != guard_conditions_.end(); ++it) {
       if (*it == guard_condition) {
@@ -240,13 +240,7 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
     }
 
     for (auto guard_condition : guard_conditions_) {
-      if (rcl_wait_set_add_guard_condition(wait_set, guard_condition, NULL) != RCL_RET_OK) {
-        RCUTILS_LOG_ERROR_NAMED(
-          "rclcpp",
-          "Couldn't add guard_condition to wait set: %s",
-          rcl_get_error_string().str);
-        return false;
-      }
+      guard_condition->add_to_wait_set(wait_set);
     }
 
     for (auto waitable : waitable_handles_) {
@@ -504,7 +498,7 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
   using VectorRebind =
     std::vector<T, typename std::allocator_traits<Alloc>::template rebind_alloc<T>>;
 
-  VectorRebind<const rcl_guard_condition_t *> guard_conditions_;
+  VectorRebind<const rclcpp::GuardCondition *> guard_conditions_;
 
   VectorRebind<std::shared_ptr<const rcl_subscription_t>> subscription_handles_;
   VectorRebind<std::shared_ptr<const rcl_service_t>> service_handles_;