Implement action generic client (#2759)

Signed-off-by: Barry Xu <[email protected]>

Author: Barry-Xu-2018

rclcpp_action/CMakeLists.txt

@@ -23,7 +23,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 add_library(${PROJECT_NAME}
-  src/client.cpp
+  src/client_base.cpp
+  src/create_generic_client.cpp
+  src/generic_client.cpp
+  src/generic_client_goal_handle.cpp
   src/qos.cpp
   src/server.cpp
   src/server_goal_handle.cpp
@@ -93,6 +96,20 @@ if(BUILD_TESTING)
     )
   endif()
 
+  ament_add_gtest(test_generic_client test/test_generic_client.cpp TIMEOUT 180)
+  ament_add_test_label(test_generic_client mimick)
+  if(TARGET test_generic_client)
+    target_link_libraries(test_generic_client
+      ${PROJECT_NAME}
+      mimick
+      rcl::rcl
+      rcl_action::rcl_action
+      rclcpp::rclcpp
+      rcutils::rcutils
+      ${test_msgs_TARGETS}
+    )
+  endif()
+
   ament_add_gtest(test_server test/test_server.cpp TIMEOUT 180)
   ament_add_test_label(test_server mimick)
   if(TARGET test_server)

rclcpp_action/include/rclcpp_action/client.hpp

@@ -41,294 +41,14 @@
 #include "rosidl_runtime_c/action_type_support_struct.h"
 #include "rosidl_typesupport_cpp/action_type_support.hpp"
 
+#include "rclcpp_action/client_base.hpp"
 #include "rclcpp_action/client_goal_handle.hpp"
 #include "rclcpp_action/exceptions.hpp"
 #include "rclcpp_action/types.hpp"
 #include "rclcpp_action/visibility_control.hpp"
 
-
 namespace rclcpp_action
 {
-// Forward declaration
-class ClientBaseImpl;
-
-/// Base Action Client implementation
-/// \internal
-/**
- * This class should not be used directly by users wanting to create an aciton client.
- * Instead users should use `rclcpp_action::Client<>`.
- *
- * Internally, this class is responsible for interfacing with the `rcl_action` API.
- */
-class ClientBase : public rclcpp::Waitable
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase)
-
-  RCLCPP_ACTION_PUBLIC
-  virtual ~ClientBase();
-
-  /// Enum to identify entities belonging to the action client
-  enum class EntityType : std::size_t
-  {
-    GoalClient,
-    ResultClient,
-    CancelClient,
-    FeedbackSubscription,
-    StatusSubscription,
-  };
-
-  /// Return true if there is an action server that is ready to take goal requests.
-  RCLCPP_ACTION_PUBLIC
-  bool
-  action_server_is_ready() const;
-
-  /// Wait for action_server_is_ready() to become true, or until the given timeout is reached.
-  template<typename RepT = int64_t, typename RatioT = std::milli>
-  bool
-  wait_for_action_server(
-    std::chrono::duration<RepT, RatioT> timeout = std::chrono::duration<RepT, RatioT>(-1))
-  {
-    return wait_for_action_server_nanoseconds(
-      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    );
-  }
-
-  // -------------
-  // Waitables API
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  size_t
-  get_number_of_ready_subscriptions() override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  size_t
-  get_number_of_ready_timers() override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  size_t
-  get_number_of_ready_clients() override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  size_t
-  get_number_of_ready_services() override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  size_t
-  get_number_of_ready_guard_conditions() override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t & wait_set) override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  bool
-  is_ready(const rcl_wait_set_t & wait_set) override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  std::shared_ptr<void>
-  take_data() override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  void
-  execute(const std::shared_ptr<void> & data) override;
-
-  /// \internal
-  /// Set a callback to be called when action client entities have an event
-  /**
-   * The callback receives a size_t which is the number of messages received
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if messages were received before any
-   * callback was set.
-   *
-   * The callback also receives an int identifier argument, which identifies
-   * the action client entity which is ready.
-   * This implies that the provided callback can use the identifier to behave
-   * differently depending on which entity triggered the waitable to become ready.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the subscription
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \param[in] callback functor to be called when a new message is received.
-   */
-  RCLCPP_ACTION_PUBLIC
-  void
-  set_on_ready_callback(std::function<void(size_t, int)> callback) override;
-
-  /// Unset the callback registered for new events, if any.
-  RCLCPP_ACTION_PUBLIC
-  void
-  clear_on_ready_callback() override;
-
-  RCLCPP_ACTION_PUBLIC
-  std::vector<std::shared_ptr<rclcpp::TimerBase>>
-  get_timers() const override;
-
-  // End Waitables API
-  // -----------------
-
-protected:
-  RCLCPP_ACTION_PUBLIC
-  ClientBase(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
-    const std::string & action_name,
-    const rosidl_action_type_support_t * type_support,
-    const rcl_action_client_options_t & options);
-
-  /// Wait for action_server_is_ready() to become true, or until the given timeout is reached.
-  RCLCPP_ACTION_PUBLIC
-  bool
-  wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout);
-
-  // -----------------------------------------------------
-  // API for communication between ClientBase and Client<>
-  using ResponseCallback = std::function<void (std::shared_ptr<void> response)>;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  rclcpp::Logger get_logger();
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  virtual
-  GoalUUID
-  generate_goal_id();
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  virtual
-  void
-  send_goal_request(
-    std::shared_ptr<void> request,
-    ResponseCallback callback);
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  virtual
-  void
-  send_result_request(
-    std::shared_ptr<void> request,
-    ResponseCallback callback);
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  virtual
-  void
-  send_cancel_request(
-    std::shared_ptr<void> request,
-    ResponseCallback callback);
-
-  /// \internal
-  virtual
-  std::shared_ptr<void>
-  create_goal_response() const = 0;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  virtual
-  void
-  handle_goal_response(
-    const rmw_request_id_t & response_header,
-    std::shared_ptr<void> goal_response);
-
-  /// \internal
-  virtual
-  std::shared_ptr<void>
-  create_result_response() const = 0;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  virtual
-  void
-  handle_result_response(
-    const rmw_request_id_t & response_header,
-    std::shared_ptr<void> result_response);
-
-  /// \internal
-  virtual
-  std::shared_ptr<void>
-  create_cancel_response() const = 0;
-
-  /// \internal
-  RCLCPP_ACTION_PUBLIC
-  virtual
-  void
-  handle_cancel_response(
-    const rmw_request_id_t & response_header,
-    std::shared_ptr<void> cancel_response);
-
-  /// \internal
-  virtual
-  std::shared_ptr<void>
-  create_feedback_message() const = 0;
-
-  /// \internal
-  virtual
-  void
-  handle_feedback_message(std::shared_ptr<void> message) = 0;
-
-  /// \internal
-  virtual
-  std::shared_ptr<void>
-  create_status_message() const = 0;
-
-  /// \internal
-  virtual
-  void
-  handle_status_message(std::shared_ptr<void> message) = 0;
-
-  // End API for communication between ClientBase and Client<>
-  // ---------------------------------------------------------
-
-  /// \internal
-  /// Set a callback to be called when the specified entity is ready
-  RCLCPP_ACTION_PUBLIC
-  void
-  set_on_ready_callback(
-    EntityType entity_type,
-    rcl_event_callback_t callback,
-    const void * user_data);
-
-  // Mutex to protect the callbacks storage.
-  std::recursive_mutex listener_mutex_;
-  // Storage for std::function callbacks to keep them in scope
-  std::unordered_map<EntityType, std::function<void(size_t)>> entity_type_to_on_ready_callback_;
-
-private:
-  std::unique_ptr<ClientBaseImpl> pimpl_;
-
-  /// Set a std::function callback to be called when the specified entity is ready
-  RCLCPP_ACTION_PUBLIC
-  void
-  set_callback_to_entity(
-    EntityType entity_type,
-    std::function<void(size_t, int)> callback);
-
-  bool on_ready_callback_set_{false};
-};
-
 /// Action Client
 /**
  * This class creates an action client.