Implement generic service (#2617)

* Implement generic service

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

* Add the required header files

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

* Fix compiling errors on Windows

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

* Fix compiling errors on Windows

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

* Fix compiling errors on Windows

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

---------

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

rclcpp/CMakeLists.txt

@@ -77,6 +77,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/future_return_code.cpp
   src/rclcpp/generic_client.cpp
   src/rclcpp/generic_publisher.cpp
+  src/rclcpp/generic_service.cpp
   src/rclcpp/generic_subscription.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp

rclcpp/include/rclcpp/create_generic_service.hpp

@@ -0,0 +1,102 @@
+// Copyright 2024 Sony Group Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__CREATE_GENERIC_SERVICE_HPP_
+#define RCLCPP__CREATE_GENERIC_SERVICE_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/generic_service.hpp"
+#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rmw/rmw.h"
+
+namespace rclcpp
+{
+/// Create a generic service with a given type.
+/**
+ * \param[in] node_base NodeBaseInterface implementation of the node on which
+ *  to create the generic service.
+ * \param[in] node_services NodeServicesInterface implementation of the node on
+ *  which to create the service.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+ * \param[in] callback The callback to call when the service gets a request.
+ * \param[in] qos Quality of service profile for the service.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created service.
+ */
+template<typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+create_generic_service(
+  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::string & service_name,
+  const std::string & service_type,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  rclcpp::GenericServiceCallback any_service_callback;
+  any_service_callback.set(std::forward<CallbackT>(callback));
+
+  rcl_service_options_t service_options = rcl_service_get_default_options();
+  service_options.qos = qos.get_rmw_qos_profile();
+
+  auto serv = GenericService::make_shared(
+    node_base->get_shared_rcl_node_handle(),
+    service_name, service_type, any_service_callback, service_options);
+  auto serv_base_ptr = std::dynamic_pointer_cast<ServiceBase>(serv);
+  node_services->add_service(serv_base_ptr, group);
+  return serv;
+}
+
+/// Create a generic service with a given type.
+/**
+ * The NodeT type needs to have NodeBaseInterface implementation and NodeServicesInterface
+ * implementation of the node which to create the generic service.
+ *
+ * \param[in] node The node on which to create the generic service.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+ * \param[in] callback The callback to call when the service gets a request.
+ * \param[in] qos Quality of service profile for the service.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created service.
+ */
+template<typename NodeT, typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+create_generic_service(
+  NodeT node,
+  const std::string & service_name,
+  const std::string & service_type,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  return create_generic_service<CallbackT>(
+    rclcpp::node_interfaces::get_node_base_interface(node),
+    rclcpp::node_interfaces::get_node_services_interface(node),
+    service_name,
+    service_type,
+    std::forward<CallbackT>(callback), qos.get_rmw_qos_profile(), group);
+}
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_GENERIC_SERVICE_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -100,6 +100,15 @@ class InvalidServiceNameError : public NameValidationError
   {}
 };
 
+class InvalidServiceTypeError : public std::runtime_error
+{
+public:
+  InvalidServiceTypeError()
+  : std::runtime_error("Service type is invalid.") {}
+  explicit InvalidServiceTypeError(const std::string & msg)
+  : std::runtime_error(msg) {}
+};
+
 class UnimplementedError : public std::runtime_error
 {
 public: