From 87a724d32c39b7255f71f23b56fb1332a9b7fbc1 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Tue, 12 May 2020 14:52:19 -0300
Subject: [PATCH] Remove MANUAL_BY_NODE liveliness API (#645)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rcl/include/rcl/node.h       | 25 -------------------------
 rcl/src/rcl/node.c           | 13 -------------
 rcl/test/rcl/test_events.cpp |  2 +-
 3 files changed, 1 insertion(+), 39 deletions(-)

diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index e9259d6..2c31094 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -369,31 +369,6 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id);
 
-/// Manually assert that this node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE)
-/**
- * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator of
- * this node may manually call `assert_liveliness` at some point in time to signal to the rest
- * of the system that this Node is still alive.
- * This function must be called at least as often as the qos_profile's liveliness_lease_duration
- *
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | Yes
- * Uses Atomics       | No
- * Lock-Free          | Yes
- *
- * \param[in] node handle to the node that needs liveliness to be asserted
- * \return `RCL_RET_OK` if the liveliness assertion was completed successfully, or
- * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
- * \return `RCL_RET_ERROR` if an unspecified error occurs.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_node_assert_liveliness(const rcl_node_t * node);
-
 /// Return the rmw node handle.
 /**
  * The handle returned is a pointer to the internally held rmw handle.
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 5fa895c..4ae93ec 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -492,19 +492,6 @@ rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id)
   return RCL_RET_OK;
 }
 
-rcl_ret_t
-rcl_node_assert_liveliness(const rcl_node_t * node)
-{
-  if (!rcl_node_is_valid(node)) {
-    return RCL_RET_NODE_INVALID;  // error already set
-  }
-  if (rmw_node_assert_liveliness(node->impl->rmw_node_handle) != RMW_RET_OK) {
-    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
-    return RCL_RET_ERROR;
-  }
-  return RCL_RET_OK;
-}
-
 rmw_node_t *
 rcl_node_get_rmw_handle(const rcl_node_t * node)
 {
diff --git a/rcl/test/rcl/test_events.cpp b/rcl/test/rcl/test_events.cpp
index 98d3779..c5184ac 100644
--- a/rcl/test/rcl/test_events.cpp
+++ b/rcl/test/rcl/test_events.cpp
@@ -726,7 +726,7 @@ get_test_pubsub_incompatible_qos_inputs()
   inputs[2].testcase_name = "IncompatibleQoS_LivelinessPolicy";
   inputs[2].qos_policy_kind = RMW_QOS_POLICY_LIVELINESS;
   inputs[2].publisher_qos_profile = TestEventFixture::default_qos_profile;
-  inputs[2].publisher_qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
+  inputs[2].publisher_qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
   inputs[2].subscription_qos_profile = TestEventFixture::default_qos_profile;
   inputs[2].subscription_qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
   inputs[2].error_msg = "Incompatible qos liveliness policy";