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| 1 | +// Copyright 2025 Open Source Robotics Foundation, Inc. |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | +#include "simulate_steps.hpp" |
| 16 | + |
| 17 | +#include <gz/msgs/boolean.pb.h> |
| 18 | +#include <gz/msgs/world_control.pb.h> |
| 19 | + |
| 20 | +#include <chrono> |
| 21 | +#include <cstdint> |
| 22 | +#include <future> |
| 23 | +#include <limits> |
| 24 | +#include <memory> |
| 25 | +#include <string> |
| 26 | + |
| 27 | +#include "../gazebo_proxy.hpp" |
| 28 | +#include "simulation_interfaces/action/simulate_steps.hpp" |
| 29 | + |
| 30 | +namespace ros_gz_sim |
| 31 | +{ |
| 32 | +namespace gz_simulation_interfaces |
| 33 | +{ |
| 34 | +namespace actions |
| 35 | +{ |
| 36 | +using SimulateStepsAction = simulation_interfaces::action::SimulateSteps; |
| 37 | +using GoalHandleSimulateSteps = rclcpp_action::ServerGoalHandle<SimulateStepsAction>; |
| 38 | + |
| 39 | +SimulateSteps::SimulateSteps( |
| 40 | + std::shared_ptr<rclcpp::Node> ros_node, std::shared_ptr<GazeboProxy> gz_proxy) |
| 41 | +: HandlerBase(ros_node, gz_proxy) |
| 42 | +{ |
| 43 | + const auto control_service = this->gz_proxy_->PrefixTopic("control"); |
| 44 | + if (!this->gz_proxy_->WaitForGzService(control_service)) { |
| 45 | + RCLCPP_ERROR_STREAM( |
| 46 | + this->ros_node_->get_logger(), |
| 47 | + "Gazebo service [" << control_service << "] is not available. " |
| 48 | + << "The [SimulateSteps] interface will not function properly."); |
| 49 | + } |
| 50 | + auto goal_callback = |
| 51 | + [](const rclcpp_action::GoalUUID &, std::shared_ptr<const SimulateStepsAction::Goal>) { |
| 52 | + // TODO(azeey) Add console message that we've received the goal |
| 53 | + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; |
| 54 | + }; |
| 55 | + |
| 56 | + auto cancel_cb = |
| 57 | + [](const std::shared_ptr<GoalHandleSimulateSteps>) { |
| 58 | + // TODO(azeey) Add console message that we've received the cancellation |
| 59 | + return rclcpp_action::CancelResponse::ACCEPT; |
| 60 | + }; |
| 61 | + |
| 62 | + auto accept_cb = |
| 63 | + [this, control_service](const std::shared_ptr<GoalHandleSimulateSteps> goal_handle) { |
| 64 | + // Note that this is not the same as SimulateStepsAction::Result, which is the typename |
| 65 | + // associated with the Result of the action, which in turn contains a |
| 66 | + // simulation_interfaces::msg::Result |
| 67 | + using Result = simulation_interfaces::msg::Result; |
| 68 | + |
| 69 | + // Adapted from https://github.com/ros-navigation/navigation2/blob/main/nav2_ros_common/include/nav2_ros_common/simple_action_server.hpp#L154 |
| 70 | + if (this->worker_future_.valid() && ( |
| 71 | + this->worker_future_.wait_for(std::chrono::milliseconds(0)) == |
| 72 | + std::future_status::timeout)) |
| 73 | + { |
| 74 | + auto action_result = std::make_shared<SimulateStepsAction::Result>(); |
| 75 | + action_result->result.result = Result::RESULT_OPERATION_FAILED; |
| 76 | + action_result->result.error_message = "Another goal is already running"; |
| 77 | + goal_handle->abort(action_result); |
| 78 | + return; |
| 79 | + } |
| 80 | + |
| 81 | + // Execute the task in a separate thread and return immediately. |
| 82 | + this->worker_future_ = std::async(std::launch::async, [this, goal_handle, control_service] |
| 83 | + { |
| 84 | + const auto goal = goal_handle->get_goal(); |
| 85 | + auto action_result = std::make_shared<SimulateStepsAction::Result>(); |
| 86 | + |
| 87 | + if (goal->steps > std::numeric_limits<uint32_t>::max()) { |
| 88 | + action_result->result.result = Result::RESULT_OPERATION_FAILED; |
| 89 | + action_result->result.error_message = |
| 90 | + "The requested number of steps exceeds the maximum supported value (max uint32)"; |
| 91 | + goal_handle->abort(action_result); |
| 92 | + return; |
| 93 | + } |
| 94 | + |
| 95 | + if (!this->gz_proxy_->Paused()) { |
| 96 | + action_result->result.result = Result::RESULT_OPERATION_FAILED; |
| 97 | + action_result->result.error_message = "Simulation has to be paused before stepping"; |
| 98 | + goal_handle->abort(action_result); |
| 99 | + return; |
| 100 | + } |
| 101 | + |
| 102 | + uint64_t num_iters_start = this->gz_proxy_->Iterations(); |
| 103 | + |
| 104 | + // TODO(azeey) Refactor this code since it's also used in the StepSimulation service. |
| 105 | + gz::msgs::WorldControl gz_request; |
| 106 | + gz_request.set_pause(true); |
| 107 | + gz_request.set_step(true); |
| 108 | + gz_request.set_multi_step(goal->steps); |
| 109 | + bool gz_result; |
| 110 | + gz::msgs::Boolean reply; |
| 111 | + bool executed = this->gz_proxy_->GzNode()->Request( |
| 112 | + control_service, gz_request, GazeboProxy::kGzServiceTimeoutMs, reply, gz_result); |
| 113 | + if (!executed) { |
| 114 | + action_result->result.result = Result::RESULT_OPERATION_FAILED; |
| 115 | + action_result->result.error_message = "Timed out while trying to reset simulation"; |
| 116 | + goal_handle->abort(action_result); |
| 117 | + } else if (action_result && reply.data()) { |
| 118 | + // The request has succeeded, so now we listen to the stats and provide feedback. |
| 119 | + action_result->result.result = Result::RESULT_OK; |
| 120 | + auto feedback = std::make_shared<SimulateStepsAction::Feedback>(); |
| 121 | + |
| 122 | + while (rclcpp::ok()) { |
| 123 | + if (!this->gz_proxy_->AssertUpdatedWorldStats(action_result->result)) { |
| 124 | + goal_handle->abort(action_result); |
| 125 | + } |
| 126 | + |
| 127 | + auto iterations = this->gz_proxy_->Iterations(); |
| 128 | + feedback->completed_steps = iterations - num_iters_start; |
| 129 | + feedback->remaining_steps = goal->steps - feedback->completed_steps; |
| 130 | + goal_handle->publish_feedback(feedback); |
| 131 | + // TODO(azeey) There is a bug in Gazebo where the stepping field is set to true only |
| 132 | + // once immediately after the request to step instead of being true for the whole |
| 133 | + // duration of steps. So we can't use this right now to determine if we need to |
| 134 | + // break out early |
| 135 | + |
| 136 | + // if (!this->world_stats_.stepping()) { |
| 137 | + // break; |
| 138 | + // } |
| 139 | + if (feedback->remaining_steps == 0) { |
| 140 | + break; |
| 141 | + } |
| 142 | + |
| 143 | + if (goal_handle->is_canceling()) { |
| 144 | + goal_handle->canceled(action_result); |
| 145 | + return; |
| 146 | + } |
| 147 | + } |
| 148 | + |
| 149 | + if (rclcpp::ok() && goal_handle->is_active()) { |
| 150 | + if (feedback->remaining_steps == 0) { |
| 151 | + goal_handle->succeed(action_result); |
| 152 | + } else { |
| 153 | + action_result->result.result = Result::RESULT_OPERATION_FAILED; |
| 154 | + action_result->result.error_message = "SimulateSteps was interrupted"; |
| 155 | + goal_handle->abort(action_result); |
| 156 | + } |
| 157 | + } |
| 158 | + } else { |
| 159 | + action_result->result.result = Result::RESULT_OPERATION_FAILED; |
| 160 | + action_result->result.error_message = |
| 161 | + "Unknown error while trying to reset simulation"; |
| 162 | + goal_handle->abort(action_result); |
| 163 | + } |
| 164 | + }); |
| 165 | + }; |
| 166 | + |
| 167 | + // For some reason, create_server doesn't respect the sub_namespace of the node. |
| 168 | + const auto action_name = ros_node->get_effective_namespace() + "/simulate_steps"; |
| 169 | + this->action_handle_ = rclcpp_action::create_server<SimulateStepsAction>( |
| 170 | + ros_node, action_name, goal_callback, cancel_cb, accept_cb); |
| 171 | + |
| 172 | + RCLCPP_INFO_STREAM(ros_node->get_logger(), "Created action " << action_name); |
| 173 | +} |
| 174 | + |
| 175 | +SimulateSteps::~SimulateSteps() |
| 176 | +{ |
| 177 | + if (this->worker_future_.valid()) { |
| 178 | + this->worker_future_.wait(); |
| 179 | + } |
| 180 | +} |
| 181 | +} // namespace actions |
| 182 | +} // namespace gz_simulation_interfaces |
| 183 | +} // namespace ros_gz_sim |
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