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Improve service_is_available logic to protect that client is waiting … #238

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merged 2 commits into from
Jan 9, 2019
Merged

Improve service_is_available logic to protect that client is waiting … #238

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1f8206b
Improve service_is_available logic to protect that client is waiting …
DongheeYe Nov 20, 2018
0a900e5
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DongheeYe Dec 7, 2018
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9 changes: 8 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ rmw_create_client(
info = new CustomClientInfo();
info->participant_ = participant;
info->typesupport_identifier_ = type_support->typesupport_identifier;
info->request_publisher_matched_count_ = 0;
info->response_subscriber_matched_count_ = 0;

const service_type_support_callbacks_t * service_members;
const message_type_support_callbacks_t * request_members;
Expand Down Expand Up @@ -178,8 +180,9 @@ rmw_create_client(
RMW_SET_ERROR_MSG("failed to get datawriter qos");
goto fail;
}
info->pub_listener_ = new ClientPubListener(info);
info->request_publisher_ =
Domain::createPublisher(participant, publisherParam, nullptr);
Domain::createPublisher(participant, publisherParam, info->pub_listener_);
if (!info->request_publisher_) {
RMW_SET_ERROR_MSG("create_publisher() could not create publisher");
goto fail;
Expand Down Expand Up @@ -215,6 +218,10 @@ rmw_create_client(
Domain::removeSubscriber(info->response_subscriber_);
}

if (info->pub_listener_ != nullptr) {
delete info->pub_listener_;
}

if (info->listener_ != nullptr) {
delete info->listener_;
}
Expand Down
47 changes: 47 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,10 +27,12 @@
#include "fastrtps/subscriber/SubscriberListener.h"
#include "fastrtps/participant/Participant.h"
#include "fastrtps/publisher/Publisher.h"
#include "fastrtps/publisher/PublisherListener.h"

#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"

class ClientListener;
class ClientPubListener;

typedef struct CustomClientInfo
{
Expand All @@ -42,6 +44,9 @@ typedef struct CustomClientInfo
eprosima::fastrtps::rtps::GUID_t writer_guid_;
eprosima::fastrtps::Participant * participant_;
const char * typesupport_identifier_;
ClientPubListener * pub_listener_;
uint32_t response_subscriber_matched_count_;
uint32_t request_publisher_matched_count_;
} CustomClientInfo;

typedef struct CustomClientResponse
Expand Down Expand Up @@ -141,6 +146,21 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
return list_has_data_.load();
}

void onSubscriptionMatched(
eprosima::fastrtps::Subscriber * sub,
eprosima::fastrtps::rtps::MatchingInfo & matchingInfo)
{
if (info_ == nullptr || sub == nullptr) {
return;
}

if (matchingInfo.status == eprosima::fastrtps::rtps::MATCHED_MATCHING) {
info_->response_subscriber_matched_count_++;
} else {
info_->response_subscriber_matched_count_--;
}
}

private:
CustomClientInfo * info_;
std::mutex internalMutex_;
Expand All @@ -150,4 +170,31 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
std::condition_variable * conditionVariable_;
};

class ClientPubListener : public eprosima::fastrtps::PublisherListener
{
public:
explicit ClientPubListener(CustomClientInfo * info)
: info_(info)
{
}

void onPublicationMatched(
eprosima::fastrtps::Publisher * pub,
eprosima::fastrtps::rtps::MatchingInfo & matchingInfo)
{
if (info_ == nullptr || pub == nullptr) {
return;
}

if (matchingInfo.status == eprosima::fastrtps::rtps::MATCHED_MATCHING) {
info_->request_publisher_matched_count_++;
} else {
info_->request_publisher_matched_count_--;
}
}

private:
CustomClientInfo * info_;
};

#endif // RMW_FASTRTPS_SHARED_CPP__CUSTOM_CLIENT_INFO_HPP_
3 changes: 3 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,9 @@ __rmw_destroy_client(
if (info->request_publisher_ != nullptr) {
Domain::removePublisher(info->request_publisher_);
}
if (info->pub_listener_ != nullptr) {
delete info->pub_listener_;
}
if (info->listener_ != nullptr) {
delete info->listener_;
}
Expand Down
9 changes: 9 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_service_server_is_available.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,15 @@ __rmw_service_server_is_available(
return RMW_RET_OK;
}

if (0 == client_info->request_publisher_matched_count_) {
// not ready
return RMW_RET_OK;
}
if (0 == client_info->response_subscriber_matched_count_) {
// not ready
return RMW_RET_OK;
}

// all conditions met, there is a service server available
*is_available = true;
return RMW_RET_OK;
Expand Down