// Copyright 2016 Open Source Robotics Foundation, Inc.

//

// 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.

#include "rclcpp/node_interfaces/node_topics.hpp"

#include <stdexcept>

#include <string>

#include "rclcpp/callback_group.hpp"

#include "rclcpp/exceptions.hpp"

#include "rclcpp/node_interfaces/node_base_interface.hpp"

#include "rclcpp/node_interfaces/node_timers_interface.hpp"

#include "rclcpp/publisher_base.hpp"

#include "rclcpp/publisher_factory.hpp"

#include "rclcpp/subscription_base.hpp"

#include "rclcpp/subscription_factory.hpp"

#include "rclcpp/qos.hpp"

using rclcpp::exceptions::throw_from_rcl_error;

using rclcpp::node_interfaces::NodeTopics;

NodeTopics::NodeTopics(

rclcpp::node_interfaces::NodeBaseInterface * node_base,

rclcpp::node_interfaces::NodeTimersInterface * node_timers)

: node_base_(node_base), node_timers_(node_timers)

{}

NodeTopics::~NodeTopics()

{}

rclcpp::PublisherBase::SharedPtr

NodeTopics::create_publisher(

const std::string & topic_name,

const rclcpp::PublisherFactory & publisher_factory,

const rclcpp::QoS & qos)

{

// Create the MessageT specific Publisher using the factory, but return it as PublisherBase.

return publisher_factory.create_typed_publisher(node_base_, topic_name, qos);

}

void

NodeTopics::add_publisher(

rclcpp::PublisherBase::SharedPtr publisher,

rclcpp::CallbackGroup::SharedPtr callback_group)

{

// Assign to a group.

if (callback_group) {

if (!node_base_->callback_group_in_node(callback_group)) {

throw rclcpp::exceptions::MissingGroupNodeException("publisher");

}

} else {

callback_group = node_base_->get_default_callback_group();

}

for (auto & key_event_pair : publisher->get_event_handlers()) {

auto publisher_event = key_event_pair.second;

callback_group->add_waitable(publisher_event);

}

// Notify the executor that a new publisher was created using the parent Node.

try {

node_base_->trigger_notify_guard_condition();

callback_group->trigger_notify_guard_condition();

} catch (const rclcpp::exceptions::RCLError & ex) {

throw std::runtime_error(

std::string("failed to notify wait set on publisher creation: ") + ex.what());

}

}

rclcpp::SubscriptionBase::SharedPtr

NodeTopics::create_subscription(

const std::string & topic_name,

const rclcpp::SubscriptionFactory & subscription_factory,

const rclcpp::QoS & qos)

{

// Create the MessageT specific Subscription using the factory, but return a SubscriptionBase.

return subscription_factory.create_typed_subscription(node_base_, topic_name, qos);

}

void

NodeTopics::add_subscription(

rclcpp::SubscriptionBase::SharedPtr subscription,

rclcpp::CallbackGroup::SharedPtr callback_group)

{

// Assign to a group.

if (callback_group) {

if (!node_base_->callback_group_in_node(callback_group)) {

throw rclcpp::exceptions::MissingGroupNodeException("subscription");

}

} else {

callback_group = node_base_->get_default_callback_group();

}

callback_group->add_subscription(subscription);

for (auto & key_event_pair : subscription->get_event_handlers()) {

auto subscription_event = key_event_pair.second;

callback_group->add_waitable(subscription_event);

}

auto intra_process_waitable = subscription->get_intra_process_waitable();

if (nullptr != intra_process_waitable) {

// Add to the callback group to be notified about intra-process msgs.

callback_group->add_waitable(intra_process_waitable);

}

// Notify the executor that a new subscription was created using the parent Node.

try {

node_base_->trigger_notify_guard_condition();

callback_group->trigger_notify_guard_condition();

} catch (const rclcpp::exceptions::RCLError & ex) {

throw std::runtime_error(

std::string("failed to notify wait set on subscription creation: ") + ex.what());

}

}

rclcpp::node_interfaces::NodeBaseInterface *

NodeTopics::get_node_base_interface() const

{

return node_base_;

}

rclcpp::node_interfaces::NodeTimersInterface *

NodeTopics::get_node_timers_interface() const

{

return node_timers_;

}

std::string

NodeTopics::resolve_topic_name(const std::string & name, bool only_expand) const

{

return node_base_->resolve_topic_or_service_name(name, false, only_expand);

}