Merge pull request #12 from etienn8/feat/persistent_service_client_re…

…factor

Feat/persistent service client refactor

.github/workflows/build_test.yml

@@ -30,6 +30,12 @@ jobs:
           repository: etienn8/rosparam_utils
           path: 'catkin_ws/src/rosparam_utils'
 
+      - name: Checkout ros_boosted_utilities
+        uses: actions/checkout@v4
+        with:
+          repository: etienn8/ros_boosted_utilities
+          path: 'catkin_ws/src/ros_boosted_utilities'
+
       - name: Checkout repository
         uses: actions/checkout@v4
         with:

README.md

@@ -26,17 +26,19 @@ Here's a procedure on how to get started with the configurations and the launchi
 - [ros_queue_msgs](https://github.com/etienn8/ros_queuing_system/tree/main/ros_queue_msgs) (ROS messages and services used as interface for the ros_queuing system, included already in the ros_queuing_system repo).
 - [ros_queue_msgs](https://github.com/etienn8/ros_queuing_system/tree/main/ros_queue_msgs) (Implementation examples and dummy stochastic services to test the system, included already in the ros_queuing_system repo).
 - [rosparam_utils](https://github.com/etienn8/rosparam_utils) (Tools to fetch rosparams more easily. Not directly dependent but some dependent packages need it).
+- [ros_boosted_utilities](https://github.com/etienn8/ros_boosted_utilities) (Contains persistent ROS service clients to make the interfaces between the system faster.)
 ##### Optional
 - [Catkin tools](https://catkin-tools.readthedocs.io/en/latest/#)(Tools to help build all the packages in parallel and to test the system)
 	- Follow their [installation](https://catkin-tools.readthedocs.io/en/latest/installing.html) and [initialization](https://catkin-tools.readthedocs.io/en/latest/quick_start.html) guide before building this package.
 
 
 #### Building
 
-To build from source, clone the [rosparam_utils](https://github.com/etienn8/rosparam_utils) repo, clone the latest version from this repository into your catkin workspace and compile all the packages using
+To build from source, clone the [rosparam_utils](https://github.com/etienn8/rosparam_utils), clone the [ros_boosted_utilities](https://github.com/etienn8/ros_boosted_utilities) repo, clone the latest version from this repository into your catkin workspace and compile all the packages using
 
 	cd catkin_workspace/src
 	git clone https://github.com/etienn8/rosparam_utils.git
+	git clone https://github.com/etienn8/ros_boosted_utilities.git
 	git clone https://github.com/etienn8/ros_queuing_system.git
 	cd ../
 	rosdep install --from-paths . --ignore-src

queue_controller/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(catkin REQUIRED COMPONENTS
   actionlib
   std_srvs
   std_msgs
+  ros_boosted_utilities
 )
 
 ## System dependencies are found with CMake's conventions
@@ -109,7 +110,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-   INCLUDE_DIRS include
+   INCLUDE_DIRS include ${ros_boosted_utilities_INCLUDE_DIRS}
    LIBRARIES queue_controller_utils_lib
    CATKIN_DEPENDS queue_server ros_queue_msgs roscpp message_runtime std_srvs std_msgs actionlib_msgs actionlib
 #  DEPENDS system_lib

queue_controller/README.MD

@@ -29,6 +29,7 @@ This is research code, expect that it changes often and any fitness for a partic
 - [message_runtime](http://wiki.ros.org/message_runtime) (ROS message dependencies package),
 - [actionlib_msgs](http://wiki.ros.org/actionlib_msgs) (Message definitions of the actionlib package used for the output of the controller),
 - [actionlib](http://wiki.ros.org/actionlib) (Interfaces that gives a result and feedback for an action. Used by the output of the controller),
+- [ros_boosted_utilities](https://github.com/etienn8/ros_boosted_utilities) (Contains persistent ROS service clients to make the interfaces between the system faster.)
 - [std_srvs](http://wiki.ros.org/std_srvs) (ROS standard service definitions), 
 - [std_msgs](http://wiki.ros.org/std_msgs) (ROS standard service definitions),
 - std::map (Standard library for C++ dictionnaries),

queue_controller/include/queue_controller/controller_queue_struct.hpp

@@ -5,12 +5,17 @@
 
 #include "ros/ros.h"
 
+#include "ros_queue_msgs/FloatRequest.h"
+
+#include "ros_boosted_utilities/persistent_service_client.hpp"
+
 using std::string;
 
 /**
  * @brief Structure that contains all the necessary parameters about a queue that the controller 
  * needs to evaluate its changes and compute the best action.
 */
+template <typename TMetricControlPredictionSrv>
 struct ControllerQueueStruct
 {
     /**
@@ -58,28 +63,28 @@ struct ControllerQueueStruct
      * of the system and a given potential action. Should not be defined if arrival_based_on_queue_size_service_
      * is used. If both are defined, expected_arrival_service_ will be used.
     */
-    ros::ServiceClient expected_arrival_service_;
+    PersistentServiceClient<TMetricControlPredictionSrv> expected_arrival_service_;
 
     /**
      * @brief ROS Service used to compute the expected departures of a queue based on a the current state
      * of the system and a given potential action. Should not be defined if departure_based_on_queue_size_service_
      * is used. If both are defined, expected_arrival_service_ will be used.
     */
-    ros::ServiceClient expected_departure_service_;
+    PersistentServiceClient<TMetricControlPredictionSrv> expected_departure_service_;
 
     /**
      * @brief ROS Service used to get a a metric thas is independant from the action. Should not be defined 
      * if expected_arrival_service_ is used. If both are defined, expected_arrival_service_ will be used.
      * @details Since it uses a different service definition compared to expected_arrival_service_ because
      * the latter uses a potential action as an input, arrival_independant_from_action_service_ need to be created.
     */
-    ros::ServiceClient arrival_independent_from_action_service_;
+    PersistentServiceClient<ros_queue_msgs::FloatRequest> arrival_independent_from_action_service_;
 
     /**
      * @brief ROS Service used to get a current queue size if it's used as the departure metric. Should not be defined 
      * if expected_departure_service_ is used. If both are defined, expected_departure_service_ will be used.
      * @details Since it uses a different service definition  compared to expected_departure_service_ because
      * the latter uses a potential action as an input, departure_independant_from_action_service_ need to be created.
     */
-    ros::ServiceClient departure_independent_from_action_service_;
+    PersistentServiceClient<ros_queue_msgs::FloatRequest> departure_independent_from_action_service_;
 };