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fix examples in documentation that were out of date (#136)

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William Woodall 2017-05-11 17:26:53 -07:00 • committed by GitHub
parent cbfe6b90f9
commit 853c2e30a5
9 changed files with 61 additions and 46 deletions
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21
rcl/include/rcl/client.h
View file

@ -78,18 +78,19 @@ rcl_get_zero_initialized_client(void);
* #include <rosidl_generator_c/service_type_support.h> * #include <rosidl_generator_c/service_type_support.h>
* #include <example_interfaces/srv/add_two_ints.h> * #include <example_interfaces/srv/add_two_ints.h>
* *
* rosidl_service_type_support_t * ts = * const rosidl_service_type_support_t * ts =
* ROSIDL_GET_SERVICE_TYPE_SUPPORT(example_interfaces, AddTwoInts); * ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
* ``` * ```
* *
* For C++ a template function is used: * For C++ a template function is used:
* *
* ```cpp * ```cpp
* #include <rosidl_generator_cpp/service_type_support.hpp> * #include <rosidl_typesupport_cpp/service_type_support.hpp>
* #include <example_interfaces/srv/add_two_ints.h> * #include <example_interfaces/srv/add_two_ints.hpp>
* *
* rosidl_service_type_support_t * ts = * using rosidl_typesupport_cpp::get_service_type_support_handle;
* rosidl_generator_cpp::get_service_type_support_handle<example_interfaces::srv::AddTwoInts>(); * const rosidl_service_type_support_t * ts =
* get_service_type_support_handle<example_interfaces::srv::AddTwoInts>();
* ``` * ```
* *
* The rosidl_service_type_support_t object contains service type specific * The rosidl_service_type_support_t object contains service type specific
@ -105,17 +106,17 @@ rcl_get_zero_initialized_client(void);
* *
* Expected usage (for C services): * Expected usage (for C services):
* *
* ```cpp * ```c
* #include <rcl/rcl.h> * #include <rcl/rcl.h>
* #include <rosidl_generator_c/service_type_support.h> * #include <rosidl_generator_c/service_type_support.h>
* #include <example_interfaces/srv/add_two_ints.h> * #include <example_interfaces/srv/add_two_ints.h>
* *
* rcl_node_t node = rcl_get_zero_initialized_node(); * rcl_node_t node = rcl_get_zero_initialized_node();
* rcl_node_options_t node_ops = rcl_node_get_default_options(); * rcl_node_options_t node_ops = rcl_node_get_default_options();
* rcl_ret_t ret = rcl_node_init(&node, "node_name", &node_ops); * rcl_ret_t ret = rcl_node_init(&node, "node_name", "/my_namespace", &node_ops);
* // ... error handling * // ... error handling
* rosidl_service_type_support_t * ts = ROSIDL_GET_SERVICE_TYPE_SUPPORT( * const rosidl_service_type_support_t * ts =
* example_interfaces, AddTwoInts); * ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
* rcl_client_t client = rcl_get_zero_initialized_client(); * rcl_client_t client = rcl_get_zero_initialized_client();
* rcl_client_options_t client_ops = rcl_client_get_default_options(); * rcl_client_options_t client_ops = rcl_client_get_default_options();
* ret = rcl_client_init(&client, &node, ts, "add_two_ints", &client_ops); * ret = rcl_client_init(&client, &node, ts, "add_two_ints", &client_ops);

12
rcl/include/rcl/expand_topic_name.h
View file

@ -43,12 +43,22 @@ extern "C"
* *
* ```c * ```c
* rcl_allocator_t allocator = rcl_get_default_allocator(); * rcl_allocator_t allocator = rcl_get_default_allocator();
* rcutils_allocator_t rcutils_allocator = rcutils_get_default_allocator();
* rcutils_string_map_t substitutions_map = rcutils_get_zero_initialized_string_map();
* rcutils_ret_t rcutils_ret = rcutils_string_map_init(&substitutions_map, 0, rcutils_allocator);
* if (rcutils_ret != RCUTILS_RET_OK) {
* // ... error handling
* }
* rcutils_ret = rcl_get_default_topic_name_substitutions(&substitutions_map);
* if (rcutils_ret != RCUTILS_RET_OK) {
* // ... error handling
* }
* char * expanded_topic_name = NULL; * char * expanded_topic_name = NULL;
* rcl_ret_t ret = rcl_expand_topic_name( * rcl_ret_t ret = rcl_expand_topic_name(
* "some/topic", * "some/topic",
* "my_node", * "my_node",
* "my_ns", * "my_ns",
* rcl_get_default_topic_name_substitutions(), * &substitutions_map,
* allocator, * allocator,
* &expanded_topic_name); * &expanded_topic_name);
* if (ret != RCL_RET_OK) { * if (ret != RCL_RET_OK) {

2
rcl/include/rcl/graph.h
View file

@ -128,7 +128,7 @@ rcl_destroy_topic_names_and_types(
* // ... error handling * // ... error handling
* } * }
* // ... use the node_names struct, and when done: * // ... use the node_names struct, and when done:
* rcutilst_ret_t rcutils_ret = rcutils_string_array_fini(&node_names); * rcutils_ret_t rcutils_ret = rcutils_string_array_fini(&node_names);
* if (rcutils_ret != RCUTILS_RET_OK) { * if (rcutils_ret != RCUTILS_RET_OK) {
* // ... error handling * // ... error handling
* } * }

2
rcl/include/rcl/guard_condition.h
View file

@ -60,7 +60,7 @@ rcl_get_zero_initialized_guard_condition(void);
* // ... error handling * // ... error handling
* rcl_guard_condition_t guard_condition = rcl_get_zero_initialized_guard_condition(); * rcl_guard_condition_t guard_condition = rcl_get_zero_initialized_guard_condition();
* // ... customize guard condition options * // ... customize guard condition options
* ret = rcl_guard_condition_init( * rcl_ret_t ret = rcl_guard_condition_init(
* &guard_condition, rcl_guard_condition_get_default_options()); * &guard_condition, rcl_guard_condition_get_default_options());
* // ... error handling, and on shutdown do deinitialization: * // ... error handling, and on shutdown do deinitialization:
* ret = rcl_guard_condition_fini(&guard_condition); * ret = rcl_guard_condition_fini(&guard_condition);

4
rcl/include/rcl/node.h
View file

@ -122,9 +122,9 @@ rcl_get_zero_initialized_node(void);
* *
* ```c * ```c
* rcl_node_t node = rcl_get_zero_initialized_node(); * rcl_node_t node = rcl_get_zero_initialized_node();
* rcl_node_options_t * node_ops = rcl_node_get_default_options(); * rcl_node_options_t node_ops = rcl_node_get_default_options();
* // ... node options customization * // ... node options customization
* rcl_ret_t ret = rcl_node_init(&node, "node_name", "/node_ns", node_ops); * rcl_ret_t ret = rcl_node_init(&node, "node_name", "/node_ns", &node_ops);
* // ... error handling and then use the node, but eventually deinitialize it: * // ... error handling and then use the node, but eventually deinitialize it:
* ret = rcl_node_fini(&node); * ret = rcl_node_fini(&node);
* // ... error handling for rcl_node_fini() * // ... error handling for rcl_node_fini()

24
rcl/include/rcl/publisher.h
View file

@ -71,19 +71,19 @@ rcl_get_zero_initialized_publisher(void);
* For C a macro can be used (for example `std_msgs/String`): * For C a macro can be used (for example `std_msgs/String`):
* *
* ```c * ```c
* #include <rosidl_generator_c/message_type_support.h> * #include <rosidl_generator_c/message_type_support_struct.h>
* #include <std_msgs/msgs/string.h> * #include <std_msgs/msg/string.h>
* rosidl_message_type_support_t * string_ts = * const rosidl_message_type_support_t * string_ts =
* ROSIDL_GET_MESSAGE_TYPE_SUPPORT(std_msgs, String); * ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
* ``` * ```
* *
* For C++ a template function is used: * For C++ a template function is used:
* *
* ```cpp * ```cpp
* #include <rosidl_generator_cpp/message_type_support.hpp> * #include <rosidl_typesupport_cpp/message_type_support.hpp>
* #include <std_msgs/msgs/string.hpp> * #include <std_msgs/msg/string.hpp>
* rosidl_message_type_support_t * string_ts = * const rosidl_message_type_support_t * string_ts =
* rosidl_generator_cpp::get_message_type_support_handle<std_msgs::msg::String>(); * rosidl_typesupport_cpp::get_message_type_support_handle<std_msgs::msg::String>();
* ``` * ```
* *
* The rosidl_message_type_support_t object contains message type specific * The rosidl_message_type_support_t object contains message type specific
@ -101,14 +101,14 @@ rcl_get_zero_initialized_publisher(void);
* *
* ```c * ```c
* #include <rcl/rcl.h> * #include <rcl/rcl.h>
* #include <rosidl_generator_c/message_type_support.h> * #include <rosidl_generator_c/message_type_support_struct.h>
* #include <std_msgs/msgs/string.h> * #include <std_msgs/msg/string.h>
* *
* rcl_node_t node = rcl_get_zero_initialized_node(); * rcl_node_t node = rcl_get_zero_initialized_node();
* rcl_node_options_t node_ops = rcl_node_get_default_options(); * rcl_node_options_t node_ops = rcl_node_get_default_options();
* rcl_ret_t ret = rcl_node_init(&node, "node_name", &node_ops); * rcl_ret_t ret = rcl_node_init(&node, "node_name", "/my_namespace", &node_ops);
* // ... error handling * // ... error handling
* rosidl_message_type_support_t * ts = ROSIDL_GET_MESSAGE_TYPE_SUPPORT(std_msgs, String); * const rosidl_message_type_support_t * ts = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
* rcl_publisher_t publisher = rcl_get_zero_initialized_publisher(); * rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
* rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options(); * rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
* ret = rcl_publisher_init(&publisher, &node, ts, "chatter", &publisher_ops); * ret = rcl_publisher_init(&publisher, &node, ts, "chatter", &publisher_ops);

15
rcl/include/rcl/service.h
View file

@ -74,8 +74,8 @@ rcl_get_zero_initialized_service(void);
* ```c * ```c
* #include <rosidl_generator_c/service_type_support.h> * #include <rosidl_generator_c/service_type_support.h>
* #include <example_interfaces/srv/add_two_ints.h> * #include <example_interfaces/srv/add_two_ints.h>
* rosidl_service_type_support_t * ts = * const rosidl_service_type_support_t * ts =
* ROSIDL_GET_SERVICE_TYPE_SUPPORT(example_interfaces, AddTwoInts); * ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
* ``` * ```
* *
* For C++ a template function is used: * For C++ a template function is used:
@ -83,8 +83,9 @@ rcl_get_zero_initialized_service(void);
* ```cpp * ```cpp
* #include <rosidl_generator_cpp/service_type_support.hpp> * #include <rosidl_generator_cpp/service_type_support.hpp>
* #include <example_interfaces/srv/add_two_ints.h> * #include <example_interfaces/srv/add_two_ints.h>
* rosidl_service_type_support_t * ts = rosidl_generator_cpp::get_service_type_support_handle< * using rosidl_typesupport_cpp::get_service_type_support_handle;
* example_interfaces::srv::AddTwoInts>(); * const rosidl_service_type_support_t * ts =
* get_service_type_support_handle<example_interfaces::srv::AddTwoInts>();
* ``` * ```
* *
* The rosidl_service_type_support_t object contains service type specific * The rosidl_service_type_support_t object contains service type specific
@ -107,10 +108,10 @@ rcl_get_zero_initialized_service(void);
* *
* rcl_node_t node = rcl_get_zero_initialized_node(); * rcl_node_t node = rcl_get_zero_initialized_node();
* rcl_node_options_t node_ops = rcl_node_get_default_options(); * rcl_node_options_t node_ops = rcl_node_get_default_options();
* rcl_ret_t ret = rcl_node_init(&node, "node_name", &node_ops); * rcl_ret_t ret = rcl_node_init(&node, "node_name", "/my_namespace", &node_ops);
* // ... error handling * // ... error handling
* rosidl_service_type_support_t * ts = ROSIDL_GET_SERVICE_TYPE_SUPPORT( * const rosidl_service_type_support_t * ts =
* example_interfaces, AddTwoInts); * ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
* rcl_service_t service = rcl_get_zero_initialized_service(); * rcl_service_t service = rcl_get_zero_initialized_service();
* rcl_service_options_t service_ops = rcl_service_get_default_options(); * rcl_service_options_t service_ops = rcl_service_get_default_options();
* ret = rcl_service_init(&service, &node, ts, "add_two_ints", &service_ops); * ret = rcl_service_init(&service, &node, ts, "add_two_ints", &service_ops);

22
rcl/include/rcl/subscription.h
View file

@ -73,10 +73,10 @@ rcl_get_zero_initialized_subscription(void);
* For C a macro can be used (for example `std_msgs/String`): * For C a macro can be used (for example `std_msgs/String`):
* *
* ```c * ```c
* #include <rosidl_generator_c/message_type_support.h> * #include <rosidl_generator_c/message_type_support_struct.h>
* #include <std_msgs/msgs/string.h> * #include <std_msgs/msg/string.h>
* rosidl_message_type_support_t * string_ts = * const rosidl_message_type_support_t * string_ts =
* ROSIDL_GET_MESSAGE_TYPE_SUPPORT(std_msgs, String); * ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
* ``` * ```
* *
* For C++ a template function is used: * For C++ a template function is used:
@ -84,8 +84,9 @@ rcl_get_zero_initialized_subscription(void);
* ```cpp * ```cpp
* #include <rosidl_generator_cpp/message_type_support.hpp> * #include <rosidl_generator_cpp/message_type_support.hpp>
* #include <std_msgs/msgs/string.hpp> * #include <std_msgs/msgs/string.hpp>
* rosidl_message_type_support_t * string_ts = * using rosidl_typesupport_cpp::get_message_type_support_handle;
* rosidl_generator_cpp::get_message_type_support_handle<std_msgs::msg::String>(); * const rosidl_message_type_support_t * string_ts =
* get_message_type_support_handle<std_msgs::msg::String>();
* ``` * ```
* *
* The rosidl_message_type_support_t object contains message type specific * The rosidl_message_type_support_t object contains message type specific
@ -104,14 +105,15 @@ rcl_get_zero_initialized_subscription(void);
* *
* ```c * ```c
* #include <rcl/rcl.h> * #include <rcl/rcl.h>
* #include <rosidl_generator_c/message_type_support.h> * #include <rosidl_generator_c/message_type_support_struct.h>
* #include <std_msgs/msgs/string.h> * #include <std_msgs/msg/string.h>
* *
* rcl_node_t node = rcl_get_zero_initialized_node(); * rcl_node_t node = rcl_get_zero_initialized_node();
* rcl_node_options_t node_ops = rcl_node_get_default_options(); * rcl_node_options_t node_ops = rcl_node_get_default_options();
* rcl_ret_t ret = rcl_node_init(&node, "node_name", &node_ops); * rcl_ret_t ret = rcl_node_init(&node, "node_name", "/my_namespace", &node_ops);
* // ... error handling * // ... error handling
* rosidl_message_type_support_t * ts = ROSIDL_GET_MESSAGE_TYPE_SUPPORT(std_msgs, String); * const rosidl_message_type_support_t * ts =
* ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
* rcl_subscription_t subscription = rcl_get_zero_initialized_subscription(); * rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
* rcl_subscription_options_t subscription_ops = rcl_subscription_get_default_options(); * rcl_subscription_options_t subscription_ops = rcl_subscription_get_default_options();
* ret = rcl_subscription_init(&subscription, &node, ts, "chatter", &subscription_ops); * ret = rcl_subscription_init(&subscription, &node, ts, "chatter", &subscription_ops);

5
rcl/include/rcl/wait.h
View file

@ -84,7 +84,8 @@ rcl_get_zero_initialized_wait_set(void);
* #include <rcl/wait.h> * #include <rcl/wait.h>
* *
* rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); * rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
* rcl_ret_t ret = rcl_wait_set_init(&wait_set, 42, 42, rcl_get_default_allocator()); * rcl_ret_t ret =
* rcl_wait_set_init(&wait_set, 42, 42, 42, 42, 42, rcl_get_default_allocator());
* // ... error handling, then use it, then call the matching fini: * // ... error handling, then use it, then call the matching fini:
* ret = rcl_wait_set_fini(&wait_set); * ret = rcl_wait_set_fini(&wait_set);
* // ... error handling * // ... error handling
@ -426,7 +427,7 @@ rcl_wait_set_resize_services(rcl_wait_set_t * wait_set, size_t size);
* rcl_subscription_t sub2; // initialize this, see rcl_subscription_init() * rcl_subscription_t sub2; // initialize this, see rcl_subscription_init()
* rcl_guard_condition_t gc1; // initialize this, see rcl_guard_condition_init() * rcl_guard_condition_t gc1; // initialize this, see rcl_guard_condition_init()
* rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); * rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
* rcl_ret_t ret = rcl_wait_set_init(&wait_set, 2, 1, 0, rcl_get_default_allocator()); * rcl_ret_t ret = rcl_wait_set_init(&wait_set, 2, 1, 0, 0, 0, rcl_get_default_allocator());
* // ... error handling * // ... error handling
* do { * do {
* ret = rcl_wait_set_clear_subscriptions(&wait_set); * ret = rcl_wait_set_clear_subscriptions(&wait_set);