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Revert "Revert "Create a default warning for qos incompatibility"" (#544
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* Revert "Revert "Create a default warning for qos incompatibility" (#543)"

This reverts commit d1c8f4d.

Signed-off-by: Miaofei <[email protected]>

* remove warning message from failing to register default callback

Signed-off-by: Miaofei <[email protected]>
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@mm318
mm318 authored Apr 17, 2020
1 parent d132648 commit b8209da
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Showing 3 changed files with 217 additions and 23 deletions.
65 changes: 64 additions & 1 deletion rclpy/rclpy/qos_event.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,8 @@
from rclpy.callback_groups import CallbackGroup
from rclpy.handle import Handle
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
from rclpy.logging import get_logger
from rclpy.qos import qos_policy_name_from_kind
from rclpy.waitable import NumberOfEntities
from rclpy.waitable import Waitable

Expand Down Expand Up @@ -186,6 +188,7 @@ def __init__(
deadline: Optional[Callable[[QoSRequestedDeadlineMissedInfo], None]] = None,
liveliness: Optional[Callable[[QoSLivelinessChangedInfo], None]] = None,
incompatible_qos: Optional[Callable[[QoSRequestedIncompatibleQoSInfo], None]] = None,
use_default_callbacks: bool = True,
) -> None:
"""
Create a SubscriptionEventCallbacks container.
Expand All @@ -194,33 +197,63 @@ def __init__(
requested Deadline.
:param liveliness: A user-defined callback that is called when the Liveliness of
a Publisher on subscribed topic changes.
:param incompatible_qos: A user-defined callback that is called when a Publisher
with incompatible QoS policies is discovered on subscribed topic.
:param use_default_callbacks: Whether or not to use default callbacks when the user
doesn't supply one
"""
self.deadline = deadline
self.liveliness = liveliness
self.incompatible_qos = incompatible_qos
self.use_default_callbacks = use_default_callbacks

def create_event_handlers(
self, callback_group: CallbackGroup, subscription_handle: Handle,
) -> List[QoSEventHandler]:
with subscription_handle as subscription_capsule:
logger = get_logger(_rclpy.rclpy_get_subscription_logger_name(subscription_capsule))

event_handlers = []
if self.deadline:
event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=self.deadline,
event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
parent_handle=subscription_handle))

if self.liveliness:
event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=self.liveliness,
event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
parent_handle=subscription_handle))

if self.incompatible_qos:
event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=self.incompatible_qos,
event_type=QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS,
parent_handle=subscription_handle))
elif self.use_default_callbacks:
# Register default callback when not specified
try:
def _default_incompatible_qos_callback(event):
policy_name = qos_policy_name_from_kind(event.last_policy_kind)
logger.warn(
'New publisher discovered on this topic, offering incompatible QoS. '
'No messages will be received from it. '
'Last incompatible policy: {}'.format(policy_name))

event_type = QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS
event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=_default_incompatible_qos_callback,
event_type=event_type,
parent_handle=subscription_handle))

except UnsupportedEventTypeError:
pass

return event_handlers


Expand All @@ -232,7 +265,8 @@ def __init__(
*,
deadline: Optional[Callable[[QoSOfferedDeadlineMissedInfo], None]] = None,
liveliness: Optional[Callable[[QoSLivelinessLostInfo], None]] = None,
incompatible_qos: Optional[Callable[[QoSRequestedIncompatibleQoSInfo], None]] = None
incompatible_qos: Optional[Callable[[QoSRequestedIncompatibleQoSInfo], None]] = None,
use_default_callbacks: bool = True,
) -> None:
"""
Create and return a PublisherEventCallbacks container.
Expand All @@ -241,31 +275,60 @@ def __init__(
its offered Deadline.
:param liveliness: A user-defined callback that is called when this Publisher
fails to signal its Liveliness and is reported as not-alive.
:param incompatible_qos: A user-defined callback that is called when a Subscription
with incompatible QoS policies is discovered on subscribed topic.
:param use_default_callbacks: Whether or not to use default callbacks when the user
doesn't supply one
"""
self.deadline = deadline
self.liveliness = liveliness
self.incompatible_qos = incompatible_qos
self.use_default_callbacks = use_default_callbacks

def create_event_handlers(
self, callback_group: CallbackGroup, publisher_handle: Handle,
) -> List[QoSEventHandler]:
with publisher_handle as publisher_capsule:
logger = get_logger(_rclpy.rclpy_get_publisher_logger_name(publisher_capsule))

event_handlers = []
if self.deadline:
event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=self.deadline,
event_type=QoSPublisherEventType.RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
parent_handle=publisher_handle))

if self.liveliness:
event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=self.liveliness,
event_type=QoSPublisherEventType.RCL_PUBLISHER_LIVELINESS_LOST,
parent_handle=publisher_handle))

if self.incompatible_qos:
event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=self.incompatible_qos,
event_type=QoSPublisherEventType.RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
parent_handle=publisher_handle))
elif self.use_default_callbacks:
# Register default callback when not specified
try:
def _default_incompatible_qos_callback(event):
policy_name = qos_policy_name_from_kind(event.last_policy_kind)
logger.warn(
'New subscription discovered on this topic, requesting incompatible QoS. '
'No messages will be sent to it. '
'Last incompatible policy: {}'.format(policy_name))

event_handlers.append(QoSEventHandler(
callback_group=callback_group,
callback=_default_incompatible_qos_callback,
event_type=QoSPublisherEventType.RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
parent_handle=publisher_handle))

except UnsupportedEventTypeError:
pass

return event_handlers
67 changes: 67 additions & 0 deletions rclpy/src/rclpy/_rclpy.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -866,6 +866,65 @@ rclpy_get_node_logger_name(PyObject * Py_UNUSED(self), PyObject * args)
return PyUnicode_FromString(node_logger_name);
}

/// Get the name of the logger associated with the node of the publisher.
/**
* Raises ValueError if pypublisher is not a publisher capsule
*
* \param[in] pypublisher Capsule pointing to the publisher to get the logger name of
* \return logger_name, or
* \return None on failure
*/
static PyObject *
rclpy_get_publisher_logger_name(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pypublisher;
if (!PyArg_ParseTuple(args, "O", &pypublisher)) {
return NULL;
}

rclpy_publisher_t * pub = rclpy_handle_get_pointer_from_capsule(pypublisher, "rclpy_publisher_t");
if (NULL == pub) {
return NULL;
}

const char * node_logger_name = rcl_node_get_logger_name(pub->node);
if (NULL == node_logger_name) {
Py_RETURN_NONE;
}

return PyUnicode_FromString(node_logger_name);
}

/// Get the name of the logger associated with the node of the subscription.
/**
* Raises ValueError if pysubscription is not a subscription capsule
*
* \param[in] pysubscription Capsule pointing to the subscription to get the logger name of
* \return logger_name, or
* \return None on failure
*/
static PyObject *
rclpy_get_subscription_logger_name(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pysubscription;
if (!PyArg_ParseTuple(args, "O", &pysubscription)) {
return NULL;
}

rclpy_subscription_t * sub =
rclpy_handle_get_pointer_from_capsule(pysubscription, "rclpy_subscription_t");
if (NULL == sub) {
return NULL;
}

const char * node_logger_name = rcl_node_get_logger_name(sub->node);
if (NULL == node_logger_name) {
Py_RETURN_NONE;
}

return PyUnicode_FromString(node_logger_name);
}

typedef rcl_ret_t (* count_func)(const rcl_node_t * node, const char * topic_name, size_t * count);

static PyObject *
Expand Down Expand Up @@ -5218,6 +5277,14 @@ static PyMethodDef rclpy_methods[] = {
"rclpy_get_node_logger_name", rclpy_get_node_logger_name, METH_VARARGS,
"Get the logger name associated with a node."
},
{
"rclpy_get_publisher_logger_name", rclpy_get_publisher_logger_name, METH_VARARGS,
"Get the logger name associated with the node of a publisher."
},
{
"rclpy_get_subscription_logger_name", rclpy_get_subscription_logger_name, METH_VARARGS,
"Get the logger name associated with the node of a subscription."
},
{
"rclpy_count_publishers", rclpy_count_publishers, METH_VARARGS,
"Count publishers for a topic."
Expand Down
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