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Action/Server timeout option through ports #55

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Action/Server timeout option through ports #55

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012e592
Action/Server timeout option through ports
MarqRazz Apr 19, 2024
a2dc8c2
Merge branch 'humble' into timeout_port_option
MarqRazz May 2, 2024
293bef6
fix ci
MarqRazz May 5, 2024
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50 changes: 46 additions & 4 deletions behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,12 @@ class RosActionNode : public BT::ActionNodeBase
static PortsList providedBasicPorts(PortsList addition)
{
PortsList basic = { InputPort<std::string>("action_name", "__default__placeholder__",
"Action server name") };
"Action server name"),
InputPort<int>("server_timeout", "Action server goal timeout "
"(mSec)"),
InputPort<int>("wait_for_server_timeout", "Action server "
"discovery timeout "
"(mSec)") };
basic.insert(addition.begin(), addition.end());
return basic;
}
Expand Down Expand Up @@ -217,8 +222,8 @@ class RosActionNode : public BT::ActionNodeBase
std::shared_ptr<ActionClientInstance> client_instance_;
std::string action_name_;
bool action_name_may_change_ = false;
const std::chrono::milliseconds server_timeout_;
const std::chrono::milliseconds wait_for_server_timeout_;
std::chrono::milliseconds server_timeout_;
std::chrono::milliseconds wait_for_server_timeout_;
std::string action_client_key_;

private:
Expand Down Expand Up @@ -256,13 +261,50 @@ inline RosActionNode<T>::RosActionNode(const std::string& instance_name,
, server_timeout_(params.server_timeout)
, wait_for_server_timeout_(params.wait_for_server_timeout)
{
// update server_timeout_ if set throuh port and greater than 0
auto portIt = config().input_ports.find("server_timeout");
if(portIt != config().input_ports.end())
{
int timeout = 0;
getInput("server_timeout", timeout);
if(timeout > 0)
{
server_timeout_ = std::chrono::milliseconds(timeout);
}
else
{
RCLCPP_WARN(logger(),
"%s: Port `server_timeout` is not greater than zero. "
"Defaulting to %d mSec.",
name().c_str(), static_cast<int>(server_timeout_.count()));
}
}
// update wait_for_server_timeout_ if set throuh port and greater than 0
portIt = config().input_ports.find("wait_for_server_timeout");
if(portIt != config().input_ports.end())
{
int timeout = 0;
getInput("wait_for_server_timeout", timeout);
if(timeout > 0)
{
wait_for_server_timeout_ = std::chrono::milliseconds(timeout);
}
else
{
RCLCPP_WARN(logger(),
"%s: Port `wait_for_server_timeout` is not greater than zero. "
"Defaulting to %d mSec.",
name().c_str(), static_cast<int>(wait_for_server_timeout_.count()));
}
}

// Three cases:
// - we use the default action_name in RosNodeParams when port is empty
// - we use the action_name in the port and it is a static string.
// - we use the action_name in the port and it is blackboard entry.

// check port remapping
auto portIt = config().input_ports.find("action_name");
portIt = config().input_ports.find("action_name");
if(portIt != config().input_ports.end())
{
const std::string& bb_action_name = portIt->second;
Expand Down
50 changes: 46 additions & 4 deletions behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,7 +97,12 @@ class RosServiceNode : public BT::ActionNodeBase
static PortsList providedBasicPorts(PortsList addition)
{
PortsList basic = { InputPort<std::string>("service_name", "__default__placeholder__",
"Service name") };
"Service name"),
InputPort<int>("server_timeout", "Service server goal timeout "
"(mSec)"),
InputPort<int>("wait_for_server_timeout", "Service server "
"discovery timeout "
"(mSec)") };
basic.insert(addition.begin(), addition.end());
return basic;
}
Expand Down Expand Up @@ -187,8 +192,8 @@ class RosServiceNode : public BT::ActionNodeBase
std::weak_ptr<rclcpp::Node> node_;
std::string service_name_;
bool service_name_may_change_ = false;
const std::chrono::milliseconds service_timeout_;
const std::chrono::milliseconds wait_for_service_timeout_;
std::chrono::milliseconds service_timeout_;
std::chrono::milliseconds wait_for_service_timeout_;

private:
std::shared_ptr<ServiceClientInstance> srv_instance_;
Expand Down Expand Up @@ -227,8 +232,45 @@ inline RosServiceNode<T>::RosServiceNode(const std::string& instance_name,
, service_timeout_(params.server_timeout)
, wait_for_service_timeout_(params.wait_for_server_timeout)
{
// update service_timeout_ if set throuh port and greater than 0
auto portIt = config().input_ports.find("server_timeout");
if(portIt != config().input_ports.end())
{
int timeout = 0;
getInput("server_timeout", timeout);
if(timeout > 0)
{
service_timeout_ = std::chrono::milliseconds(timeout);
}
else
{
RCLCPP_WARN(logger(),
"%s: Port `server_timeout` is not greater than zero. "
"Defaulting to %d mSec.",
name().c_str(), static_cast<int>(service_timeout_.count()));
}
}
// update wait_for_service_timeout_ if set throuh port and greater than 0
portIt = config().input_ports.find("wait_for_server_timeout");
if(portIt != config().input_ports.end())
{
int timeout = 0;
getInput("wait_for_server_timeout", timeout);
if(timeout > 0)
{
wait_for_service_timeout_ = std::chrono::milliseconds(timeout);
}
else
{
RCLCPP_WARN(logger(),
"%s: Port `wait_for_server_timeout` is not greater than zero. "
"Defaulting to %d mSec.",
name().c_str(), static_cast<int>(wait_for_service_timeout_.count()));
}
}

// check port remapping
auto portIt = config().input_ports.find("service_name");
portIt = config().input_ports.find("service_name");
if(portIt != config().input_ports.end())
{
const std::string& bb_service_name = portIt->second;
Expand Down
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