Program Listing for File bond.hpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef BONDCPP__BOND_HPP_
#define BONDCPP__BOND_HPP_

#include <chrono>
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <vector>

#include "bond/msg/constants.hpp"
#include "bond/msg/status.hpp"

#include "bondcpp/BondSM_sm.hpp"
#include "bondcpp/visibility_control.hpp"

#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>

namespace bond
{
class Bond
{
public:
  using EventCallback = std::function<void (void)>;

  BONDCPP_PUBLIC
  Bond(
    const std::string & topic, const std::string & id,
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params,
    rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers,
    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
    EventCallback on_broken = EventCallback(),
    EventCallback on_formed = EventCallback());

  BONDCPP_PUBLIC
  Bond(
    const std::string & topic, const std::string & id,
    rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
    EventCallback on_broken = EventCallback(),
    EventCallback on_formed = EventCallback());

  BONDCPP_PUBLIC
  Bond(
    const std::string & topic, const std::string & id,
    rclcpp::Node::SharedPtr nh,
    EventCallback on_broken = EventCallback(),
    EventCallback on_formed = EventCallback());

  BONDCPP_PUBLIC
  ~Bond();

  BONDCPP_PUBLIC
  void setupConnections();

  BONDCPP_PUBLIC
  double getConnectTimeout() const {return connect_timeout_.seconds();}
  BONDCPP_PUBLIC
  void setConnectTimeout(double dur);
  BONDCPP_PUBLIC
  void connectTimerReset();
  BONDCPP_PUBLIC
  void connectTimerCancel();

  BONDCPP_PUBLIC
  double getDisconnectTimeout() const {return disconnect_timeout_.seconds();}
  BONDCPP_PUBLIC
  void setDisconnectTimeout(double dur);
  BONDCPP_PUBLIC
  void disconnectTimerReset();
  BONDCPP_PUBLIC
  void disconnectTimerCancel();

  BONDCPP_PUBLIC
  double getHeartbeatTimeout() const {return heartbeat_timeout_.seconds();}
  BONDCPP_PUBLIC
  void setHeartbeatTimeout(double dur);
  BONDCPP_PUBLIC
  void heartbeatTimerReset();
  BONDCPP_PUBLIC
  void heartbeatTimerCancel();

  BONDCPP_PUBLIC
  double getHeartbeatPeriod() const {return heartbeat_period_.seconds();}
  BONDCPP_PUBLIC
  void setHeartbeatPeriod(double dur);
  BONDCPP_PUBLIC
  void publishingTimerReset();
  BONDCPP_PUBLIC
  void publishingTimerCancel();

  BONDCPP_PUBLIC
  double getDeadPublishPeriod() const {return dead_publish_period_.seconds();}
  BONDCPP_PUBLIC
  void setDeadPublishPeriod(double dur);
  BONDCPP_PUBLIC
  void deadpublishingTimerReset();
  BONDCPP_PUBLIC
  void deadpublishingTimerCancel();

  BONDCPP_PUBLIC
  void start();

  BONDCPP_PUBLIC
  void setFormedCallback(EventCallback on_formed);

  BONDCPP_PUBLIC
  void setBrokenCallback(EventCallback on_broken);

  BONDCPP_PUBLIC
  bool waitUntilFormed(rclcpp::Duration timeout = rclcpp::Duration(std::chrono::seconds(-1)));

  BONDCPP_PUBLIC
  bool waitUntilBroken(rclcpp::Duration timeout = rclcpp::Duration(std::chrono::seconds(-1)));

  BONDCPP_PUBLIC
  bool isBroken();

  BONDCPP_PUBLIC
  void breakBond();

  BONDCPP_PUBLIC
  std::string getTopic() const {return topic_;}
  BONDCPP_PUBLIC
  std::string getId() const {return id_;}
  BONDCPP_PUBLIC
  std::string getInstanceId() const {return instance_id_;}

private:
  friend struct ::BondSM;

  void onConnectTimeout();
  void onHeartbeatTimeout();
  void onDisconnectTimeout();

  void bondStatusCB(const bond::msg::Status & msg);

  void doPublishing();
  void publishStatus(bool active);

  void flushPendingCallbacks();

  bool isStateAlive();
  bool isStateAwaitSisterDeath();
  bool isStateDead();
  bool isStateWaitingForSister();


  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;

  rclcpp::TimerBase::SharedPtr connect_timer_;
  rclcpp::TimerBase::SharedPtr disconnect_timer_;
  rclcpp::TimerBase::SharedPtr heartbeat_timer_;
  rclcpp::TimerBase::SharedPtr publishing_timer_;
  rclcpp::TimerBase::SharedPtr deadpublishing_timer_;

  std::mutex state_machine_mutex_;
  std::unique_ptr<BondSM> bondsm_;
  BondSMContext sm_;

  std::string topic_;
  std::string id_;
  std::string instance_id_;
  std::string sister_instance_id_;

  std::mutex callbacks_mutex_;
  std::vector<EventCallback> pending_callbacks_;
  EventCallback on_broken_;
  EventCallback on_formed_;

  bool sisterDiedFirst_ {false};
  bool started_ {false};
  bool connect_timer_reset_flag_ {false};
  bool disconnect_timer_reset_flag_ {false};
  bool deadpublishing_timer_reset_flag_ {false};
  bool disable_heartbeat_timeout_ {false};

  rclcpp::Duration connect_timeout_;
  rclcpp::Duration disconnect_timeout_;
  rclcpp::Duration heartbeat_timeout_;
  rclcpp::Duration heartbeat_period_;
  rclcpp::Duration dead_publish_period_;

  rclcpp::Subscription<bond::msg::Status>::SharedPtr sub_;
  rclcpp::Publisher<bond::msg::Status>::SharedPtr pub_;
};
}  // namespace bond

// Internal use only
struct BondSM
{
  explicit BondSM(bond::Bond * b_)
  : b(b_) {}

  void Connected();
  void SisterDied();
  void Death();
  void Heartbeat();
  void StartDying();

private:
  bond::Bond * b;
};

#endif  // BONDCPP__BOND_HPP_