Merge branch 'master' into cli/add/params_file_arg

controller_manager/controller_manager/controller_manager_services.py

@@ -55,7 +55,39 @@ class ServiceNotFoundError(Exception):
     pass
 
 
-def service_caller(node, service_name, service_type, request, service_timeout=0.0):
+def service_caller(
+    node,
+    service_name,
+    service_type,
+    request,
+    service_timeout=0.0,
+    call_timeout=10.0,
+    max_attempts=3,
+):
+    """
+    Abstraction of a service call.
+
+    Has an optional timeout to find the service, receive the answer to a call
+    and a mechanism to retry a call of no response is received.
+
+    @param node Node object to be associated with
+    @type rclpy.node.Node
+    @param service_name Service URL
+    @type str
+    @param request The request to be sent
+    @type service request type
+    @param service_timeout Timeout (in seconds) to wait until the service is available. 0 means
+    waiting forever, retrying every 10 seconds.
+    @type float
+    @param call_timeout Timeout (in seconds) for getting a response
+    @type float
+    @param max_attempts Number of attempts until a valid response is received. With some
+    middlewares it can happen, that the service response doesn't reach the client leaving it in
+    a waiting state forever.
+    @type int
+    @return The service response
+
+    """
     cli = node.create_client(service_type, service_name)
 
     while not cli.service_is_ready():
@@ -67,12 +99,20 @@ def service_caller(node, service_name, service_type, request, service_timeout=0.
             node.get_logger().warn(f"Could not contact service {service_name}")
 
     node.get_logger().debug(f"requester: making request: {request}\n")
-    future = cli.call_async(request)
-    rclpy.spin_until_future_complete(node, future)
-    if future.result() is not None:
-        return future.result()
-    else:
-        raise RuntimeError(f"Exception while calling service: {future.exception()}")
+    future = None
+    for attempt in range(max_attempts):
+        future = cli.call_async(request)
+        rclpy.spin_until_future_complete(node, future, timeout_sec=call_timeout)
+        if future.result() is None:
+            node.get_logger().warning(
+                f"Failed getting a result from calling {service_name} in "
+                f"{service_timeout}. (Attempt {attempt+1} of {max_attempts}.)"
+            )
+        else:
+            return future.result()
+    raise RuntimeError(
+        f"Could not successfully call service {service_name} after {max_attempts} attempts."
+    )
 
 
 def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0):

controller_manager/test/test_spawner_unspawner.cpp

@@ -367,6 +367,32 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
   }
 }
 
+TEST_F(TestLoadController, spawner_with_many_controllers)
+{
+  std::stringstream ss;
+  const size_t num_controllers = 50;
+  const std::string controller_base_name = "ctrl_";
+  for (size_t i = 0; i < num_controllers; i++)
+  {
+    const std::string controller_name = controller_base_name + std::to_string(static_cast<int>(i));
+    cm_->set_parameter(
+      rclcpp::Parameter(controller_name + ".type", test_controller::TEST_CONTROLLER_CLASS_NAME));
+    ss << controller_name << " ";
+  }
+
+  ControllerManagerRunner cm_runner(this);
+  EXPECT_EQ(call_spawner(ss.str() + " -c test_controller_manager"), 0);
+
+  ASSERT_EQ(cm_->get_loaded_controllers().size(), num_controllers);
+
+  for (size_t i = 0; i < num_controllers; i++)
+  {
+    auto ctrl = cm_->get_loaded_controllers()[i];
+    ASSERT_EQ(ctrl.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+    ASSERT_EQ(ctrl.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  }
+}
+
 class TestLoadControllerWithoutRobotDescription
 : public ControllerManagerFixture<controller_manager::ControllerManager>
 {

hardware_interface/include/hardware_interface/handle.hpp

@@ -16,41 +16,45 @@
 #define HARDWARE_INTERFACE__HANDLE_HPP_
 
 #include <string>
+#include <variant>
 
 #include "hardware_interface/macros.hpp"
 
 namespace hardware_interface
 {
+
+using HANDLE_DATATYPE = std::variant<double>;
+
 /// A handle used to get and set a value on a given interface.
-class ReadOnlyHandle
+class Handle
 {
 public:
-  ReadOnlyHandle(
+  Handle(
     const std::string & prefix_name, const std::string & interface_name,
     double * value_ptr = nullptr)
   : prefix_name_(prefix_name), interface_name_(interface_name), value_ptr_(value_ptr)
   {
   }
 
-  explicit ReadOnlyHandle(const std::string & interface_name)
+  explicit Handle(const std::string & interface_name)
   : interface_name_(interface_name), value_ptr_(nullptr)
   {
   }
 
-  explicit ReadOnlyHandle(const char * interface_name)
+  explicit Handle(const char * interface_name)
   : interface_name_(interface_name), value_ptr_(nullptr)
   {
   }
 
-  ReadOnlyHandle(const ReadOnlyHandle & other) = default;
+  Handle(const Handle & other) = default;
 
-  ReadOnlyHandle(ReadOnlyHandle && other) = default;
+  Handle(Handle && other) = default;
 
-  ReadOnlyHandle & operator=(const ReadOnlyHandle & other) = default;
+  Handle & operator=(const Handle & other) = default;
 
-  ReadOnlyHandle & operator=(ReadOnlyHandle && other) = default;
+  Handle & operator=(Handle && other) = default;
 
-  virtual ~ReadOnlyHandle() = default;
+  virtual ~Handle() = default;
 
   /// Returns true if handle references a value.
   inline operator bool() const { return value_ptr_ != nullptr; }
@@ -70,60 +74,58 @@ class ReadOnlyHandle
 
   double get_value() const
   {
+    // BEGIN (Handle export change): for backward compatibility
+    // TODO(Manuel) return value_ if old functionality is removed
     THROW_ON_NULLPTR(value_ptr_);
     return *value_ptr_;
+    // END
+  }
+
+  void set_value(double value)
+  {
+    // BEGIN (Handle export change): for backward compatibility
+    // TODO(Manuel) set value_ directly if old functionality is removed
+    THROW_ON_NULLPTR(this->value_ptr_);
+    *this->value_ptr_ = value;
+    // END
   }
 
 protected:
   std::string prefix_name_;
   std::string interface_name_;
+  HANDLE_DATATYPE value_;
+  // BEGIN (Handle export change): for backward compatibility
+  // TODO(Manuel) redeclare as HANDLE_DATATYPE * value_ptr_ if old functionality is removed
   double * value_ptr_;
+  // END
 };
 
-class ReadWriteHandle : public ReadOnlyHandle
+class StateInterface : public Handle
 {
 public:
-  ReadWriteHandle(
+  explicit StateInterface(
     const std::string & prefix_name, const std::string & interface_name,
     double * value_ptr = nullptr)
-  : ReadOnlyHandle(prefix_name, interface_name, value_ptr)
-  {
-  }
-
-  explicit ReadWriteHandle(const std::string & interface_name) : ReadOnlyHandle(interface_name) {}
-
-  explicit ReadWriteHandle(const char * interface_name) : ReadOnlyHandle(interface_name) {}
-
-  ReadWriteHandle(const ReadWriteHandle & other) = default;
-
-  ReadWriteHandle(ReadWriteHandle && other) = default;
-
-  ReadWriteHandle & operator=(const ReadWriteHandle & other) = default;
-
-  ReadWriteHandle & operator=(ReadWriteHandle && other) = default;
-
-  virtual ~ReadWriteHandle() = default;
-
-  void set_value(double value)
+  : Handle(prefix_name, interface_name, value_ptr)
   {
-    THROW_ON_NULLPTR(this->value_ptr_);
-    *this->value_ptr_ = value;
   }
-};
 
-class StateInterface : public ReadOnlyHandle
-{
-public:
   StateInterface(const StateInterface & other) = default;
 
   StateInterface(StateInterface && other) = default;
 
-  using ReadOnlyHandle::ReadOnlyHandle;
+  using Handle::Handle;
 };
 
-class CommandInterface : public ReadWriteHandle
+class CommandInterface : public Handle
 {
 public:
+  explicit CommandInterface(
+    const std::string & prefix_name, const std::string & interface_name,
+    double * value_ptr = nullptr)
+  : Handle(prefix_name, interface_name, value_ptr)
+  {
+  }
   /// CommandInterface copy constructor is actively deleted.
   /**
    * Command interfaces are having a unique ownership and thus
@@ -134,7 +136,7 @@ class CommandInterface : public ReadWriteHandle
 
   CommandInterface(CommandInterface && other) = default;
 
-  using ReadWriteHandle::ReadWriteHandle;
+  using Handle::Handle;
 };
 
 }  // namespace hardware_interface

transmission_interface/include/transmission_interface/handle.hpp

@@ -20,17 +20,17 @@
 namespace transmission_interface
 {
 /** A handle used to get and set a value on a given actuator interface. */
-class ActuatorHandle : public hardware_interface::ReadWriteHandle
+class ActuatorHandle : public hardware_interface::Handle
 {
 public:
-  using hardware_interface::ReadWriteHandle::ReadWriteHandle;
+  using hardware_interface::Handle::Handle;
 };
 
 /** A handle used to get and set a value on a given joint interface. */
-class JointHandle : public hardware_interface::ReadWriteHandle
+class JointHandle : public hardware_interface::Handle
 {
 public:
-  using hardware_interface::ReadWriteHandle::ReadWriteHandle;
+  using hardware_interface::Handle::Handle;
 };
 
 }  // namespace transmission_interface