update code after splitting into headers and cpp files

rclcpp/CMakeLists.txt

@@ -4,17 +4,8 @@ project(rclcpp)
 
 find_package(ament_cmake REQUIRED)
 find_package(rcl_interfaces REQUIRED)
-
-ament_export_dependencies(rmw)
-ament_export_dependencies(rcl_interfaces)
-
-ament_export_include_directories(include)
-
-if(AMENT_ENABLE_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
 find_package(rmw REQUIRED)
+find_package(rosidl_generator_cpp REQUIRED)
 
 if(NOT WIN32)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
@@ -22,13 +13,86 @@ if(AMENT_ENABLE_TESTING)
 
 include_directories(include)
 
+set(${PROJECT_NAME}_SRCS
+  src/rclcpp/any_executable.cpp
+  src/rclcpp/callback_group.cpp
+  src/rclcpp/client.cpp
+  src/rclcpp/context.cpp
+  src/rclcpp/contexts/default_context.cpp
+  src/rclcpp/executor.cpp
+  src/rclcpp/executors.cpp
+  src/rclcpp/executors/multi_threaded_executor.cpp
+  src/rclcpp/executors/single_threaded_executor.cpp
+  src/rclcpp/intra_process_manager.cpp
+  src/rclcpp/intra_process_manager_state.cpp
+  src/rclcpp/memory_strategies.cpp
+  src/rclcpp/memory_strategy.cpp
+  src/rclcpp/parameter.cpp
+  src/rclcpp/parameter_client.cpp
+  src/rclcpp/parameter_service.cpp
+  src/rclcpp/publisher.cpp
+  src/rclcpp/node.cpp
+  src/rclcpp/service.cpp
+  src/rclcpp/subscription.cpp
+  src/rclcpp/timer.cpp
+  src/rclcpp/utilities.cpp
+)
+if(WIN32)
+  list(APPEND ${PROJECT_NAME}_SRCS src/rclcpp/windows_helper.cpp)
+endif()
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SRCS})
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  "rcl_interfaces"
+  "rmw"
+  "rosidl_generator_cpp"
+)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+# It also avoids using certain parts of the code that the consuming code must
+# use, but which the library cannot consume itself.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCLCPP_BUILDING_LIBRARY")
+if(APPLE)
+  # Since the rmw_* symbols are unresolved at the time of building librclcpp,
+  # tell the linker on OS X to dynamically look them up at runtime.
+  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+endif()
+
+ament_export_dependencies(rcl_interfaces)
+ament_export_dependencies(rmw)
+ament_export_dependencies(rosidl_generator_cpp)
+
+ament_export_include_directories(include)
+
+ament_export_libraries(${PROJECT_NAME})
+
+if(AMENT_ENABLE_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
   ament_add_gtest(test_function_traits test/test_function_traits.cpp)
+  if(TARGET test_function_traits)
+    target_include_directories(test_function_traits PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+    )
+  endif()
   ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
+  if(TARGET test_mapped_ring_buffer)
+    target_include_directories(test_mapped_ring_buffer PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+    )
+  endif()
   ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
   if(TARGET test_intra_process_manager)
     target_include_directories(test_intra_process_manager PUBLIC
-      "${rcl_interfaces_INCLUDE_DIRS}"
+      ${rcl_interfaces_INCLUDE_DIRS}
-      "${rmw_INCLUDE_DIRS}")
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+    )
   endif()
 endif()
 
@@ -45,3 +109,10 @@ install(
   DIRECTORY src/
   DESTINATION src/rclcpp
 )
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)

rclcpp/include/rclcpp/any_executable.hpp

@@ -19,6 +19,7 @@
 
 #include <rclcpp/macros.hpp>
 #include <rclcpp/node.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -28,9 +29,10 @@ namespace executor
 struct AnyExecutable
 {
   RCLCPP_SMART_PTR_DEFINITIONS(AnyExecutable);
-  AnyExecutable()
+
-  : subscription(0), timer(0), callback_group(0), node(0)
+  RCLCPP_PUBLIC
-  {}
+  AnyExecutable();
+
   // Only one of the following pointers will be set.
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription_intra_process;

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -22,6 +22,8 @@
 #include <type_traits>
 
 #include <rmw/types.h>
+#include "rclcpp/function_traits.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -23,6 +23,7 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/function_traits.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {

rclcpp/include/rclcpp/callback_group.hpp

@@ -23,6 +23,7 @@
 #include <rclcpp/timer.hpp>
 #include <rclcpp/service.hpp>
 #include <rclcpp/client.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -49,77 +50,57 @@ class CallbackGroup
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup);
 
-  CallbackGroup(CallbackGroupType group_type)
+  RCLCPP_PUBLIC
-  : type_(group_type), can_be_taken_from_(true)
+  explicit CallbackGroup(CallbackGroupType group_type);
-  {}
 
-  const std::vector<subscription::SubscriptionBase::WeakPtr> &
+  RCLCPP_PUBLIC
-  get_subscription_ptrs() const
+  const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
-  {
+  get_subscription_ptrs() const;
-    return subscription_ptrs_;
-  }
 
-  const std::vector<timer::TimerBase::WeakPtr> &
+  RCLCPP_PUBLIC
-  get_timer_ptrs() const
+  const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
-  {
+  get_timer_ptrs() const;
-    return timer_ptrs_;
-  }
 
-  const std::vector<service::ServiceBase::SharedPtr> &
+  RCLCPP_PUBLIC
-  get_service_ptrs() const
+  const std::vector<rclcpp::service::ServiceBase::SharedPtr> &
-  {
+  get_service_ptrs() const;
-    return service_ptrs_;
-  }
 
-  const std::vector<client::ClientBase::SharedPtr> &
+  RCLCPP_PUBLIC
-  get_client_ptrs() const
+  const std::vector<rclcpp::client::ClientBase::SharedPtr> &
-  {
+  get_client_ptrs() const;
-    return client_ptrs_;
-  }
 
-  std::atomic_bool & can_be_taken_from()
+  RCLCPP_PUBLIC
-  {
+  std::atomic_bool &
-    return can_be_taken_from_;
+  can_be_taken_from();
-  }
 
-  const CallbackGroupType & type() const
+  RCLCPP_PUBLIC
-  {
+  const CallbackGroupType &
-    return type_;
+  type() const;
-  }
 
 private:
   RCLCPP_DISABLE_COPY(CallbackGroup);
 
+  RCLCPP_PUBLIC
   void
-  add_subscription(
+  add_subscription(const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr);
-    const subscription::SubscriptionBase::SharedPtr subscription_ptr)
-  {
-    subscription_ptrs_.push_back(subscription_ptr);
-  }
 
+  RCLCPP_PUBLIC
   void
-  add_timer(const timer::TimerBase::SharedPtr timer_ptr)
+  add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr);
-  {
-    timer_ptrs_.push_back(timer_ptr);
-  }
 
+  RCLCPP_PUBLIC
   void
-  add_service(const service::ServiceBase::SharedPtr service_ptr)
+  add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr);
-  {
-    service_ptrs_.push_back(service_ptr);
-  }
 
+  RCLCPP_PUBLIC
   void
-  add_client(const client::ClientBase::SharedPtr client_ptr)
+  add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr);
-  {
-    client_ptrs_.push_back(client_ptr);
-  }
 
   CallbackGroupType type_;
-  std::vector<subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
+  std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
-  std::vector<timer::TimerBase::WeakPtr> timer_ptrs_;
+  std::vector<rclcpp::timer::TimerBase::WeakPtr> timer_ptrs_;
-  std::vector<service::ServiceBase::SharedPtr> service_ptrs_;
+  std::vector<rclcpp::service::ServiceBase::SharedPtr> service_ptrs_;
-  std::vector<client::ClientBase::SharedPtr> client_ptrs_;
+  std::vector<rclcpp::client::ClientBase::SharedPtr> client_ptrs_;
   std::atomic_bool can_be_taken_from_;
 
 };

rclcpp/include/rclcpp/client.hpp

@@ -27,6 +27,7 @@
 
 #include <rclcpp/macros.hpp>
 #include <rclcpp/utilities.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -40,32 +41,22 @@ class ClientBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase);
 
+  RCLCPP_PUBLIC
   ClientBase(
     std::shared_ptr<rmw_node_t> node_handle,
     rmw_client_t * client_handle,
-    const std::string & service_name)
+    const std::string & service_name);
-  : node_handle_(node_handle), client_handle_(client_handle), service_name_(service_name)
-  {}
 
-  virtual ~ClientBase()
+  RCLCPP_PUBLIC
-  {
+  virtual ~ClientBase();
-    if (client_handle_) {
-      if (rmw_destroy_client(client_handle_) != RMW_RET_OK) {
-        fprintf(stderr,
-          "Error in destruction of rmw client handle: %s\n", rmw_get_error_string_safe());
-      }
-    }
-  }
 
-  const std::string & get_service_name() const
+  RCLCPP_PUBLIC
-  {
+  const std::string &
-    return this->service_name_;
+  get_service_name() const;
-  }
 
-  const rmw_client_t * get_client_handle() const
+  RCLCPP_PUBLIC
-  {
+  const rmw_client_t *
-    return this->client_handle_;
+  get_client_handle() const;
-  }
 
   virtual std::shared_ptr<void> create_response() = 0;
   virtual std::shared_ptr<void> create_request_header() = 0;

rclcpp/include/rclcpp/context.hpp

@@ -26,6 +26,8 @@
 #include <unordered_map>
 
 #include <rmw/rmw.h>
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -38,7 +40,7 @@ class Context
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(Context);
 
-  Context() {}
+  Context();
 
   template<typename SubContext, typename ... Args>
   std::shared_ptr<SubContext>

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_
 
 #include <rclcpp/context.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -29,16 +30,13 @@ class DefaultContext : public rclcpp::context::Context
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext);
 
-  DefaultContext() {}
+  RCLCPP_PUBLIC
-
+  DefaultContext();
 };
 
+RCLCPP_PUBLIC
 DefaultContext::SharedPtr
-get_global_default_context()
+get_global_default_context();
-{
-  static DefaultContext::SharedPtr default_context = DefaultContext::make_shared();
-  return default_context;
-}
 
 } // namespace default_context
 } // namespace contexts

rclcpp/include/rclcpp/executor.hpp

@@ -23,14 +23,13 @@
 #include <memory>
 #include <vector>
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-
 #include "rclcpp/any_executable.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -54,29 +53,18 @@ public:
 
   /// Default constructor.
   // \param[in] ms The memory strategy to be used with this executor.
-  explicit Executor(memory_strategy::MemoryStrategy::SharedPtr ms =
+  RCLCPP_PUBLIC
-    memory_strategies::create_default_strategy())
+  explicit Executor(
-  : interrupt_guard_condition_(rmw_create_guard_condition()),
+    memory_strategy::MemoryStrategy::SharedPtr ms = memory_strategies::create_default_strategy());
-    memory_strategy_(ms)
-  {
-  }
 
   /// Default destructor.
-  virtual ~Executor()
+  RCLCPP_PUBLIC
-  {
+  virtual ~Executor();
-    // Try to deallocate the interrupt guard condition.
-    if (interrupt_guard_condition_ != nullptr) {
-      rmw_ret_t status = rmw_destroy_guard_condition(interrupt_guard_condition_);
-      if (status != RMW_RET_OK) {
-        fprintf(stderr,
-          "[rclcpp::error] failed to destroy guard condition: %s\n", rmw_get_error_string_safe());
-      }
-    }
-  }
 
   /// Do work periodically as it becomes available to us. Blocking call, may block indefinitely.
   // It is up to the implementation of Executor to implement spin.
-  virtual void spin() = 0;
+  virtual void
+  spin() = 0;
 
   /// Add a node to the executor.
   /**
@@ -86,26 +74,9 @@ public:
    * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
    * node was added, it will wake up.
    */
+  RCLCPP_PUBLIC
   virtual void
-  add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true)
+  add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true);
-  {
-    // Check to ensure node not already added
-    for (auto & weak_node : weak_nodes_) {
-      auto node = weak_node.lock();
-      if (node == node_ptr) {
-        // TODO(jacquelinekay): Use a different error here?
-        throw std::runtime_error("Cannot add node to executor, node already added.");
-      }
-    }
-    weak_nodes_.push_back(node_ptr);
-    if (notify) {
-      // Interrupt waiting to handle new node
-      rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
-      if (status != RMW_RET_OK) {
-        throw std::runtime_error(rmw_get_error_string_safe());
-      }
-    }
-  }
 
   /// Remove a node from the executor.
   /**
@@ -114,29 +85,9 @@ public:
    * This is useful if the last node was removed from the executor while the executor was blocked
    * waiting for work in another thread, because otherwise the executor would never be notified.
    */
+  RCLCPP_PUBLIC
   virtual void
-  remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true)
+  remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true);
-  {
-    bool node_removed = false;
-    weak_nodes_.erase(
-      std::remove_if(
-        weak_nodes_.begin(), weak_nodes_.end(),
-        [&](std::weak_ptr<rclcpp::node::Node> & i)
-        {
-          bool matched = (i.lock() == node_ptr);
-          node_removed |= matched;
-          return matched;
-        }));
-    if (notify) {
-      // If the node was matched and removed, interrupt waiting
-      if (node_removed) {
-        rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
-        if (status != RMW_RET_OK) {
-          throw std::runtime_error(rmw_get_error_string_safe());
-        }
-      }
-    }
-  }
 
   /// Add a node to executor, execute the next available unit of work, and remove the node.
   /**
@@ -146,28 +97,23 @@ public:
    * function to be non-blocking.
    */
   template<typename T = std::milli>
-  void spin_node_once(rclcpp::node::Node::SharedPtr node,
+  void
+  spin_node_once(rclcpp::node::Node::SharedPtr node,
     std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
   {
-    this->add_node(node, false);
+    return spin_node_once_nanoseconds(
-    // non-blocking = true
+      node,
-    auto any_exec = get_next_executable(timeout);
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
-    if (any_exec) {
+    );
-      execute_any_executable(any_exec);
-    }
-    this->remove_node(node, false);
   }
 
   /// Add a node, complete all immediately available work, and remove the node.
   /**
    * \param[in] node Shared pointer to the node to add.
    */
-  void spin_node_some(rclcpp::node::Node::SharedPtr node)
+  RCLCPP_PUBLIC
-  {
+  void
-    this->add_node(node, false);
+  spin_node_some(rclcpp::node::Node::SharedPtr node);
-    spin_some();
-    this->remove_node(node, false);
-  }
 
   /// Complete all available queued work without blocking.
   /**
@@ -176,14 +122,9 @@ public:
    * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
    * to block (which may have unintended consequences).
    */
-  virtual void spin_some()
+  RCLCPP_PUBLIC
-  {
+  virtual void
-    while (AnyExecutable::SharedPtr any_exec =
+  spin_some();
-      get_next_executable(std::chrono::milliseconds::zero()))
-    {
-      execute_any_executable(any_exec);
-    }
-  }
 
   /// Support dynamic switching of the memory strategy.
   /**
@@ -191,411 +132,72 @@ public:
    * unintended consequences.
    * \param[in] memory_strategy Shared pointer to the memory strategy to set.
    */
+  RCLCPP_PUBLIC
   void
-  set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy)
+  set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
-  {
-    if (memory_strategy == nullptr) {
-      throw std::runtime_error("Received NULL memory strategy in executor.");
-    }
-    memory_strategy_ = memory_strategy;
-  }
 
 protected:
+  RCLCPP_PUBLIC
+  void
+  spin_node_once_nanoseconds(rclcpp::node::Node::SharedPtr node, std::chrono::nanoseconds timeout);
+
   /// Find the next available executable and do the work associated with it.
   /** \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
    * service, client).
    */
+  RCLCPP_PUBLIC
   void
-  execute_any_executable(AnyExecutable::SharedPtr any_exec)
+  execute_any_executable(AnyExecutable::SharedPtr any_exec);
-  {
-    if (!any_exec) {
-      return;
-    }
-    if (any_exec->timer) {
-      execute_timer(any_exec->timer);
-    }
-    if (any_exec->subscription) {
-      execute_subscription(any_exec->subscription);
-    }
-    if (any_exec->subscription_intra_process) {
-      execute_intra_process_subscription(any_exec->subscription_intra_process);
-    }
-    if (any_exec->service) {
-      execute_service(any_exec->service);
-    }
-    if (any_exec->client) {
-      execute_client(any_exec->client);
-    }
-    // Reset the callback_group, regardless of type
-    any_exec->callback_group->can_be_taken_from().store(true);
-    // Wake the wait, because it may need to be recalculated or work that
-    // was previously blocked is now available.
-    rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
-    if (status != RMW_RET_OK) {
-      throw std::runtime_error(rmw_get_error_string_safe());
-    }
-  }
 
+  RCLCPP_PUBLIC
   static void
   execute_subscription(
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
+    rclcpp::subscription::SubscriptionBase::SharedPtr subscription);
-  {
-    std::shared_ptr<void> message = subscription->create_message();
-    bool taken = false;
-    rmw_message_info_t message_info;
-    auto ret =
-      rmw_take_with_info(subscription->get_subscription_handle(),
-        message.get(), &taken, &message_info);
-    if (ret == RMW_RET_OK) {
-      if (taken) {
-        message_info.from_intra_process = false;
-        subscription->handle_message(message, message_info);
-      }
-    } else {
-      fprintf(stderr,
-        "[rclcpp::error] take failed for subscription on topic '%s': %s\n",
-        subscription->get_topic_name().c_str(), rmw_get_error_string_safe());
-    }
-    subscription->return_message(message);
-  }
 
+  RCLCPP_PUBLIC
   static void
   execute_intra_process_subscription(
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
+    rclcpp::subscription::SubscriptionBase::SharedPtr subscription);
-  {
-    rcl_interfaces::msg::IntraProcessMessage ipm;
-    bool taken = false;
-    rmw_message_info_t message_info;
-    rmw_ret_t status = rmw_take_with_info(
-      subscription->get_intra_process_subscription_handle(),
-      &ipm,
-      &taken,
-      &message_info);
-    if (status == RMW_RET_OK) {
-      if (taken) {
-        message_info.from_intra_process = true;
-        subscription->handle_intra_process_message(ipm, message_info);
-      }
-    } else {
-      fprintf(stderr,
-        "[rclcpp::error] take failed for intra process subscription on topic '%s': %s\n",
-        subscription->get_topic_name().c_str(), rmw_get_error_string_safe());
-    }
-  }
 
+  RCLCPP_PUBLIC
   static void
-  execute_timer(
+  execute_timer(rclcpp::timer::TimerBase::SharedPtr timer);
-    rclcpp::timer::TimerBase::SharedPtr timer)
-  {
-    timer->execute_callback();
-  }
 
+  RCLCPP_PUBLIC
   static void
-  execute_service(
+  execute_service(rclcpp::service::ServiceBase::SharedPtr service);
-    rclcpp::service::ServiceBase::SharedPtr service)
-  {
-    std::shared_ptr<void> request_header = service->create_request_header();
-    std::shared_ptr<void> request = service->create_request();
-    bool taken = false;
-    rmw_ret_t status = rmw_take_request(
-      service->get_service_handle(),
-      request_header.get(),
-      request.get(),
-      &taken);
-    if (status == RMW_RET_OK) {
-      if (taken) {
-        service->handle_request(request_header, request);
-      }
-    } else {
-      fprintf(stderr,
-        "[rclcpp::error] take request failed for server of service '%s': %s\n",
-        service->get_service_name().c_str(), rmw_get_error_string_safe());
-    }
-  }
 
+  RCLCPP_PUBLIC
   static void
-  execute_client(
+  execute_client(rclcpp::client::ClientBase::SharedPtr client);
-    rclcpp::client::ClientBase::SharedPtr client)
-  {
-    std::shared_ptr<void> request_header = client->create_request_header();
-    std::shared_ptr<void> response = client->create_response();
-    bool taken = false;
-    rmw_ret_t status = rmw_take_response(
-      client->get_client_handle(),
-      request_header.get(),
-      response.get(),
-      &taken);
-    if (status == RMW_RET_OK) {
-      if (taken) {
-        client->handle_response(request_header, response);
-      }
-    } else {
-      fprintf(stderr,
-        "[rclcpp::error] take response failed for client of service '%s': %s\n",
-        client->get_service_name().c_str(), rmw_get_error_string_safe());
-    }
-  }
 
-/*** Populate class storage from stored weak node pointers and wait. ***/
+  RCLCPP_PUBLIC
-
-  template<typename T = std::milli>
   void
-  wait_for_work(std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
+  wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
-  {
-    memory_strategy_->clear_active_entities();
 
-    // Collect the subscriptions and timers to be waited on
+  RCLCPP_PUBLIC
-    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
-
-    // Clean up any invalid nodes, if they were detected
-    if (has_invalid_weak_nodes) {
-      weak_nodes_.erase(
-        remove_if(weak_nodes_.begin(), weak_nodes_.end(),
-        [](std::weak_ptr<rclcpp::node::Node> i)
-          {
-            return i.expired();
-          }));
-    }
-
-    // Use the number of subscriptions to allocate memory in the handles
-    rmw_subscriptions_t subscriber_handles;
-    subscriber_handles.subscriber_count =
-      memory_strategy_->fill_subscriber_handles(subscriber_handles.subscribers);
-
-    rmw_services_t service_handles;
-    service_handles.service_count =
-      memory_strategy_->fill_service_handles(service_handles.services);
-
-    rmw_clients_t client_handles;
-    client_handles.client_count =
-      memory_strategy_->fill_client_handles(client_handles.clients);
-
-    // The number of guard conditions is fixed at 2: 1 for the ctrl-c guard cond,
-    // and one for the executor's guard cond (interrupt_guard_condition_)
-    size_t number_of_guard_conds = 2;
-    rmw_guard_conditions_t guard_condition_handles;
-    guard_condition_handles.guard_condition_count = number_of_guard_conds;
-    guard_condition_handles.guard_conditions = static_cast<void **>(guard_cond_handles_.data());
-    if (guard_condition_handles.guard_conditions == NULL &&
-      number_of_guard_conds > 0)
-    {
-      // TODO(wjwwood): Use a different error here? maybe std::bad_alloc?
-      throw std::runtime_error("Could not malloc for guard condition pointers.");
-    }
-    // Put the global ctrl-c guard condition in
-    assert(guard_condition_handles.guard_condition_count > 1);
-    guard_condition_handles.guard_conditions[0] = \
-      rclcpp::utilities::get_global_sigint_guard_condition()->data;
-    // Put the executor's guard condition in
-    guard_condition_handles.guard_conditions[1] = \
-      interrupt_guard_condition_->data;
-
-    rmw_time_t * wait_timeout = NULL;
-    rmw_time_t rmw_timeout;
-
-    auto next_timer_duration = get_earliest_timer();
-    // If the next timer timeout must preempt the requested timeout
-    // or if the requested timeout blocks forever, and there exists a valid timer,
-    // replace the requested timeout with the next timeout.
-    bool has_valid_timer = next_timer_duration >= std::chrono::nanoseconds::zero();
-    if ((next_timer_duration < timeout ||
-      timeout < std::chrono::duration<int64_t, T>::zero()) && has_valid_timer)
-    {
-      rmw_timeout.sec =
-        std::chrono::duration_cast<std::chrono::seconds>(next_timer_duration).count();
-      rmw_timeout.nsec = next_timer_duration.count() % (1000 * 1000 * 1000);
-      wait_timeout = &rmw_timeout;
-    } else if (timeout >= std::chrono::duration<int64_t, T>::zero()) {
-      // Convert timeout representation to rmw_time
-      rmw_timeout.sec = std::chrono::duration_cast<std::chrono::seconds>(timeout).count();
-      rmw_timeout.nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count() %
-        (1000 * 1000 * 1000);
-      wait_timeout = &rmw_timeout;
-    }
-
-    // Now wait on the waitable subscriptions and timers
-    rmw_ret_t status = rmw_wait(
-      &subscriber_handles,
-      &guard_condition_handles,
-      &service_handles,
-      &client_handles,
-      wait_timeout);
-    if (status != RMW_RET_OK && status != RMW_RET_TIMEOUT) {
-      throw std::runtime_error(rmw_get_error_string_safe());
-    }
-    // If ctrl-c guard condition, return directly
-    if (guard_condition_handles.guard_conditions[0] != 0) {
-      // Make sure to free or clean memory
-      memory_strategy_->clear_handles();
-      return;
-    }
-
-    memory_strategy_->revalidate_handles();
-  }
-
-/******************************/
   rclcpp::node::Node::SharedPtr
-  get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group);
-  {
-    if (!group) {
-      return rclcpp::node::Node::SharedPtr();
-    }
-    for (auto & weak_node : weak_nodes_) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto callback_group = weak_group.lock();
-        if (callback_group == group) {
-          return node;
-        }
-      }
-    }
-    return rclcpp::node::Node::SharedPtr();
-  }
 
+  RCLCPP_PUBLIC
   rclcpp::callback_group::CallbackGroup::SharedPtr
-  get_group_by_timer(
+  get_group_by_timer(rclcpp::timer::TimerBase::SharedPtr timer);
-    rclcpp::timer::TimerBase::SharedPtr timer)
-  {
-    for (auto & weak_node : weak_nodes_) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group) {
-          continue;
-        }
-        for (auto & weak_timer : group->get_timer_ptrs()) {
-          auto t = weak_timer.lock();
-          if (t == timer) {
-            return group;
-          }
-        }
-      }
-    }
-    return rclcpp::callback_group::CallbackGroup::SharedPtr();
-  }
 
+  RCLCPP_PUBLIC
   void
-  get_next_timer(AnyExecutable::SharedPtr any_exec)
+  get_next_timer(AnyExecutable::SharedPtr any_exec);
-  {
-    for (auto & weak_node : weak_nodes_) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group || !group->can_be_taken_from().load()) {
-          continue;
-        }
-        for (auto & timer_ref : group->get_timer_ptrs()) {
-          auto timer = timer_ref.lock();
-          if (timer && timer->check_and_trigger()) {
-            any_exec->timer = timer;
-            any_exec->callback_group = group;
-            node = get_node_by_group(group);
-            return;
-          }
-        }
-      }
-    }
-  }
 
+  RCLCPP_PUBLIC
   std::chrono::nanoseconds
-  get_earliest_timer()
+  get_earliest_timer();
-  {
-    std::chrono::nanoseconds latest = std::chrono::nanoseconds::max();
-    bool timers_empty = true;
-    for (auto & weak_node : weak_nodes_) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group || !group->can_be_taken_from().load()) {
-          continue;
-        }
-        for (auto & timer_ref : group->get_timer_ptrs()) {
-          timers_empty = false;
-          // Check the expected trigger time
-          auto timer = timer_ref.lock();
-          if (timer && timer->time_until_trigger() < latest) {
-            latest = timer->time_until_trigger();
-          }
-        }
-      }
-    }
-    if (timers_empty) {
-      return std::chrono::nanoseconds(-1);
-    }
-    return latest;
-  }
 
+  RCLCPP_PUBLIC
   AnyExecutable::SharedPtr
-  get_next_ready_executable()
+  get_next_ready_executable();
-  {
-    auto any_exec = memory_strategy_->instantiate_next_executable();
-    // Check the timers to see if there are any that are ready, if so return
-    get_next_timer(any_exec);
-    if (any_exec->timer) {
-      return any_exec;
-    }
-    // Check the subscriptions to see if there are any that are ready
-    memory_strategy_->get_next_subscription(any_exec, weak_nodes_);
-    if (any_exec->subscription || any_exec->subscription_intra_process) {
-      return any_exec;
-    }
-    // Check the services to see if there are any that are ready
-    memory_strategy_->get_next_service(any_exec, weak_nodes_);
-    if (any_exec->service) {
-      return any_exec;
-    }
-    // Check the clients to see if there are any that are ready
-    memory_strategy_->get_next_client(any_exec, weak_nodes_);
-    if (any_exec->client) {
-      return any_exec;
-    }
-    // If there is no ready executable, return a null ptr
-    return nullptr;
-  }
 
-  template<typename T = std::milli>
+  RCLCPP_PUBLIC
   AnyExecutable::SharedPtr
-  get_next_executable(std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t,
+  get_next_executable(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
-    T>(-1))
-  {
-    // Check to see if there are any subscriptions or timers needing service
-    // TODO(wjwwood): improve run to run efficiency of this function
-    auto any_exec = get_next_ready_executable();
-    // If there are none
-    if (!any_exec) {
-      // Wait for subscriptions or timers to work on
-      wait_for_work(timeout);
-      // Try again
-      any_exec = get_next_ready_executable();
-    }
-    // At this point any_exec should be valid with either a valid subscription
-    // or a valid timer, or it should be a null shared_ptr
-    if (any_exec) {
-      // If it is valid, check to see if the group is mutually exclusive or
-      // not, then mark it accordingly
-      if (any_exec->callback_group && any_exec->callback_group->type() == \
-        callback_group::CallbackGroupType::MutuallyExclusive)
-      {
-        // It should not have been taken otherwise
-        assert(any_exec->callback_group->can_be_taken_from().load());
-        // Set to false to indicate something is being run from this group
-        any_exec->callback_group->can_be_taken_from().store(false);
-      }
-    }
-    return any_exec;
-  }
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
   rmw_guard_condition_t * interrupt_guard_condition_;

rclcpp/include/rclcpp/executors.hpp

@@ -20,9 +20,23 @@
 #include <rclcpp/executors/single_threaded_executor.hpp>
 #include <rclcpp/node.hpp>
 #include <rclcpp/utilities.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
+
+/// Create a default single-threaded executor and execute any immediately available work.
+// \param[in] node_ptr Shared pointer to the node to spin.
+RCLCPP_PUBLIC
+void
+spin_some(node::Node::SharedPtr node_ptr);
+
+/// Create a default single-threaded executor and spin the specified node.
+// \param[in] node_ptr Shared pointer to the node to spin.
+RCLCPP_PUBLIC
+void
+spin(node::Node::SharedPtr node_ptr);
+
 namespace executors
 {
 
@@ -37,8 +51,7 @@ using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
  */
 enum FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
 
-/// Spin (blocking) until the future is complete, until the function times out (if applicable),
+/// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
-/// or until rclcpp is interrupted.
 /**
  * \param[in] executor The executor which will spin the node.
  * \param[in] node_ptr The node to spin.
@@ -55,7 +68,7 @@ spin_node_until_future_complete(
   std::shared_future<ResponseT> & future,
   std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
 {
-  // TODO(wjwwood): does not work recursively right, can't call spin_node_until_future_complete
+  // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
   // inside a callback executed by an executor.
 
   // Check the future before entering the while loop.
@@ -82,6 +95,17 @@ spin_node_until_future_complete(
 }
 
 }  // namespace executors
+
+template<typename FutureT, typename TimeT = std::milli>
+rclcpp::executors::FutureReturnCode
+spin_until_future_complete(
+  node::Node::SharedPtr node_ptr, std::shared_future<FutureT> & future,
+  std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
+{
+  rclcpp::executors::SingleThreadedExecutor executor;
+  return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
+}
+
 }  // namespace rclcpp
 
 #endif /* RCLCPP_RCLCPP_EXECUTORS_HPP_ */

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -27,6 +27,8 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
+#include "rclcpp/memory_strategies.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -40,63 +42,32 @@ class MultiThreadedExecutor : public executor::Executor
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor);
 
-  MultiThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
+  RCLCPP_PUBLIC
-    memory_strategies::create_default_strategy())
+  MultiThreadedExecutor(
-  : executor::Executor(ms)
+    memory_strategy::MemoryStrategy::SharedPtr ms = memory_strategies::create_default_strategy());
-  {
-    number_of_threads_ = std::thread::hardware_concurrency();
-    if (number_of_threads_ == 0) {
-      number_of_threads_ = 1;
-    }
-  }
 
-  virtual ~MultiThreadedExecutor() {}
+  RCLCPP_PUBLIC
+  virtual ~MultiThreadedExecutor();
 
+  RCLCPP_PUBLIC
   void
-  spin()
+  spin();
-  {
-    std::vector<std::thread> threads;
-    {
-      std::lock_guard<std::mutex> wait_lock(wait_mutex_);
-      size_t thread_id_ = 1;  // Use a _ suffix to avoid shadowing `rclcpp::thread_id`
-      for (size_t i = number_of_threads_; i > 0; --i) {
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-        auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id_++);
-        threads.emplace_back(func);
-      }
-    }
-    for (auto & thread : threads) {
-      thread.join();
-    }
-  }
 
+  RCLCPP_PUBLIC
   size_t
-  get_number_of_threads()
+  get_number_of_threads();
-  {
+
-    return number_of_threads_;
+protected:
-  }
+  RCLCPP_PUBLIC
+  void
+  run(size_t this_thread_number);
 
 private:
-  void run(size_t this_thread_id)
-  {
-    rclcpp::thread_id = this_thread_id;
-    while (rclcpp::utilities::ok()) {
-      executor::AnyExecutable::SharedPtr any_exec;
-      {
-        std::lock_guard<std::mutex> wait_lock(wait_mutex_);
-        if (!rclcpp::utilities::ok()) {
-          return;
-        }
-        any_exec = get_next_executable();
-      }
-      execute_any_executable(any_exec);
-    }
-  }
-
   RCLCPP_DISABLE_COPY(MultiThreadedExecutor);
 
   std::mutex wait_mutex_;
   size_t number_of_threads_;
+  std::unordered_map<std::thread::id, size_t> thread_number_by_thread_id_;
 };
 
 }  // namespace multi_threaded_executor

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -28,6 +28,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/rate.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -44,23 +45,20 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor);
 
   /// Default constructor. See the default constructor for Executor.
-  SingleThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
+  RCLCPP_PUBLIC
-    memory_strategies::create_default_strategy())
+  SingleThreadedExecutor(
-  : executor::Executor(ms) {}
+    memory_strategy::MemoryStrategy::SharedPtr ms = memory_strategies::create_default_strategy());
 
   /// Default destrcutor.
-  virtual ~SingleThreadedExecutor() {}
+  RCLCPP_PUBLIC
+  virtual ~SingleThreadedExecutor();
 
   /// Single-threaded implementation of spin.
   // This function will block until work comes in, execute it, and keep blocking.
   // It will only be interrupt by a CTRL-C (managed by the global signal handler).
-  void spin()
+  RCLCPP_PUBLIC
-  {
+  void
-    while (rclcpp::utilities::ok()) {
+  spin();
-      auto any_exec = get_next_executable();
-      execute_any_executable(any_exec);
-    }
-  }
 
 private:
   RCLCPP_DISABLE_COPY(SingleThreadedExecutor);

rclcpp/include/rclcpp/intra_process_manager.hpp

@@ -32,6 +32,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/subscription.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -124,12 +125,12 @@ private:
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager);
 
+  RCLCPP_PUBLIC
   explicit IntraProcessManager(
-    IntraProcessManagerStateBase::SharedPtr state = create_default_state()
+    IntraProcessManagerStateBase::SharedPtr state = create_default_state());
-  )
+
-  : state_(state)
+  RCLCPP_PUBLIC
-  {
+  virtual ~IntraProcessManager();
-  }
 
   /// Register a subscription with the manager, returns subscriptions unique id.
   /* In addition to generating a unique intra process id for the subscription,
@@ -143,24 +144,18 @@ public:
    * \param subscription the Subscription to register.
    * \return an unsigned 64-bit integer which is the subscription's unique id.
    */
+  RCLCPP_PUBLIC
   uint64_t
-  add_subscription(subscription::SubscriptionBase::SharedPtr subscription)
+  add_subscription(subscription::SubscriptionBase::SharedPtr subscription);
-  {
-    auto id = IntraProcessManager::get_next_unique_id();
-    state_->add_subscription(id, subscription);
-    return id;
-  }
 
   /// Unregister a subscription using the subscription's unique id.
   /* This method does not allocate memory.
    *
    * \param intra_process_subscription_id id of the subscription to remove.
    */
+  RCLCPP_PUBLIC
   void
-  remove_subscription(uint64_t intra_process_subscription_id)
+  remove_subscription(uint64_t intra_process_subscription_id);
-  {
-    state_->remove_subscription(intra_process_subscription_id);
-  }
 
   /// Register a publisher with the manager, returns the publisher unique id.
   /* In addition to generating and returning a unique id for the publisher,
@@ -203,11 +198,9 @@ public:
    *
    * \param intra_process_publisher_id id of the publisher to remove.
    */
+  RCLCPP_PUBLIC
   void
-  remove_publisher(uint64_t intra_process_publisher_id)
+  remove_publisher(uint64_t intra_process_publisher_id);
-  {
-    state_->remove_publisher(intra_process_publisher_id);
-  }
 
   /// Store a message in the manager, and return the message sequence number.
   /* The given message is stored in internal storage using the given publisher
@@ -336,41 +329,18 @@ public:
   }
 
   /// Return true if the given rmw_gid_t matches any stored Publishers.
+  RCLCPP_PUBLIC
   bool
-  matches_any_publishers(const rmw_gid_t * id) const
+  matches_any_publishers(const rmw_gid_t * id) const;
-  {
-    return state_->matches_any_publishers(id);
-  }
 
 private:
-  static uint64_t get_next_unique_id()
+  RCLCPP_PUBLIC
-  {
+  static uint64_t
-    auto next_id = next_unique_id_.fetch_add(1, std::memory_order_relaxed);
+  get_next_unique_id();
-    // Check for rollover (we started at 1).
-    if (0 == next_id) {
-      // This puts a technical limit on the number of times you can add a publisher or subscriber.
-      // But even if you could add (and remove) them at 1 kHz (very optimistic rate)
-      // it would still be a very long time before you could exhaust the pool of id's:
-      //   2^64 / 1000 times per sec / 60 sec / 60 min / 24 hours / 365 days = 584,942,417 years
-      // So around 585 million years. Even at 1 GHz, it would take 585 years.
-      // I think it's safe to avoid trying to handle overflow.
-      // If we roll over then it's most likely a bug.
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::overflow_error(
-        "exhausted the unique id's for publishers and subscribers in this process "
-        "(congratulations your computer is either extremely fast or extremely old)");
-      // *INDENT-ON*
-    }
-    return next_id;
-  }
-
-  static std::atomic<uint64_t> next_unique_id_;
 
   IntraProcessManagerStateBase::SharedPtr state_;
 };
 
-std::atomic<uint64_t> IntraProcessManager::next_unique_id_ {1};
-
 }  // namespace intra_process_manager
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/intra_process_manager_state.hpp

@@ -30,6 +30,8 @@
 #include <string>
 #include <utility>
 
+#include "rclcpp/visibility_control.hpp"
+
 namespace rclcpp
 {
 namespace intra_process_manager
@@ -40,6 +42,9 @@ class IntraProcessManagerStateBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(IntraProcessManagerStateBase);
 
+  IntraProcessManagerStateBase() = default;
+  ~IntraProcessManagerStateBase() = default;
+
   virtual void
   add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription) = 0;
 
@@ -70,12 +75,18 @@ public:
 
   virtual bool
   matches_any_publishers(const rmw_gid_t * id) const = 0;
+
+private:
+  RCLCPP_DISABLE_COPY(IntraProcessManagerStateBase);
 };
 
 template<typename Allocator = std::allocator<void>>
 class IntraProcessManagerState : public IntraProcessManagerStateBase
 {
 public:
+  IntraProcessManagerState() = default;
+  ~IntraProcessManagerState() = default;
+
   void
   add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription)
   {
@@ -222,6 +233,8 @@ public:
   }
 
 private:
+  RCLCPP_DISABLE_COPY(IntraProcessManagerState);
+
   template<typename T>
   using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>;
 
@@ -259,10 +272,9 @@ private:
   PublisherMap publishers_;
 };
 
-static IntraProcessManagerStateBase::SharedPtr create_default_state()
+RCLCPP_PUBLIC
-{
+IntraProcessManagerStateBase::SharedPtr
-  return std::make_shared<IntraProcessManagerState<>>();
+create_default_state();
-}
 
 }  // namespace intra_process_manager
 }  // namespace rclcpp

rclcpp/include/rclcpp/mapped_ring_buffer.hpp

@@ -23,13 +23,14 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 namespace mapped_ring_buffer
 {
 
-class MappedRingBufferBase
+class RCLCPP_PUBLIC MappedRingBufferBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBufferBase);

rclcpp/include/rclcpp/memory_strategies.hpp

@@ -17,18 +17,16 @@
 
 #include <rclcpp/memory_strategy.hpp>
 #include <rclcpp/strategies/allocator_memory_strategy.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 namespace memory_strategies
 {
 
-using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;
+RCLCPP_PUBLIC
-
+memory_strategy::MemoryStrategy::SharedPtr
-static memory_strategy::MemoryStrategy::SharedPtr create_default_strategy()
+create_default_strategy();
-{
-  return std::make_shared<AllocatorMemoryStrategy<>>();
-}
 
 }  // namespace memory_strategies
 }  // namespace rclcpp

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -21,6 +21,7 @@
 #include "rclcpp/any_executable.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -33,11 +34,11 @@ namespace memory_strategy
  * the rmw implementation after the executor waits for work, based on the number of entities that
  * come through.
  */
-class MemoryStrategy
+class RCLCPP_PUBLIC MemoryStrategy
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy);
-  using WeakNodeVector = std::vector<std::weak_ptr<node::Node>>;
+  using WeakNodeVector = std::vector<std::weak_ptr<rclcpp::node::Node>>;
 
   // return the new number of subscribers
   virtual size_t fill_subscriber_handles(void ** & ptr) = 0;
@@ -56,200 +57,50 @@ public:
 
   /// Provide a newly initialized AnyExecutable object.
   // \return Shared pointer to the fresh executable.
-  virtual executor::AnyExecutable::SharedPtr instantiate_next_executable() = 0;
+  virtual rclcpp::executor::AnyExecutable::SharedPtr instantiate_next_executable() = 0;
 
   virtual void
-  get_next_subscription(executor::AnyExecutable::SharedPtr any_exec,
+  get_next_subscription(rclcpp::executor::AnyExecutable::SharedPtr any_exec,
     const WeakNodeVector & weak_nodes) = 0;
 
   virtual void
-  get_next_service(executor::AnyExecutable::SharedPtr any_exec,
+  get_next_service(rclcpp::executor::AnyExecutable::SharedPtr any_exec,
     const WeakNodeVector & weak_nodes) = 0;
 
   virtual void
-  get_next_client(executor::AnyExecutable::SharedPtr any_exec,
+  get_next_client(rclcpp::executor::AnyExecutable::SharedPtr any_exec,
     const WeakNodeVector & weak_nodes) = 0;
 
   static rclcpp::subscription::SubscriptionBase::SharedPtr
   get_subscription_by_handle(void * subscriber_handle,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeVector & weak_nodes);
-  {
-    for (auto & weak_node : weak_nodes) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group) {
-          continue;
-        }
-        for (auto & weak_subscription : group->get_subscription_ptrs()) {
-          auto subscription = weak_subscription.lock();
-          if (subscription) {
-            if (subscription->get_subscription_handle()->data == subscriber_handle) {
-              return subscription;
-            }
-            if (subscription->get_intra_process_subscription_handle() &&
-              subscription->get_intra_process_subscription_handle()->data == subscriber_handle)
-            {
-              return subscription;
-            }
-          }
-        }
-      }
-    }
-    return nullptr;
-  }
 
   static rclcpp::service::ServiceBase::SharedPtr
-  get_service_by_handle(void * service_handle, const WeakNodeVector & weak_nodes)
+  get_service_by_handle(void * service_handle, const WeakNodeVector & weak_nodes);
-  {
-    for (auto & weak_node : weak_nodes) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group) {
-          continue;
-        }
-        for (auto & service : group->get_service_ptrs()) {
-          if (service->get_service_handle()->data == service_handle) {
-            return service;
-          }
-        }
-      }
-    }
-    return nullptr;
-  }
 
   static rclcpp::client::ClientBase::SharedPtr
-  get_client_by_handle(void * client_handle, const WeakNodeVector & weak_nodes)
+  get_client_by_handle(void * client_handle, const WeakNodeVector & weak_nodes);
-  {
-    for (auto & weak_node : weak_nodes) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group) {
-          continue;
-        }
-        for (auto & client : group->get_client_ptrs()) {
-          if (client->get_client_handle()->data == client_handle) {
-            return client;
-          }
-        }
-      }
-    }
-    return nullptr;
-  }
 
   static rclcpp::node::Node::SharedPtr
   get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeVector & weak_nodes);
-  {
-    if (!group) {
-      return nullptr;
-    }
-    for (auto & weak_node : weak_nodes) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto callback_group = weak_group.lock();
-        if (callback_group == group) {
-          return node;
-        }
-      }
-    }
-    return nullptr;
-  }
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeVector & weak_nodes);
-  {
-    for (auto & weak_node : weak_nodes) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group) {
-          continue;
-        }
-        for (auto & weak_sub : group->get_subscription_ptrs()) {
-          auto sub = weak_sub.lock();
-          if (sub == subscription) {
-            return group;
-          }
-        }
-      }
-    }
-    return nullptr;
-  }
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::service::ServiceBase::SharedPtr service,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeVector & weak_nodes);
-  {
-    for (auto & weak_node : weak_nodes) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group) {
-          continue;
-        }
-        for (auto & serv : group->get_service_ptrs()) {
-          if (serv == service) {
-            return group;
-          }
-        }
-      }
-    }
-    return nullptr;
-  }
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_client(rclcpp::client::ClientBase::SharedPtr client,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeVector & weak_nodes);
-  {
-    for (auto & weak_node : weak_nodes) {
-      auto node = weak_node.lock();
-      if (!node) {
-        continue;
-      }
-      for (auto & weak_group : node->get_callback_groups()) {
-        auto group = weak_group.lock();
-        if (!group) {
-          continue;
-        }
-        for (auto & cli : group->get_client_ptrs()) {
-          if (cli == client) {
-            return group;
-          }
-        }
-      }
-    }
-    return nullptr;
-  }
-
-
 };
 
 }  // namespace memory_strategy
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__MEMORY_STRATEGY_HPP_

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -19,6 +19,7 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {

rclcpp/include/rclcpp/node.hpp

@@ -26,7 +26,6 @@
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rcl_interfaces/msg/parameter_event.hpp"
 #include "rcl_interfaces/msg/set_parameters_result.hpp"
-#include "rosidl_generator_cpp/message_type_support.hpp"
 
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
@@ -38,7 +37,7 @@
 #include "rclcpp/service.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/timer.hpp"
-
+#include "rclcpp/visibility_control.hpp"
 
 // Forward declaration of ROS middleware class
 namespace rmw
@@ -63,6 +62,7 @@ public:
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
+  RCLCPP_PUBLIC
   explicit Node(const std::string & node_name, bool use_intra_process_comms = false);
 
   /// Create a node based on the node name and a rclcpp::context::Context.
@@ -72,16 +72,19 @@ public:
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
+  RCLCPP_PUBLIC
   Node(
     const std::string & node_name, rclcpp::context::Context::SharedPtr context,
     bool use_intra_process_comms = false);
 
   /// Get the name of the node.
   // \return The name of the node.
+  RCLCPP_PUBLIC
   const std::string &
-  get_name() const {return name_; }
+  get_name() const;
 
   /// Create and return a callback group.
+  RCLCPP_PUBLIC
   rclcpp::callback_group::CallbackGroup::SharedPtr
   create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
 
@@ -168,13 +171,14 @@ public:
    * \param[in] callback User-defined callback function.
    * \param[in] group Callback group to execute this timer's callback in.
    */
+  RCLCPP_PUBLIC
   rclcpp::timer::WallTimer::SharedPtr
   create_wall_timer(
     std::chrono::nanoseconds period,
     rclcpp::timer::CallbackType callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /// Create a timer with a sub-nanosecond precision update period.
+  /// Create a timer.
   /**
    * \param[in] period Time interval between triggers of the callback.
    * \param[in] callback User-defined callback function.
@@ -206,37 +210,50 @@ public:
     FunctorT callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  std::vector<rcl_interfaces::msg::SetParametersResult> set_parameters(
+  RCLCPP_PUBLIC
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
-  rcl_interfaces::msg::SetParametersResult set_parameters_atomically(
+  RCLCPP_PUBLIC
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+  rcl_interfaces::msg::SetParametersResult
+  set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
-  std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
+  RCLCPP_PUBLIC
-    const std::vector<std::string> & names) const;
+  std::vector<rclcpp::parameter::ParameterVariant>
+  get_parameters(const std::vector<std::string> & names) const;
 
-  std::vector<rcl_interfaces::msg::ParameterDescriptor> describe_parameters(
+  RCLCPP_PUBLIC
-    const std::vector<std::string> & names) const;
+  std::vector<rcl_interfaces::msg::ParameterDescriptor>
+  describe_parameters(const std::vector<std::string> & names) const;
 
-  std::vector<uint8_t> get_parameter_types(
+  RCLCPP_PUBLIC
-    const std::vector<std::string> & names) const;
+  std::vector<uint8_t>
+  get_parameter_types(const std::vector<std::string> & names) const;
 
-  rcl_interfaces::msg::ListParametersResult list_parameters(
+  RCLCPP_PUBLIC
-    const std::vector<std::string> & prefixes, uint64_t depth) const;
+  rcl_interfaces::msg::ListParametersResult
+  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
-  std::map<std::string, std::string> get_topic_names_and_types() const;
+  RCLCPP_PUBLIC
+  std::map<std::string, std::string>
+  get_topic_names_and_types() const;
 
-  size_t count_publishers(const std::string & topic_name) const;
+  RCLCPP_PUBLIC
+  size_t
+  count_publishers(const std::string & topic_name) const;
 
-  size_t count_subscribers(const std::string & topic_name) const;
+  RCLCPP_PUBLIC
+  size_t
+  count_subscribers(const std::string & topic_name) const;
 
-  const CallbackGroupWeakPtrList & get_callback_groups() const;
+  RCLCPP_PUBLIC
+  const CallbackGroupWeakPtrList &
+  get_callback_groups() const;
 
 private:
   RCLCPP_DISABLE_COPY(Node);
 
-  static const rosidl_message_type_support_t * ipm_ts_;
+  RCLCPP_PUBLIC
-
   bool
   group_in_node(callback_group::CallbackGroup::SharedPtr group);
 
@@ -263,20 +280,8 @@ private:
   publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 };
 
-const rosidl_message_type_support_t * Node::ipm_ts_ =
+}  // namespace node
-  rosidl_generator_cpp::get_message_type_support_handle<rcl_interfaces::msg::IntraProcessMessage>();
+}  // namespace rclcpp
-
-} /* namespace node */
-} /* namespace rclcpp */
-
-#define RCLCPP_REGISTER_NODE(Class) RMW_EXPORT \
-  rclcpp::node::Node::SharedPtr \
-  create_node() \
-  { \
-    return rclcpp::node::Node::SharedPtr(new Class( \
-               rclcpp::contexts::default_context::DefaultContext:: \
-               make_shared())); \
-  }
 
 #ifndef RCLCPP__NODE_IMPL_HPP_
 // Template implementations

rclcpp/include/rclcpp/node_impl.hpp

@@ -0,0 +1,359 @@
+// Copyright 2014 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_IMPL_HPP_
+#define RCLCPP__NODE_IMPL_HPP_
+
+#include <rmw/error_handling.h>
+#include <rmw/rmw.h>
+
+#include <algorithm>
+#include <cstdlib>
+#include <iostream>
+#include <limits>
+#include <map>
+#include <memory>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+
+#include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+#ifndef RCLCPP__NODE_HPP_
+#include "node.hpp"
+#endif
+
+namespace rclcpp
+{
+namespace node
+{
+
+template<typename MessageT, typename Alloc>
+typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
+Node::create_publisher(
+  const std::string & topic_name, size_t qos_history_depth,
+  std::shared_ptr<Alloc> allocator)
+{
+  if (!allocator) {
+    allocator = std::make_shared<Alloc>();
+  }
+  rmw_qos_profile_t qos = rmw_qos_profile_default;
+  qos.depth = qos_history_depth;
+  return this->create_publisher<MessageT, Alloc>(topic_name, qos, allocator);
+}
+
+template<typename MessageT, typename Alloc>
+typename publisher::Publisher<MessageT, Alloc>::SharedPtr
+Node::create_publisher(
+  const std::string & topic_name, const rmw_qos_profile_t & qos_profile,
+  std::shared_ptr<Alloc> allocator)
+{
+  if (!allocator) {
+    allocator = std::make_shared<Alloc>();
+  }
+  using rosidl_generator_cpp::get_message_type_support_handle;
+  auto type_support_handle = get_message_type_support_handle<MessageT>();
+  rmw_publisher_t * publisher_handle = rmw_create_publisher(
+    node_handle_.get(), type_support_handle, topic_name.c_str(), qos_profile);
+  if (!publisher_handle) {
+    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    throw std::runtime_error(
+      std::string("could not create publisher: ") +
+      rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+
+  auto publisher = publisher::Publisher<MessageT, Alloc>::make_shared(
+    node_handle_, publisher_handle, topic_name, qos_profile.depth, allocator);
+
+  if (use_intra_process_comms_) {
+    rmw_publisher_t * intra_process_publisher_handle = rmw_create_publisher(
+      node_handle_.get(), rclcpp::type_support::get_intra_process_message_msg_type_support(),
+      (topic_name + "__intra").c_str(), qos_profile);
+    if (!intra_process_publisher_handle) {
+      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      throw std::runtime_error(
+        std::string("could not create intra process publisher: ") +
+        rmw_get_error_string_safe());
+      // *INDENT-ON*
+    }
+
+    auto intra_process_manager =
+      context_->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
+    uint64_t intra_process_publisher_id =
+      intra_process_manager->add_publisher<MessageT, Alloc>(publisher);
+    rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = intra_process_manager;
+    // *INDENT-OFF*
+    auto shared_publish_callback =
+      [weak_ipm](uint64_t publisher_id, void * msg, const std::type_info & type_info) -> uint64_t
+    {
+      auto ipm = weak_ipm.lock();
+      if (!ipm) {
+        // TODO(wjwwood): should this just return silently? Or maybe return with a logged warning?
+        throw std::runtime_error(
+          "intra process publish called after destruction of intra process manager");
+      }
+      if (!msg) {
+        throw std::runtime_error("cannot publisher msg which is a null pointer");
+      }
+      auto & message_type_info = typeid(MessageT);
+      if (message_type_info != type_info) {
+        throw std::runtime_error(
+          std::string("published type '") + type_info.name() +
+          "' is incompatible from the publisher type '" + message_type_info.name() + "'");
+      }
+      MessageT * typed_message_ptr = static_cast<MessageT *>(msg);
+      using MessageDeleter = typename publisher::Publisher<MessageT, Alloc>::MessageDeleter;
+      std::unique_ptr<MessageT, MessageDeleter> unique_msg(typed_message_ptr);
+      uint64_t message_seq =
+        ipm->store_intra_process_message<MessageT, Alloc>(publisher_id, unique_msg);
+      return message_seq;
+    };
+    // *INDENT-ON*
+    publisher->setup_intra_process(
+      intra_process_publisher_id,
+      shared_publish_callback,
+      intra_process_publisher_handle);
+  }
+  return publisher;
+}
+
+template<typename MessageT, typename CallbackT, typename Alloc>
+typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
+Node::create_subscription(
+  const std::string & topic_name,
+  CallbackT callback,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
+  msg_mem_strat,
+  typename std::shared_ptr<Alloc> allocator)
+{
+  if (!allocator) {
+    allocator = std::make_shared<Alloc>();
+  }
+
+  rclcpp::subscription::AnySubscriptionCallback<MessageT,
+  Alloc> any_subscription_callback(allocator);
+  any_subscription_callback.set(callback);
+
+  using rosidl_generator_cpp::get_message_type_support_handle;
+
+  if (!msg_mem_strat) {
+    msg_mem_strat =
+      rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::create_default();
+  }
+
+  auto type_support_handle = get_message_type_support_handle<MessageT>();
+  rmw_subscription_t * subscriber_handle = rmw_create_subscription(
+    node_handle_.get(), type_support_handle,
+    topic_name.c_str(), qos_profile, ignore_local_publications);
+  if (!subscriber_handle) {
+    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    throw std::runtime_error(
+      std::string("could not create subscription: ") + rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+
+  using rclcpp::subscription::Subscription;
+  using rclcpp::subscription::SubscriptionBase;
+
+  auto sub = Subscription<MessageT, Alloc>::make_shared(
+    node_handle_,
+    subscriber_handle,
+    topic_name,
+    ignore_local_publications,
+    any_subscription_callback,
+    msg_mem_strat);
+  auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
+  // Setup intra process.
+  if (use_intra_process_comms_) {
+    rmw_subscription_t * intra_process_subscriber_handle = rmw_create_subscription(
+      node_handle_.get(), rclcpp::type_support::get_intra_process_message_msg_type_support(),
+      (topic_name + "__intra").c_str(), qos_profile, false);
+    if (!subscriber_handle) {
+      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      throw std::runtime_error(
+        std::string("could not create intra process subscription: ") + rmw_get_error_string_safe());
+      // *INDENT-ON*
+    }
+    auto intra_process_manager =
+      context_->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
+    rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = intra_process_manager;
+    uint64_t intra_process_subscription_id =
+      intra_process_manager->add_subscription(sub_base_ptr);
+    // *INDENT-OFF*
+    sub->setup_intra_process(
+      intra_process_subscription_id,
+      intra_process_subscriber_handle,
+      [weak_ipm](
+        uint64_t publisher_id,
+        uint64_t message_sequence,
+        uint64_t subscription_id,
+        typename Subscription<MessageT, Alloc>::MessageUniquePtr & message)
+      {
+        auto ipm = weak_ipm.lock();
+        if (!ipm) {
+          // TODO(wjwwood): should this just return silently? Or maybe return with a logged warning?
+          throw std::runtime_error(
+            "intra process take called after destruction of intra process manager");
+        }
+        ipm->take_intra_process_message<MessageT, Alloc>(
+          publisher_id, message_sequence, subscription_id, message);
+      },
+      [weak_ipm](const rmw_gid_t * sender_gid) -> bool {
+        auto ipm = weak_ipm.lock();
+        if (!ipm) {
+          throw std::runtime_error(
+            "intra process publisher check called after destruction of intra process manager");
+        }
+        return ipm->matches_any_publishers(sender_gid);
+      }
+    );
+    // *INDENT-ON*
+  }
+  // Assign to a group.
+  if (group) {
+    if (!group_in_node(group)) {
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create subscription, group not in node.");
+    }
+    group->add_subscription(sub_base_ptr);
+  } else {
+    default_callback_group_->add_subscription(sub_base_ptr);
+  }
+  number_of_subscriptions_++;
+  return sub;
+}
+
+template<typename MessageT, typename CallbackT, typename Alloc>
+typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
+Node::create_subscription(
+  const std::string & topic_name,
+  size_t qos_history_depth,
+  CallbackT callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
+{
+  rmw_qos_profile_t qos = rmw_qos_profile_default;
+  qos.depth = qos_history_depth;
+  return this->create_subscription<MessageT, CallbackT, Alloc>(
+    topic_name,
+    callback,
+    qos,
+    group,
+    ignore_local_publications,
+    msg_mem_strat,
+    allocator);
+}
+
+template<typename ServiceT>
+typename client::Client<ServiceT>::SharedPtr
+Node::create_client(
+  const std::string & service_name,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  using rosidl_generator_cpp::get_service_type_support_handle;
+  auto service_type_support_handle =
+    get_service_type_support_handle<ServiceT>();
+
+  rmw_client_t * client_handle = rmw_create_client(
+    this->node_handle_.get(), service_type_support_handle, service_name.c_str());
+  if (!client_handle) {
+    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    throw std::runtime_error(
+      std::string("could not create client: ") +
+      rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+
+  using rclcpp::client::Client;
+  using rclcpp::client::ClientBase;
+
+  auto cli = Client<ServiceT>::make_shared(
+    node_handle_,
+    client_handle,
+    service_name);
+
+  auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
+  if (group) {
+    if (!group_in_node(group)) {
+      // TODO(esteve): use custom exception
+      throw std::runtime_error("Cannot create client, group not in node.");
+    }
+    group->add_client(cli_base_ptr);
+  } else {
+    default_callback_group_->add_client(cli_base_ptr);
+  }
+  number_of_clients_++;
+
+  return cli;
+}
+
+template<typename ServiceT, typename FunctorT>
+typename rclcpp::service::Service<ServiceT>::SharedPtr
+Node::create_service(
+  const std::string & service_name,
+  FunctorT callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  using rosidl_generator_cpp::get_service_type_support_handle;
+  auto service_type_support_handle =
+    get_service_type_support_handle<ServiceT>();
+
+  rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
+  any_service_callback.set(callback);
+
+  rmw_service_t * service_handle = rmw_create_service(
+    node_handle_.get(), service_type_support_handle, service_name.c_str());
+  if (!service_handle) {
+    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    throw std::runtime_error(
+      std::string("could not create service: ") +
+      rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+
+  auto serv = service::Service<ServiceT>::make_shared(
+    node_handle_, service_handle, service_name, any_service_callback);
+  auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
+  if (group) {
+    if (!group_in_node(group)) {
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create service, group not in node.");
+    }
+    group->add_service(serv_base_ptr);
+  } else {
+    default_callback_group_->add_service(serv_base_ptr);
+  }
+  number_of_services_++;
+  return serv;
+}
+
+}  // namespace node
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_IMPL_HPP_

rclcpp/include/rclcpp/parameter.hpp

@@ -24,6 +24,8 @@
 #include <rcl_interfaces/msg/parameter.hpp>
 #include <rcl_interfaces/msg/parameter_type.hpp>
 #include <rcl_interfaces/msg/parameter_value.hpp>
+#include "rclcpp/visibility_control.hpp"
+#include "rmw/rmw.h"
 
 namespace rclcpp
 {
@@ -45,87 +47,40 @@ enum ParameterType
 class ParameterVariant
 {
 public:
-  ParameterVariant()
+  RCLCPP_PUBLIC
-  : name_("")
+  ParameterVariant();
-  {
+  RCLCPP_PUBLIC
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET;
+  explicit ParameterVariant(const std::string & name, const bool bool_value);
-  }
+  RCLCPP_PUBLIC
-  explicit ParameterVariant(const std::string & name, const bool bool_value)
+  explicit ParameterVariant(const std::string & name, const int int_value);
-  : name_(name)
+  RCLCPP_PUBLIC
-  {
+  explicit ParameterVariant(const std::string & name, const int64_t int_value);
-    value_.bool_value = bool_value;
+  RCLCPP_PUBLIC
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+  explicit ParameterVariant(const std::string & name, const float double_value);
-  }
+  RCLCPP_PUBLIC
-  explicit ParameterVariant(const std::string & name, const int int_value)
+  explicit ParameterVariant(const std::string & name, const double double_value);
-  : name_(name)
+  RCLCPP_PUBLIC
-  {
+  explicit ParameterVariant(const std::string & name, const std::string & string_value);
-    value_.integer_value = int_value;
+  RCLCPP_PUBLIC
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
+  explicit ParameterVariant(const std::string & name, const char * string_value);
-  }
+  RCLCPP_PUBLIC
-  explicit ParameterVariant(const std::string & name, const int64_t int_value)
+  explicit ParameterVariant(const std::string & name, const std::vector<uint8_t> & bytes_value);
-  : name_(name)
-  {
-    value_.integer_value = int_value;
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
-  }
-  explicit ParameterVariant(const std::string & name, const float double_value)
-  : name_(name)
-  {
-    value_.double_value = double_value;
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-  }
-  explicit ParameterVariant(const std::string & name, const double double_value)
-  : name_(name)
-  {
-    value_.double_value = double_value;
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
-  }
-  explicit ParameterVariant(const std::string & name, const std::string & string_value)
-  : name_(name)
-  {
-    value_.string_value = string_value;
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
-  }
-  explicit ParameterVariant(const std::string & name, const char * string_value)
-  : ParameterVariant(name, std::string(string_value)) {}
-  explicit ParameterVariant(const std::string & name, const std::vector<uint8_t> & bytes_value)
-  : name_(name)
-  {
-    value_.bytes_value = bytes_value;
-    value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_BYTES;
-  }
 
-  inline ParameterType get_type() const {return static_cast<ParameterType>(value_.type); }
+  RCLCPP_PUBLIC
+  ParameterType
+  get_type() const;
 
-  inline std::string get_type_name() const
+  RCLCPP_PUBLIC
-  {
+  std::string
-    switch (get_type()) {
+  get_type_name() const;
-      case rclcpp::parameter::ParameterType::PARAMETER_BOOL:
-        return "bool";
-      case rclcpp::parameter::ParameterType::PARAMETER_INTEGER:
-        return "integer";
-      case rclcpp::parameter::ParameterType::PARAMETER_DOUBLE:
-        return "double";
-      case rclcpp::parameter::ParameterType::PARAMETER_STRING:
-        return "string";
-      case rclcpp::parameter::ParameterType::PARAMETER_BYTES:
-        return "bytes";
-      case rclcpp::parameter::ParameterType::PARAMETER_NOT_SET:
-        return "not set";
-      default:
-        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        throw std::runtime_error(
-          "Unexpected type from ParameterVariant: " + std::to_string(get_type()));
-        // *INDENT-ON*
-    }
-  }
 
-  inline std::string get_name() const & {return name_; }
+  RCLCPP_PUBLIC
+  const std::string &
+  get_name() const;
 
-  inline rcl_interfaces::msg::ParameterValue get_parameter_value() const
+  RCLCPP_PUBLIC
-  {
+  rcl_interfaces::msg::ParameterValue
-    return value_;
+  get_parameter_value() const;
-  }
 
   template<ParameterType type>
   typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
@@ -179,86 +134,37 @@ public:
     return value_.bytes_value;
   }
 
-  int64_t as_int() const {return get_value<ParameterType::PARAMETER_INTEGER>(); }
+  RCLCPP_PUBLIC
+  int64_t
+  as_int() const;
 
-  double as_double() const {return get_value<ParameterType::PARAMETER_DOUBLE>(); }
+  RCLCPP_PUBLIC
+  double
+  as_double() const;
 
-  const std::string & as_string() const {return get_value<ParameterType::PARAMETER_STRING>(); }
+  RCLCPP_PUBLIC
+  const std::string &
+  as_string() const;
 
-  bool as_bool() const {return get_value<ParameterType::PARAMETER_BOOL>(); }
+  RCLCPP_PUBLIC
+  bool
+  as_bool() const;
 
-  const std::vector<uint8_t> & as_bytes() const
+  RCLCPP_PUBLIC
-  {
+  const std::vector<uint8_t> &
-    return get_value<ParameterType::PARAMETER_BYTES>();
+  as_bytes() const;
-  }
 
-  static ParameterVariant from_parameter(const rcl_interfaces::msg::Parameter & parameter)
+  RCLCPP_PUBLIC
-  {
+  static ParameterVariant
-    switch (parameter.value.type) {
+  from_parameter(const rcl_interfaces::msg::Parameter & parameter);
-      case PARAMETER_BOOL:
-        return ParameterVariant(parameter.name, parameter.value.bool_value);
-      case PARAMETER_INTEGER:
-        return ParameterVariant(parameter.name, parameter.value.integer_value);
-      case PARAMETER_DOUBLE:
-        return ParameterVariant(parameter.name, parameter.value.double_value);
-      case PARAMETER_STRING:
-        return ParameterVariant(parameter.name, parameter.value.string_value);
-      case PARAMETER_BYTES:
-        return ParameterVariant(parameter.name, parameter.value.bytes_value);
-      case PARAMETER_NOT_SET:
-        throw std::runtime_error("Type from ParameterValue is not set");
-      default:
-        // TODO(wjwwood): use custom exception
-        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        throw std::runtime_error(
-          "Unexpected type from ParameterVariant: " + std::to_string(parameter.value.type));
-        // *INDENT-ON*
-    }
-  }
 
-  rcl_interfaces::msg::Parameter to_parameter()
+  RCLCPP_PUBLIC
-  {
+  rcl_interfaces::msg::Parameter
-    rcl_interfaces::msg::Parameter parameter;
+  to_parameter();
-    parameter.name = name_;
-    parameter.value = value_;
-    return parameter;
-  }
 
-  std::string value_to_string() const
+  RCLCPP_PUBLIC
-  {
+  std::string
-    switch (get_type()) {
+  value_to_string() const;
-      case rclcpp::parameter::ParameterType::PARAMETER_BOOL:
-        return as_bool() ? "true" : "false";
-      case rclcpp::parameter::ParameterType::PARAMETER_INTEGER:
-        return std::to_string(as_int());
-      case rclcpp::parameter::ParameterType::PARAMETER_DOUBLE:
-        return std::to_string(as_double());
-      case rclcpp::parameter::ParameterType::PARAMETER_STRING:
-        return as_string();
-      case rclcpp::parameter::ParameterType::PARAMETER_BYTES:
-        {
-          std::stringstream bytes;
-          bool first_byte = true;
-          bytes << "[" << std::hex;
-          for (auto & byte : as_bytes()) {
-            bytes << "0x" << byte;
-            if (!first_byte) {
-              bytes << ", ";
-            } else {
-              first_byte = false;
-            }
-          }
-          return bytes.str();
-        }
-      case rclcpp::parameter::ParameterType::PARAMETER_NOT_SET:
-        return "not set";
-      default:
-        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        throw std::runtime_error(
-          "Unexpected type from ParameterVariant: " + std::to_string(get_type()));
-        // *INDENT-ON*
-    }
-  }
 
 private:
   std::string name_;
@@ -267,71 +173,34 @@ private:
 
 
 /* Return a json encoded version of the parameter intended for a dict. */
-std::string _to_json_dict_entry(const ParameterVariant & param)
+RCLCPP_PUBLIC
-{
+std::string
-  std::stringstream ss;
+_to_json_dict_entry(const ParameterVariant & param);
-  ss << "\"" << param.get_name() << "\": ";
-  ss << "{\"type\": \"" << param.get_type_name() << "\", ";
-  ss << "\"value\": \"" << param.value_to_string() << "\"}";
-  return ss.str();
-}
 
+RCLCPP_PUBLIC
+std::ostream &
+operator<<(std::ostream & os, const rclcpp::parameter::ParameterVariant & pv);
 
-} /* namespace parameter */
+RCLCPP_PUBLIC
+std::ostream &
+operator<<(std::ostream & os, const std::vector<ParameterVariant> & parameters);
 
-} /* namespace rclcpp */
+}  // namespace parameter
+}  // namespace rclcpp
 
 namespace std
 {
+
 /* Return a json encoded version of the parameter intended for a list. */
-inline std::string to_string(const rclcpp::parameter::ParameterVariant & param)
+RCLCPP_PUBLIC
-{
+std::string
-  std::stringstream ss;
+to_string(const rclcpp::parameter::ParameterVariant & param);
-  ss << "{\"name\": \"" << param.get_name() << "\", ";
-  ss << "\"type\": \"" << param.get_type_name() << "\", ";
-  ss << "\"value\": \"" << param.value_to_string() << "\"}";
-  return ss.str();
-}
 
 /* Return a json encoded version of a vector of parameters, as a string*/
-inline std::string to_string(const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+RCLCPP_PUBLIC
-{
+std::string
-  std::stringstream ss;
+to_string(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
-  ss << "{";
-  bool first = true;
-  for (const auto & pv : parameters) {
-    if (first == false) {
-      ss << ", ";
-    } else {
-      first = false;
-    }
-    ss << rclcpp::parameter::_to_json_dict_entry(pv);
-  }
-  ss << "}";
-  return ss.str();
-}
 
-} /* namespace std */
+}  // namespace std
-
-namespace rclcpp
-{
-namespace parameter
-{
-
-std::ostream & operator<<(std::ostream & os, const rclcpp::parameter::ParameterVariant & pv)
-{
-  os << std::to_string(pv);
-  return os;
-}
-
-std::ostream & operator<<(std::ostream & os, const std::vector<ParameterVariant> & parameters)
-{
-  os << std::to_string(parameters);
-  return os;
-}
-
-} /* namespace parameter */
-
-} /* namespace rclcpp */
 
 #endif /* RCLCPP_RCLCPP_PARAMETER_HPP_ */

rclcpp/include/rclcpp/parameter_client.hpp

@@ -16,216 +16,80 @@
 #define RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_
 
 #include <string>
+#include <vector>
 
-#include <rmw/rmw.h>
+#include "rcl_interfaces/msg/parameter.hpp"
-
+#include "rcl_interfaces/msg/parameter_event.hpp"
-#include <rclcpp/executors.hpp>
+#include "rcl_interfaces/msg/parameter_value.hpp"
-#include <rclcpp/macros.hpp>
+#include "rcl_interfaces/srv/describe_parameters.hpp"
-#include <rclcpp/node.hpp>
+#include "rcl_interfaces/srv/get_parameter_types.hpp"
-#include <rclcpp/parameter.hpp>
+#include "rcl_interfaces/srv/get_parameters.hpp"
-
+#include "rcl_interfaces/srv/list_parameters.hpp"
-#include <rcl_interfaces/msg/parameter.hpp>
+#include "rcl_interfaces/srv/set_parameters.hpp"
-#include <rcl_interfaces/msg/parameter_event.hpp>
+#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
-#include <rcl_interfaces/msg/parameter_value.hpp>
+#include "rclcpp/executors.hpp"
-#include <rcl_interfaces/srv/describe_parameters.hpp>
+#include "rclcpp/macros.hpp"
-#include <rcl_interfaces/srv/get_parameters.hpp>
+#include "rclcpp/node.hpp"
-#include <rcl_interfaces/srv/get_parameter_types.hpp>
+#include "rclcpp/parameter.hpp"
-#include <rcl_interfaces/srv/list_parameters.hpp>
+#include "rclcpp/type_support_decl.hpp"
-#include <rcl_interfaces/srv/set_parameters.hpp>
+#include "rclcpp/visibility_control.hpp"
-#include <rcl_interfaces/srv/set_parameters_atomically.hpp>
+#include "rmw/rmw.h"
 
 namespace rclcpp
 {
-
 namespace parameter_client
 {
 
 class AsyncParametersClient
 {
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient);
 
-  AsyncParametersClient(const rclcpp::node::Node::SharedPtr node,
+  RCLCPP_PUBLIC
-    const std::string & remote_node_name = "")
+  AsyncParametersClient(
-  : node_(node)
+    const rclcpp::node::Node::SharedPtr node,
-  {
+    const std::string & remote_node_name = "");
-    if (remote_node_name != "") {
-      remote_node_name_ = remote_node_name;
-    } else {
-      remote_node_name_ = node_->get_name();
-    }
-    get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
-      remote_node_name_ + "__get_parameters");
-    get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
-      remote_node_name_ + "__get_parameter_types");
-    set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
-      remote_node_name_ + "__set_parameters");
-    list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
-      remote_node_name_ + "__list_parameters");
-    describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
-      remote_node_name_ + "__describe_parameters");
-  }
 
+  RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
   get_parameters(
     const std::vector<std::string> & names,
-    std::function<void(
+    std::function<
-      std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)> callback = nullptr)
+      void(std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)
-  {
+    > callback = nullptr);
-    auto promise_result =
-      std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterVariant>>>();
-    auto future_result = promise_result->get_future().share();
-
-    auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
-    request->names = names;
-
-    get_parameters_client_->async_send_request(
-      request,
-      [request, promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f) {
-          std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
-          auto & pvalues = cb_f.get()->values;
-
-          for (auto & pvalue : pvalues) {
-            auto i = &pvalue - &pvalues[0];
-            rcl_interfaces::msg::Parameter parameter;
-            parameter.name = request->names[i];
-            parameter.value = pvalue;
-            parameter_variants.push_back(rclcpp::parameter::ParameterVariant::from_parameter(
-              parameter));
-          }
-
-          promise_result->set_value(parameter_variants);
-          if (callback != nullptr) {
-            callback(future_result);
-          }
-        }
-    );
-
-    return future_result;
-  }
 
+  RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::parameter::ParameterType>>
   get_parameter_types(
     const std::vector<std::string> & names,
-    std::function<void(
+    std::function<
-      std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
+      void(std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)
-  {
+    > callback = nullptr);
-    auto promise_result =
-      std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterType>>>();
-    auto future_result = promise_result->get_future().share();
-
-    auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
-    request->names = names;
-
-    get_parameter_types_client_->async_send_request(
-      request,
-      [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f) {
-          std::vector<rclcpp::parameter::ParameterType> types;
-          auto & pts = cb_f.get()->types;
-          for (auto & pt : pts) {
-            pts.push_back(static_cast<rclcpp::parameter::ParameterType>(pt));
-          }
-          promise_result->set_value(types);
-          if (callback != nullptr) {
-            callback(future_result);
-          }
-        }
-    );
-
-    return future_result;
-  }
 
+  RCLCPP_PUBLIC
   std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
   set_parameters(
     const std::vector<rclcpp::parameter::ParameterVariant> & parameters,
-    std::function<void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)> callback =
+    std::function<
-    nullptr)
+      void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)
-  {
+    > callback = nullptr);
-    auto promise_result =
-      std::make_shared<std::promise<std::vector<rcl_interfaces::msg::SetParametersResult>>>();
-    auto future_result = promise_result->get_future().share();
-
-    auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
-
-    std::transform(parameters.begin(), parameters.end(), std::back_inserter(
-        request->parameters), [](
-        rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
-
-    set_parameters_client_->async_send_request(
-      request,
-      [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f) {
-          promise_result->set_value(cb_f.get()->results);
-          if (callback != nullptr) {
-            callback(future_result);
-          }
-        }
-    );
-
-    return future_result;
-  }
 
+  RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::SetParametersResult>
   set_parameters_atomically(
     const std::vector<rclcpp::parameter::ParameterVariant> & parameters,
-    std::function<void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)> callback =
+    std::function<
-    nullptr)
+      void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
-  {
+    > callback = nullptr);
-    auto promise_result =
-      std::make_shared<std::promise<rcl_interfaces::msg::SetParametersResult>>();
-    auto future_result = promise_result->get_future().share();
-
-    auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
-
-    std::transform(parameters.begin(), parameters.end(), std::back_inserter(
-        request->parameters), [](
-        rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
-
-    set_parameters_atomically_client_->async_send_request(
-      request,
-      [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f) {
-          promise_result->set_value(cb_f.get()->result);
-          if (callback != nullptr) {
-            callback(future_result);
-          }
-        }
-    );
-
-    return future_result;
-  }
 
+  RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::ListParametersResult>
   list_parameters(
     const std::vector<std::string> & prefixes,
     uint64_t depth,
-    std::function<void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)> callback =
+    std::function<
-    nullptr)
+      void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)
-  {
+    > callback = nullptr);
-    auto promise_result =
-      std::make_shared<std::promise<rcl_interfaces::msg::ListParametersResult>>();
-    auto future_result = promise_result->get_future().share();
-
-    auto request = std::make_shared<rcl_interfaces::srv::ListParameters::Request>();
-    request->prefixes = prefixes;
-    request->depth = depth;
-
-    list_parameters_client_->async_send_request(
-      request,
-      [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f) {
-          promise_result->set_value(cb_f.get()->result);
-          if (callback != nullptr) {
-            callback(future_result);
-          }
-        }
-    );
-
-    return future_result;
-  }
 
   template<typename FunctorT>
   typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
@@ -254,90 +118,36 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient);
 
+  RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::node::Node::SharedPtr node)
+    rclcpp::node::Node::SharedPtr node);
-  : node_(node)
-  {
-    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-    async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
-  }
 
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::executor::Executor::SharedPtr executor,
-    rclcpp::node::Node::SharedPtr node)
+    rclcpp::node::Node::SharedPtr node);
-  : executor_(executor), node_(node)
-  {
-    async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
-  }
 
+  RCLCPP_PUBLIC
   std::vector<rclcpp::parameter::ParameterVariant>
-  get_parameters(const std::vector<std::string> & parameter_names)
+  get_parameters(const std::vector<std::string> & parameter_names);
-  {
-    auto f = async_parameters_client_->get_parameters(parameter_names);
-    if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
-      rclcpp::executors::FutureReturnCode::SUCCESS)
-    {
-      return f.get();
-    }
-    // Return an empty vector if unsuccessful
-    return std::vector<rclcpp::parameter::ParameterVariant>();
-  }
 
+  RCLCPP_PUBLIC
   std::vector<rclcpp::parameter::ParameterType>
-  get_parameter_types(const std::vector<std::string> & parameter_names)
+  get_parameter_types(const std::vector<std::string> & parameter_names);
-  {
-    auto f = async_parameters_client_->get_parameter_types(parameter_names);
-
-    if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
-      rclcpp::executors::FutureReturnCode::SUCCESS)
-    {
-      return f.get();
-    }
-    return std::vector<rclcpp::parameter::ParameterType>();
-  }
 
+  RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+  set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
-  {
-    auto f = async_parameters_client_->set_parameters(parameters);
-
-    if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
-      rclcpp::executors::FutureReturnCode::SUCCESS)
-    {
-      return f.get();
-    }
-    return std::vector<rcl_interfaces::msg::SetParametersResult>();
-  }
 
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+  set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
-  {
-    auto f = async_parameters_client_->set_parameters_atomically(parameters);
-
-    if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
-      rclcpp::executors::FutureReturnCode::SUCCESS)
-    {
-      return f.get();
-    }
-
-    throw std::runtime_error("Unable to get result of set parameters service call.");
-  }
 
+  RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(
     const std::vector<std::string> & parameter_prefixes,
-    uint64_t depth)
+    uint64_t depth);
-  {
-    auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
-
-    if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
-      rclcpp::executors::FutureReturnCode::SUCCESS)
-    {
-      return f.get();
-    }
-
-    throw std::runtime_error("Unable to get result of list parameters service call.");
-  }
 
   template<typename FunctorT>
   typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr

rclcpp/include/rclcpp/parameter_service.hpp

@@ -17,19 +17,18 @@
 
 #include <string>
 
-#include <rmw/rmw.h>
+#include "rcl_interfaces/srv/describe_parameters.hpp"
-
+#include "rcl_interfaces/srv/get_parameter_types.hpp"
-#include <rclcpp/executors.hpp>
+#include "rcl_interfaces/srv/get_parameters.hpp"
-#include <rclcpp/macros.hpp>
+#include "rcl_interfaces/srv/list_parameters.hpp"
-#include <rclcpp/node.hpp>
+#include "rcl_interfaces/srv/set_parameters.hpp"
-#include <rclcpp/parameter.hpp>
+#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
-
+#include "rclcpp/executors.hpp"
-#include <rcl_interfaces/srv/describe_parameters.hpp>
+#include "rclcpp/macros.hpp"
-#include <rcl_interfaces/srv/get_parameters.hpp>
+#include "rclcpp/node.hpp"
-#include <rcl_interfaces/srv/get_parameter_types.hpp>
+#include "rclcpp/parameter.hpp"
-#include <rcl_interfaces/srv/list_parameters.hpp>
+#include "rclcpp/visibility_control.hpp"
-#include <rcl_interfaces/srv/set_parameters.hpp>
+#include "rmw/rmw.h"
-#include <rcl_interfaces/srv/set_parameters_atomically.hpp>
 
 namespace rclcpp
 {
@@ -43,119 +42,8 @@ class ParameterService
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterService);
 
-  ParameterService(const rclcpp::node::Node::SharedPtr node)
+  RCLCPP_PUBLIC
-  : node_(node)
+  explicit ParameterService(const rclcpp::node::Node::SharedPtr node);
-  {
-    std::weak_ptr<rclcpp::node::Node> captured_node = node_;
-    get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
-      node_->get_name() + "__get_parameters", [captured_node](
-        const std::shared_ptr<rmw_request_id_t>,
-        const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
-        std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
-        {
-          auto node = captured_node.lock();
-          if (!node) {
-            return;
-          }
-          auto values = node->get_parameters(request->names);
-          for (auto & pvariant : values) {
-            response->values.push_back(pvariant.get_parameter_value());
-          }
-        }
-      );
-
-    get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
-      node_->get_name() + "__get_parameter_types", [captured_node](
-        const std::shared_ptr<rmw_request_id_t>,
-        const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
-        std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
-        {
-          auto node = captured_node.lock();
-          if (!node) {
-            return;
-          }
-          auto types = node->get_parameter_types(request->names);
-          std::transform(types.cbegin(), types.cend(),
-          std::back_inserter(response->types), [](const uint8_t & type) {
-            return static_cast<rclcpp::parameter::ParameterType>(type);
-          });
-        }
-      );
-
-    set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
-      node_->get_name() + "__set_parameters", [captured_node](
-        const std::shared_ptr<rmw_request_id_t>,
-        const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
-        std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
-        {
-          auto node = captured_node.lock();
-          if (!node) {
-            return;
-          }
-          std::vector<rclcpp::parameter::ParameterVariant> pvariants;
-          for (auto & p : request->parameters) {
-            pvariants.push_back(rclcpp::parameter::ParameterVariant::from_parameter(p));
-          }
-          auto results = node->set_parameters(pvariants);
-          response->results = results;
-        }
-      );
-
-    set_parameters_atomically_service_ =
-      node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
-      node_->get_name() + "__set_parameters_atomically", [captured_node](
-        const std::shared_ptr<rmw_request_id_t>,
-        const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
-        std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
-        {
-          auto node = captured_node.lock();
-          if (!node) {
-            return;
-          }
-          std::vector<rclcpp::parameter::ParameterVariant> pvariants;
-          std::transform(request->parameters.cbegin(), request->parameters.cend(),
-          std::back_inserter(pvariants),
-          [](const rcl_interfaces::msg::Parameter & p) {
-            return rclcpp::parameter::ParameterVariant::
-            from_parameter(p);
-          });
-          auto result = node->set_parameters_atomically(pvariants);
-          response->result = result;
-        }
-      );
-
-    describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
-      node_->get_name() + "__describe_parameters", [captured_node](
-        const std::shared_ptr<rmw_request_id_t>,
-        const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
-        std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
-        {
-          auto node = captured_node.lock();
-          if (!node) {
-            return;
-          }
-          auto descriptors = node->describe_parameters(request->names);
-          response->descriptors = descriptors;
-        }
-      );
-
-    list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
-      node_->get_name() + "__list_parameters", [captured_node](
-        const std::shared_ptr<rmw_request_id_t>,
-        const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
-        std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response)
-        {
-          auto node = captured_node.lock();
-          if (!node) {
-            return;
-          }
-          auto result = node->list_parameters(request->prefixes, request->depth);
-          response->result = result;
-        }
-      );
-
-
-  }
 
 private:
   const rclcpp::node::Node::SharedPtr node_;

rclcpp/include/rclcpp/publisher.hpp

@@ -27,8 +27,10 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 #include "rmw/impl/cpp/demangle.hpp"
 
+#include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -55,77 +57,40 @@ public:
    * \param[in] topic The topic that this publisher publishes on.
    * \param[in] queue_size The maximum number of unpublished messages to queue.
    */
+  RCLCPP_PUBLIC
   PublisherBase(
     std::shared_ptr<rmw_node_t> node_handle,
     rmw_publisher_t * publisher_handle,
     std::string topic,
-    size_t queue_size)
+    size_t queue_size);
-  : node_handle_(node_handle), publisher_handle_(publisher_handle),
-    intra_process_publisher_handle_(nullptr),
-    topic_(topic), queue_size_(queue_size),
-    intra_process_publisher_id_(0), store_intra_process_message_(nullptr)
-  {
-    // Life time of this object is tied to the publisher handle.
-    if (rmw_get_gid_for_publisher(publisher_handle_, &rmw_gid_) != RMW_RET_OK) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("failed to get publisher gid: ") + rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-  }
 
   /// Default destructor.
-  virtual ~PublisherBase()
+  RCLCPP_PUBLIC
-  {
+  virtual ~PublisherBase();
-    if (intra_process_publisher_handle_) {
-      if (rmw_destroy_publisher(node_handle_.get(), intra_process_publisher_handle_)) {
-        fprintf(
-          stderr,
-          "Error in destruction of intra process rmw publisher handle: %s\n",
-          rmw_get_error_string_safe());
-      }
-    }
-    if (publisher_handle_) {
-      if (rmw_destroy_publisher(node_handle_.get(), publisher_handle_) != RMW_RET_OK) {
-        fprintf(
-          stderr,
-          "Error in destruction of rmw publisher handle: %s\n",
-          rmw_get_error_string_safe());
-      }
-    }
-  }
 
   /// Get the topic that this publisher publishes on.
   // \return The topic name.
+  RCLCPP_PUBLIC
   const std::string &
-  get_topic_name() const
+  get_topic_name() const;
-  {
-    return topic_;
-  }
 
   /// Get the queue size for this publisher.
   // \return The queue size.
+  RCLCPP_PUBLIC
   size_t
-  get_queue_size() const
+  get_queue_size() const;
-  {
-    return queue_size_;
-  }
 
   /// Get the global identifier for this publisher (used in rmw and by DDS).
   // \return The gid.
+  RCLCPP_PUBLIC
   const rmw_gid_t &
-  get_gid() const
+  get_gid() const;
-  {
-    return rmw_gid_;
-  }
 
   /// Get the global identifier for this publisher used by intra-process communication.
   // \return The intra-process gid.
+  RCLCPP_PUBLIC
   const rmw_gid_t &
-  get_intra_process_gid() const
+  get_intra_process_gid() const;
-  {
-    return intra_process_rmw_gid_;
-  }
 
   /// Compare this publisher to a gid.
   /**
@@ -133,11 +98,9 @@ public:
    * \param[in] gid Reference to a gid.
    * \return True if the publisher's gid matches the input.
    */
+  RCLCPP_PUBLIC
   bool
-  operator==(const rmw_gid_t & gid) const
+  operator==(const rmw_gid_t & gid) const;
-  {
-    return *this == &gid;
-  }
 
   /// Compare this publisher to a pointer gid.
   /**
@@ -145,47 +108,19 @@ public:
    * \param[in] gid A pointer to a gid.
    * \return True if this publisher's gid matches the input.
    */
+  RCLCPP_PUBLIC
   bool
-  operator==(const rmw_gid_t * gid) const
+  operator==(const rmw_gid_t * gid) const;
-  {
-    bool result = false;
-    auto ret = rmw_compare_gids_equal(gid, &this->get_gid(), &result);
-    if (ret != RMW_RET_OK) {
-      throw std::runtime_error(
-              std::string("failed to compare gids: ") + rmw_get_error_string_safe());
-    }
-    if (!result) {
-      ret = rmw_compare_gids_equal(gid, &this->get_intra_process_gid(), &result);
-      if (ret != RMW_RET_OK) {
-        throw std::runtime_error(
-                std::string("failed to compare gids: ") + rmw_get_error_string_safe());
-      }
-    }
-    return result;
-  }
 
   typedef std::function<uint64_t(uint64_t, void *, const std::type_info &)> StoreMessageCallbackT;
 
 protected:
+  RCLCPP_PUBLIC
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
     StoreMessageCallbackT callback,
-    rmw_publisher_t * intra_process_publisher_handle)
+    rmw_publisher_t * intra_process_publisher_handle);
-  {
-    intra_process_publisher_id_ = intra_process_publisher_id;
-    store_intra_process_message_ = callback;
-    intra_process_publisher_handle_ = intra_process_publisher_handle;
-    // Life time of this object is tied to the publisher handle.
-    auto ret = rmw_get_gid_for_publisher(intra_process_publisher_handle_, &intra_process_rmw_gid_);
-    if (ret != RMW_RET_OK) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("failed to create intra process publisher gid: ") +
-        rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-  }
 
   std::shared_ptr<rmw_node_t> node_handle_;
 

rclcpp/include/rclcpp/rate.hpp

@@ -21,6 +21,7 @@
 
 #include <rclcpp/macros.hpp>
 #include <rclcpp/utilities.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -47,11 +48,11 @@ class GenericRate : public RateBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(GenericRate);
 
-  GenericRate(double rate)
+  explicit GenericRate(double rate)
   : GenericRate<Clock>(
       duration_cast<nanoseconds>(duration<double>(1.0 / rate)))
   {}
-  GenericRate(std::chrono::nanoseconds period)
+  explicit GenericRate(std::chrono::nanoseconds period)
   : period_(period), last_interval_(Clock::now())
   {}
 

rclcpp/include/rclcpp/rclcpp.hpp

@@ -25,9 +25,8 @@
 #include <rclcpp/executors.hpp>
 #include <rclcpp/rate.hpp>
 #include <rclcpp/utilities.hpp>
+#include "rclcpp/visibility_control.hpp"
 
-namespace rclcpp
-{
 // NOLINTNEXTLINE(runtime/int)
 const std::chrono::seconds operator"" _s(unsigned long long s)
 {
@@ -39,32 +38,31 @@ const std::chrono::nanoseconds operator"" _s(long double s)
     std::chrono::duration<long double>(s));
 }
 
-const std::chrono::nanoseconds
 // NOLINTNEXTLINE(runtime/int)
-operator"" _ms(unsigned long long ms)
+const std::chrono::nanoseconds operator"" _ms(unsigned long long ms)
 {
   return std::chrono::milliseconds(ms);
 }
-const std::chrono::nanoseconds
+const std::chrono::nanoseconds operator"" _ms(long double ms)
-operator"" _ms(long double ms)
 {
   return std::chrono::duration_cast<std::chrono::nanoseconds>(
     std::chrono::duration<long double, std::milli>(ms));
 }
 
-const std::chrono::nanoseconds
 // NOLINTNEXTLINE(runtime/int)
-operator"" _ns(unsigned long long ns)
+const std::chrono::nanoseconds operator"" _ns(unsigned long long ns)
 {
   return std::chrono::nanoseconds(ns);
 }
-const std::chrono::nanoseconds
+const std::chrono::nanoseconds operator"" _ns(long double ns)
-operator"" _ns(long double ns)
 {
   return std::chrono::duration_cast<std::chrono::nanoseconds>(
     std::chrono::duration<long double, std::nano>(ns));
 }
 
+namespace rclcpp
+{
+
 // Namespace escalations.
 // For example, this next line escalates type "rclcpp:node::Node" to "rclcpp::Node"
 using rclcpp::node::Node;
@@ -82,34 +80,6 @@ using rclcpp::utilities::shutdown;
 using rclcpp::utilities::init;
 using rclcpp::utilities::sleep_for;
 
-/// Create a default single-threaded executor and execute any immediately available work.
-// \param[in] node_ptr Shared pointer to the node to spin.
-void spin_some(Node::SharedPtr node_ptr)
-{
-  rclcpp::executors::SingleThreadedExecutor executor;
-  executor.spin_node_some(node_ptr);
-}
-
-/// Create a default single-threaded executor and spin the specified node.
-// \param[in] node_ptr Shared pointer to the node to spin.
-void spin(Node::SharedPtr node_ptr)
-{
-  rclcpp::executors::SingleThreadedExecutor executor;
-  executor.add_node(node_ptr);
-  executor.spin();
-}
-
-template<typename FutureT, typename TimeT = std::milli>
-rclcpp::executors::FutureReturnCode
-spin_until_future_complete(
-  Node::SharedPtr node_ptr, std::shared_future<FutureT> & future,
-  std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
-{
-  rclcpp::executors::SingleThreadedExecutor executor;
-  return rclcpp::executors::spin_node_until_future_complete<FutureT>(
-    executor, node_ptr, future, timeout);
-}
-
 } /* namespace rclcpp */
 
 #endif /* RCLCPP_RCLCPP_RCLCPP_HPP_ */

rclcpp/include/rclcpp/service.hpp

@@ -26,6 +26,7 @@
 
 #include <rclcpp/macros.hpp>
 #include <rclcpp/any_service_callback.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -39,34 +40,22 @@ class ServiceBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase);
 
+  RCLCPP_PUBLIC
   ServiceBase(
     std::shared_ptr<rmw_node_t> node_handle,
     rmw_service_t * service_handle,
-    const std::string service_name)
+    const std::string service_name);
-  : node_handle_(node_handle), service_handle_(service_handle), service_name_(service_name)
-  {}
 
-  virtual ~ServiceBase()
+  RCLCPP_PUBLIC
-  {
+  virtual ~ServiceBase();
-    if (service_handle_) {
-      if (rmw_destroy_service(service_handle_) != RMW_RET_OK) {
-        std::stringstream ss;
-        ss << "Error in destruction of rmw service_handle_ handle: " <<
-          rmw_get_error_string_safe() << '\n';
-        (std::cerr << ss.str()).flush();
-      }
-    }
-  }
 
-  std::string get_service_name()
+  RCLCPP_PUBLIC
-  {
+  std::string
-    return this->service_name_;
+  get_service_name();
-  }
 
-  const rmw_service_t * get_service_handle()
+  RCLCPP_PUBLIC
-  {
+  const rmw_service_t *
-    return this->service_handle_;
+  get_service_handle();
-  }
 
   virtual std::shared_ptr<void> create_request() = 0;
   virtual std::shared_ptr<void> create_request_header() = 0;

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -21,6 +21,7 @@
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -17,6 +17,7 @@
 
 #include <rclcpp/macros.hpp>
 #include <rclcpp/message_memory_strategy.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -32,9 +33,13 @@ namespace message_pool_memory_strategy
  * The size of the message pool should be at least the largest number of concurrent accesses to
  * the subscription (usually the number of threads).
  */
-template<typename MessageT, size_t Size,
+template<
-typename std::enable_if<rosidl_generator_traits::has_fixed_size<MessageT>::value>::type * =
+  typename MessageT,
-nullptr>
+  size_t Size,
+  typename std::enable_if<
+    rosidl_generator_traits::has_fixed_size<MessageT>::value
+  >::type * = nullptr
+>
 class MessagePoolMemoryStrategy
   : public message_memory_strategy::MessageMemoryStrategy<MessageT>
 {

rclcpp/include/rclcpp/subscription.hpp

@@ -29,6 +29,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -54,75 +55,48 @@ public:
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] ignore_local_publications True to ignore local publications (unused).
    */
+  RCLCPP_PUBLIC
   SubscriptionBase(
     std::shared_ptr<rmw_node_t> node_handle,
     rmw_subscription_t * subscription_handle,
     const std::string & topic_name,
-    bool ignore_local_publications)
+    bool ignore_local_publications);
-  : intra_process_subscription_handle_(nullptr),
-    node_handle_(node_handle),
-    subscription_handle_(subscription_handle),
-    topic_name_(topic_name),
-    ignore_local_publications_(ignore_local_publications)
-  {
-    // To avoid unused private member warnings.
-    (void)ignore_local_publications_;
-  }
 
   /// Default destructor.
-  virtual ~SubscriptionBase()
+  RCLCPP_PUBLIC
-  {
+  virtual ~SubscriptionBase();
-    if (subscription_handle_) {
-      if (rmw_destroy_subscription(node_handle_.get(), subscription_handle_) != RMW_RET_OK) {
-        std::stringstream ss;
-        ss << "Error in destruction of rmw subscription handle: " <<
-          rmw_get_error_string_safe() << '\n';
-        (std::cerr << ss.str()).flush();
-      }
-    }
-    if (intra_process_subscription_handle_) {
-      auto ret = rmw_destroy_subscription(node_handle_.get(), intra_process_subscription_handle_);
-      if (ret != RMW_RET_OK) {
-        std::stringstream ss;
-        ss << "Error in destruction of rmw intra process subscription handle: " <<
-          rmw_get_error_string_safe() << '\n';
-        (std::cerr << ss.str()).flush();
-      }
-    }
-  }
 
   /// Get the topic that this subscription is subscribed on.
-  const std::string & get_topic_name() const
+  RCLCPP_PUBLIC
-  {
+  const std::string &
-    return this->topic_name_;
+  get_topic_name() const;
-  }
 
-  const rmw_subscription_t * get_subscription_handle() const
+  RCLCPP_PUBLIC
-  {
+  const rmw_subscription_t *
-    return subscription_handle_;
+  get_subscription_handle() const;
-  }
 
-  const rmw_subscription_t * get_intra_process_subscription_handle() const
+  RCLCPP_PUBLIC
-  {
+  const rmw_subscription_t *
-    return intra_process_subscription_handle_;
+  get_intra_process_subscription_handle() const;
-  }
 
   /// Borrow a new message.
   // \return Shared pointer to the fresh message.
-  virtual std::shared_ptr<void> create_message() = 0;
+  virtual std::shared_ptr<void>
+  create_message() = 0;
   /// Check if we need to handle the message, and execute the callback if we do.
   /**
    * \param[in] message Shared pointer to the message to handle.
    * \param[in] message_info Metadata associated with this message.
    */
-  virtual void handle_message(
+  virtual void
-    std::shared_ptr<void> & message,
+  handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;
-    const rmw_message_info_t & message_info) = 0;
 
   /// Return the message borrowed in create_message.
   // \param[in] Shared pointer to the returned message.
-  virtual void return_message(std::shared_ptr<void> & message) = 0;
+  virtual void
-  virtual void handle_intra_process_message(
+  return_message(std::shared_ptr<void> & message) = 0;
+  virtual void
+  handle_intra_process_message(
     rcl_interfaces::msg::IntraProcessMessage & ipm,
     const rmw_message_info_t & message_info) = 0;
 
@@ -140,7 +114,7 @@ private:
   bool ignore_local_publications_;
 };
 
-using namespace any_subscription_callback;
+using any_subscription_callback::AnySubscriptionCallback;
 
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<typename MessageT, typename Alloc = std::allocator<void>>
@@ -172,8 +146,8 @@ public:
     const std::string & topic_name,
     bool ignore_local_publications,
     AnySubscriptionCallback<MessageT, Alloc> callback,
-    typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr memory_strategy =
+    typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
-    message_memory_strategy::MessageMemoryStrategy<MessageT,
+      memory_strategy = message_memory_strategy::MessageMemoryStrategy<MessageT,
     Alloc>::create_default())
   : SubscriptionBase(node_handle, subscription_handle, topic_name, ignore_local_publications),
     any_callback_(callback),

rclcpp/include/rclcpp/timer.hpp

@@ -27,6 +27,7 @@
 #include <rclcpp/macros.hpp>
 #include <rclcpp/rate.hpp>
 #include <rclcpp/utilities.hpp>
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -42,32 +43,23 @@ class TimerBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase);
 
-  TimerBase(std::chrono::nanoseconds period, CallbackType callback)
+  RCLCPP_PUBLIC
-  : period_(period),
+  TimerBase(std::chrono::nanoseconds period, CallbackType callback);
-    callback_(callback),
-    canceled_(false)
-  {
-  }
 
-  virtual ~TimerBase()
+  RCLCPP_PUBLIC
-  {
+  virtual ~TimerBase();
-  }
 
+  RCLCPP_PUBLIC
   void
-  cancel()
+  cancel();
-  {
-    this->canceled_ = true;
-  }
 
-  void execute_callback() const
+  RCLCPP_PUBLIC
-  {
+  void
-    callback_();
+  execute_callback() const;
-  }
 
-  const CallbackType & get_callback() const
+  RCLCPP_PUBLIC
-  {
+  const CallbackType &
-    return callback_;
+  get_callback() const;
-  }
 
   /// Check how long the timer has until its next scheduled callback.
   // \return A std::chrono::duration representing the relative time until the next callback.

rclcpp/include/rclcpp/type_support_decl.hpp

@@ -0,0 +1,62 @@
+// Copyright 2014 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__TYPE_SUPPORT_DECL_HPP_
+#define RCLCPP__TYPE_SUPPORT_DECL_HPP_
+
+#include "rosidl_generator_cpp/message_type_support_decl.hpp"
+#include "rosidl_generator_cpp/service_type_support_decl.hpp"
+
+namespace rclcpp
+{
+namespace type_support
+{
+
+const rosidl_message_type_support_t *
+get_intra_process_message_msg_type_support();
+
+const rosidl_message_type_support_t *
+get_parameter_event_msg_type_support();
+
+const rosidl_message_type_support_t *
+get_set_parameters_result_msg_type_support();
+
+const rosidl_message_type_support_t *
+get_parameter_descriptor_msg_type_support();
+
+const rosidl_message_type_support_t *
+get_list_parameters_result_msg_type_support();
+
+const rosidl_service_type_support_t *
+get_get_parameters_srv_type_support();
+
+const rosidl_service_type_support_t *
+get_get_parameter_types_srv_type_support();
+
+const rosidl_service_type_support_t *
+get_set_parameters_srv_type_support();
+
+const rosidl_service_type_support_t *
+get_list_parameters_srv_type_support();
+
+const rosidl_service_type_support_t *
+get_describe_parameters_srv_type_support();
+
+const rosidl_service_type_support_t *
+get_set_parameters_atomically_srv_type_support();
+
+}  // namespace type_support
+}  // namespace rclcpp
+
+#endif  // RCLCPP__TYPE_SUPPORT_DECL_HPP_

rclcpp/include/rclcpp/type_support_def.hpp

@@ -0,0 +1,123 @@
+// Copyright 2014 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__TYPE_SUPPORT_DEF_HPP_
+#define RCLCPP__TYPE_SUPPORT_DEF_HPP_
+
+#include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "rcl_interfaces/msg/list_parameters_result.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rcl_interfaces/msg/parameter_event.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+#include "rcl_interfaces/srv/describe_parameters.hpp"
+#include "rcl_interfaces/srv/get_parameter_types.hpp"
+#include "rcl_interfaces/srv/get_parameters.hpp"
+#include "rcl_interfaces/srv/list_parameters.hpp"
+#include "rcl_interfaces/srv/set_parameters.hpp"
+#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
+#include "rosidl_generator_cpp/message_type_support.hpp"
+#include "rosidl_generator_cpp/service_type_support.hpp"
+
+const rosidl_message_type_support_t *
+rclcpp::type_support::get_intra_process_message_msg_type_support()
+{
+  return rosidl_generator_cpp::get_message_type_support_handle<
+    rcl_interfaces::msg::IntraProcessMessage
+  >();
+}
+
+const rosidl_message_type_support_t *
+rclcpp::type_support::get_parameter_event_msg_type_support()
+{
+  return rosidl_generator_cpp::get_message_type_support_handle<
+    rcl_interfaces::msg::ParameterEvent
+  >();
+}
+
+const rosidl_message_type_support_t *
+rclcpp::type_support::get_set_parameters_result_msg_type_support()
+{
+  return rosidl_generator_cpp::get_message_type_support_handle<
+    rcl_interfaces::msg::SetParametersResult
+  >();
+}
+
+const rosidl_message_type_support_t *
+rclcpp::type_support::get_parameter_descriptor_msg_type_support()
+{
+  return rosidl_generator_cpp::get_message_type_support_handle<
+    rcl_interfaces::msg::ParameterDescriptor
+  >();
+}
+
+const rosidl_message_type_support_t *
+rclcpp::type_support::get_list_parameters_result_msg_type_support()
+{
+  return rosidl_generator_cpp::get_message_type_support_handle<
+    rcl_interfaces::msg::ListParametersResult
+  >();
+}
+
+const rosidl_service_type_support_t *
+rclcpp::type_support::get_get_parameters_srv_type_support()
+{
+  return rosidl_generator_cpp::get_service_type_support_handle<
+    rcl_interfaces::srv::GetParameters
+  >();
+}
+
+const rosidl_service_type_support_t *
+rclcpp::type_support::get_get_parameter_types_srv_type_support()
+{
+  return rosidl_generator_cpp::get_service_type_support_handle<
+    rcl_interfaces::srv::GetParameterTypes
+  >();
+}
+
+const rosidl_service_type_support_t *
+rclcpp::type_support::get_set_parameters_srv_type_support()
+{
+  return rosidl_generator_cpp::get_service_type_support_handle<
+    rcl_interfaces::srv::SetParameters
+  >();
+}
+
+const rosidl_service_type_support_t *
+rclcpp::type_support::get_list_parameters_srv_type_support()
+{
+  return rosidl_generator_cpp::get_service_type_support_handle<
+    rcl_interfaces::srv::ListParameters
+  >();
+}
+
+const rosidl_service_type_support_t *
+rclcpp::type_support::get_describe_parameters_srv_type_support()
+{
+  return rosidl_generator_cpp::get_service_type_support_handle<
+    rcl_interfaces::srv::DescribeParameters
+  >();
+}
+
+const rosidl_service_type_support_t *
+rclcpp::type_support::get_set_parameters_atomically_srv_type_support()
+{
+  return rosidl_generator_cpp::get_service_type_support_handle<
+    rcl_interfaces::srv::SetParametersAtomically
+  >();
+}
+
+#endif  // RCLCPP__TYPE_SUPPORT_DEF_HPP_

rclcpp/include/rclcpp/utilities.hpp

@@ -15,97 +15,14 @@
 #ifndef RCLCPP_RCLCPP_UTILITIES_HPP_
 #define RCLCPP_RCLCPP_UTILITIES_HPP_
 
-// TODO(wjwwood): remove
-#include <iostream>
-
-#include <cerrno>
 #include <chrono>
-#include <condition_variable>
-#include <csignal>
-#include <cstring>
-#include <mutex>
-#include <string.h>
-#include <thread>
 
-#include <rmw/error_handling.h>
+#include "rclcpp/visibility_control.hpp"
-#include <rmw/macros.h>
+#include "rmw/macros.h"
-#include <rmw/rmw.h>
+#include "rmw/rmw.h"
-
-// Determine if sigaction is available
-#if __APPLE__ || _POSIX_C_SOURCE >= 1 || _XOPEN_SOURCE || _POSIX_SOURCE
-#define HAS_SIGACTION
-#endif
-
-namespace
-{
-/// Represent the status of the global interrupt signal.
-volatile sig_atomic_t g_signal_status = 0;
-/// Guard condition for interrupting the rmw implementation when the global interrupt signal fired.
-rmw_guard_condition_t * g_sigint_guard_cond_handle = \
-  rmw_create_guard_condition();
-/// Condition variable for timed sleep (see sleep_for).
-std::condition_variable g_interrupt_condition_variable;
-std::atomic<bool> g_is_interrupted(false);
-/// Mutex for protecting the global condition variable.
-std::mutex g_interrupt_mutex;
-
-#ifdef HAS_SIGACTION
-struct sigaction old_action;
-#else
-void (* old_signal_handler)(int) = 0;
-#endif
-
-/// Handle the interrupt signal.
-/** When the interrupt signal fires, the signal handler notifies the condition variable to wake up
- * and triggers the interrupt guard condition, so that all global threads managed by rclcpp
- * are interrupted.
- */
-void
-#ifdef HAS_SIGACTION
-signal_handler(int signal_value, siginfo_t * siginfo, void * context)
-#else
-signal_handler(int signal_value)
-#endif
-{
-  // TODO(wjwwood): remove
-  std::cout << "signal_handler(" << signal_value << ")" << std::endl;
-#ifdef HAS_SIGACTION
-  if (old_action.sa_flags & SA_SIGINFO) {
-    if (old_action.sa_sigaction != NULL) {
-      old_action.sa_sigaction(signal_value, siginfo, context);
-    }
-  } else {
-    // *INDENT-OFF*
-    if (
-      old_action.sa_handler != NULL && // Is set
-      old_action.sa_handler != SIG_DFL && // Is not default
-      old_action.sa_handler != SIG_IGN) // Is not ignored
-    // *INDENT-ON*
-    {
-      old_action.sa_handler(signal_value);
-    }
-  }
-#else
-  if (old_signal_handler) {
-    old_signal_handler(signal_value);
-  }
-#endif
-  g_signal_status = signal_value;
-  rmw_ret_t status = rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
-  if (status != RMW_RET_OK) {
-    fprintf(stderr,
-      "[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
-  }
-  g_is_interrupted.store(true);
-  g_interrupt_condition_variable.notify_all();
-}
-} // namespace
 
 namespace rclcpp
 {
-
-RMW_THREAD_LOCAL size_t thread_id = 0;
-
 namespace utilities
 {
 
@@ -114,113 +31,37 @@ namespace utilities
  * \param[in] argc Number of arguments.
  * \param[in] argv Argument vector. Will eventually be used for passing options to rclcpp.
  */
+RCLCPP_PUBLIC
 void
-init(int argc, char * argv[])
+init(int argc, char * argv[]);
-{
-  (void)argc;
-  (void)argv;
-  g_is_interrupted.store(false);
-  rmw_ret_t status = rmw_init();
-  if (status != RMW_RET_OK) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("failed to initialize rmw implementation: ") + rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-#ifdef HAS_SIGACTION
-  struct sigaction action;
-  memset(&action, 0, sizeof(action));
-  sigemptyset(&action.sa_mask);
-  action.sa_sigaction = ::signal_handler;
-  action.sa_flags = SA_SIGINFO;
-  ssize_t ret = sigaction(SIGINT, &action, &old_action);
-  if (ret == -1)
-#else
-  ::old_signal_handler = std::signal(SIGINT, ::signal_handler);
-  if (::old_signal_handler == SIG_ERR)
-#endif
-  {
-    const size_t error_length = 1024;
-    char error_string[error_length];
-#ifndef _WIN32
-    auto rc = strerror_r(errno, error_string, error_length);
-    if (rc) {
-      // *INDENT-OFF*
-      throw std::runtime_error(
-        "Failed to set SIGINT signal handler: (" + std::to_string(errno) +
-        ") unable to retrieve error string");
-      // *INDENT-ON*
-    }
-
-#else
-    strerror_s(error_string, error_length, errno);
-#endif
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("Failed to set SIGINT signal handler: (" + std::to_string(errno) + ")") +
-      error_string);
-    // *INDENT-ON*
-  }
-}
 
 /// Check rclcpp's status.
 // \return True if SIGINT hasn't fired yet, false otherwise.
+RCLCPP_PUBLIC
 bool
-ok()
+ok();
-{
-  return ::g_signal_status == 0;
-}
 
 /// Notify the signal handler and rmw that rclcpp is shutting down.
+RCLCPP_PUBLIC
 void
-shutdown()
+shutdown();
-{
-  g_signal_status = SIGINT;
-  rmw_ret_t status = rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
-  if (status != RMW_RET_OK) {
-    fprintf(stderr,
-      "[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
-  }
-  g_is_interrupted.store(true);
-  g_interrupt_condition_variable.notify_all();
-}
 
 
 /// Get a handle to the rmw guard condition that manages the signal handler.
+RCLCPP_PUBLIC
 rmw_guard_condition_t *
-get_global_sigint_guard_condition()
+get_global_sigint_guard_condition();
-{
-  return ::g_sigint_guard_cond_handle;
-}
 
 /// Use the global condition variable to block for the specified amount of time.
 /**
  * \param[in] nanoseconds A std::chrono::duration representing how long to sleep for.
  * \return True if the condition variable did not timeout.
  */
+RCLCPP_PUBLIC
 bool
-sleep_for(const std::chrono::nanoseconds & nanoseconds)
+sleep_for(const std::chrono::nanoseconds & nanoseconds);
-{
-  // TODO: determine if posix's nanosleep(2) is more efficient here
-  std::chrono::nanoseconds time_left = nanoseconds;
-  {
-    std::unique_lock<std::mutex> lock(::g_interrupt_mutex);
-    auto start = std::chrono::steady_clock::now();
-    ::g_interrupt_condition_variable.wait_for(lock, nanoseconds);
-    time_left -= std::chrono::steady_clock::now() - start;
-  }
-  if (time_left > std::chrono::nanoseconds::zero() && !g_is_interrupted) {
-    return sleep_for(time_left);
-  }
-  // Return true if the timeout elapsed successfully, otherwise false.
-  return !g_is_interrupted;
-}
 
-} /* namespace utilities */
+}  // namespace utilities
-} /* namespace rclcpp */
+}  // namespace rclcpp
-
-#ifdef HAS_SIGACTION
-#undef HAS_SIGACTION
-#endif
 
 #endif /* RCLCPP_RCLCPP_UTILITIES_HPP_ */

rclcpp/include/rclcpp/visibility_control.hpp

@@ -0,0 +1,83 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef RCLCPP__VISIBILITY_CONTROL_HPP_
+#define RCLCPP__VISIBILITY_CONTROL_HPP_
+
+#include "rmw/rmw.h"
+
+#if !defined(RCLCPP_BUILDING_LIBRARY)
+// The following header is necessary inorder to get the correct rmw
+// implementation specific message symbols.
+// Any library or executable using librclcpp must include the header.
+// However, librclcpp must not include it.
+#include "rclcpp/type_support_def.hpp"
+
+// Anonymous namespace to prevent duplicate symbols across compile units.
+namespace
+{
+
+// This call to an rmw function is used to force the Linux linker to include
+// the rmw implementation library in the user's executable.
+// If this is not done, then only librclcpp is missing rmw symbols and when
+// linking the next library or exectuable the linker will discard the rmw
+// implementation shared library as unused.
+// On OS X this isn't an issue because linking is done, by default, in a flat
+// namespace, so when linking something that uses librclcpp, it will try to
+// resolve the rclcpp symbols each time, taking them from the rmw implementation
+// when it is available and not discarding it as unused during the link step.
+static const char * __rmw_identifier = rmw_get_implementation_identifier();
+
+}  // namespace
+#endif  // !defined(RCLCPP_BUILDING_LIBRARY)
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define RCLCPP_EXPORT __attribute__ ((dllexport))
+    #define RCLCPP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define RCLCPP_EXPORT __declspec(dllexport)
+    #define RCLCPP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef RCLCPP_BUILDING_LIBRARY
+    #define RCLCPP_PUBLIC RCLCPP_EXPORT
+  #else
+    #define RCLCPP_PUBLIC RCLCPP_IMPORT
+  #endif
+  #define RCLCPP_PUBLIC_TYPE RCLCPP_PUBLIC
+  #define RCLCPP_LOCAL
+#else
+  #define RCLCPP_EXPORT __attribute__ ((visibility("default")))
+  #define RCLCPP_IMPORT
+  #if __GNUC__ >= 4
+    #define RCLCPP_PUBLIC __attribute__ ((visibility("default")))
+    #define RCLCPP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define RCLCPP_PUBLIC
+    #define RCLCPP_LOCAL
+  #endif
+  #define RCLCPP_PUBLIC_TYPE
+#endif
+
+#endif  // RCLCPP__VISIBILITY_CONTROL_HPP_

rclcpp/package.xml

@@ -11,7 +11,11 @@
   <build_export_depend>rmw</build_export_depend>
 
   <build_depend>rcl_interfaces</build_depend>
+  <!-- This ensures the rmw impls are built first. -->
+  <build_depend>rmw_implementation</build_depend>
+  <build_depend>rosidl_generator_cpp</build_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
+  <build_export_depend>rosidl_generator_cpp</build_export_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

rclcpp/src/rclcpp/any_executable.cpp

@@ -12,37 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_ANY_EXECUTABLE_HPP_
+#include "rclcpp/any_executable.hpp"
-#define RCLCPP_RCLCPP_ANY_EXECUTABLE_HPP_
 
-#include <memory>
+using rclcpp::executor::AnyExecutable;
 
-#include <rclcpp/macros.hpp>
+AnyExecutable::AnyExecutable()
-#include <rclcpp/node.hpp>
+: subscription(nullptr),
-
+  subscription_intra_process(nullptr),
-namespace rclcpp
+  timer(nullptr),
-{
+  service(nullptr),
-namespace executor
+  client(nullptr),
-{
+  callback_group(nullptr),
-
+  node(nullptr)
-struct AnyExecutable
-{
-  RCLCPP_SMART_PTR_DEFINITIONS(AnyExecutable);
-  AnyExecutable()
-  : subscription(0), timer(0), callback_group(0), node(0)
 {}
-  // Only one of the following pointers will be set.
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription_intra_process;
-  rclcpp::timer::TimerBase::SharedPtr timer;
-  rclcpp::service::ServiceBase::SharedPtr service;
-  rclcpp::client::ClientBase::SharedPtr client;
-  // These are used to keep the scope on the containing items
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
-  rclcpp::node::Node::SharedPtr node;
-};
-
-} /* executor */
-} /* rclcpp */
-
-#endif

rclcpp/src/rclcpp/callback_group.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,119 +12,74 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_
+#include "rclcpp/callback_group.hpp"
-#define RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_
 
-#include <atomic>
-#include <string>
 #include <vector>
 
-#include <rclcpp/subscription.hpp>
+using rclcpp::callback_group::CallbackGroup;
-#include <rclcpp/timer.hpp>
+using rclcpp::callback_group::CallbackGroupType;
-#include <rclcpp/service.hpp>
-#include <rclcpp/client.hpp>
 
-namespace rclcpp
+CallbackGroup::CallbackGroup(CallbackGroupType group_type)
-{
-
-// Forward declarations for friend statement in class CallbackGroup
-namespace node
-{
-class Node;
-} // namespace node
-
-namespace callback_group
-{
-
-enum class CallbackGroupType
-{
-  MutuallyExclusive,
-  Reentrant
-};
-
-class CallbackGroup
-{
-  friend class rclcpp::node::Node;
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup);
-
-  CallbackGroup(CallbackGroupType group_type)
 : type_(group_type), can_be_taken_from_(true)
 {}
 
-  const std::vector<subscription::SubscriptionBase::WeakPtr> &
+const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
-  get_subscription_ptrs() const
+CallbackGroup::get_subscription_ptrs() const
 {
   return subscription_ptrs_;
 }
 
-  const std::vector<timer::TimerBase::WeakPtr> &
+const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
-  get_timer_ptrs() const
+CallbackGroup::get_timer_ptrs() const
 {
   return timer_ptrs_;
 }
 
-  const std::vector<service::ServiceBase::SharedPtr> &
+const std::vector<rclcpp::service::ServiceBase::SharedPtr> &
-  get_service_ptrs() const
+CallbackGroup::get_service_ptrs() const
 {
   return service_ptrs_;
 }
 
-  const std::vector<client::ClientBase::SharedPtr> &
+const std::vector<rclcpp::client::ClientBase::SharedPtr> &
-  get_client_ptrs() const
+CallbackGroup::get_client_ptrs() const
 {
   return client_ptrs_;
 }
 
-  std::atomic_bool & can_be_taken_from()
+std::atomic_bool &
+CallbackGroup::can_be_taken_from()
 {
   return can_be_taken_from_;
 }
 
-  const CallbackGroupType & type() const
+const CallbackGroupType &
+CallbackGroup::type() const
 {
   return type_;
 }
 
-private:
-  RCLCPP_DISABLE_COPY(CallbackGroup);
-
 void
-  add_subscription(
+CallbackGroup::add_subscription(
-    const subscription::SubscriptionBase::SharedPtr subscription_ptr)
+  const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr)
 {
   subscription_ptrs_.push_back(subscription_ptr);
 }
 
 void
-  add_timer(const timer::TimerBase::SharedPtr timer_ptr)
+CallbackGroup::add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr)
 {
   timer_ptrs_.push_back(timer_ptr);
 }
 
 void
-  add_service(const service::ServiceBase::SharedPtr service_ptr)
+CallbackGroup::add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr)
 {
   service_ptrs_.push_back(service_ptr);
 }
 
 void
-  add_client(const client::ClientBase::SharedPtr client_ptr)
+CallbackGroup::add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr)
 {
   client_ptrs_.push_back(client_ptr);
 }
-
-  CallbackGroupType type_;
-  std::vector<subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
-  std::vector<timer::TimerBase::WeakPtr> timer_ptrs_;
-  std::vector<service::ServiceBase::SharedPtr> service_ptrs_;
-  std::vector<client::ClientBase::SharedPtr> client_ptrs_;
-  std::atomic_bool can_be_taken_from_;
-
-};
-
-} /* namespace callback_group */
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_ */

rclcpp/src/rclcpp/client.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,42 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CLIENT_HPP_
+#include "rclcpp/client.hpp"
-#define RCLCPP_RCLCPP_CLIENT_HPP_
 
-#include <future>
+#include <cstdio>
-#include <iostream>
+#include <string>
-#include <map>
-#include <memory>
-#include <sstream>
-#include <utility>
 
-#include <rmw/error_handling.h>
+#include "rmw/rmw.h"
-#include <rmw/rmw.h>
 
-#include <rclcpp/macros.hpp>
+using rclcpp::client::ClientBase;
-#include <rclcpp/utilities.hpp>
 
-namespace rclcpp
+ClientBase::ClientBase(
-{
-
-namespace client
-{
-
-class ClientBase
-{
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase);
-
-  ClientBase(
   std::shared_ptr<rmw_node_t> node_handle,
   rmw_client_t * client_handle,
   const std::string & service_name)
 : node_handle_(node_handle), client_handle_(client_handle), service_name_(service_name)
 {}
 
-  virtual ~ClientBase()
+ClientBase::~ClientBase()
 {
   if (client_handle_) {
     if (rmw_destroy_client(client_handle_) != RMW_RET_OK) {
@@ -57,108 +38,14 @@ public:
   }
 }
 
-  const std::string & get_service_name() const
+const std::string &
+ClientBase::get_service_name() const
 {
   return this->service_name_;
 }
 
-  const rmw_client_t * get_client_handle() const
+const rmw_client_t *
+ClientBase::get_client_handle() const
 {
   return this->client_handle_;
 }
-
-  virtual std::shared_ptr<void> create_response() = 0;
-  virtual std::shared_ptr<void> create_request_header() = 0;
-  virtual void handle_response(
-    std::shared_ptr<void> & request_header, std::shared_ptr<void> & response) = 0;
-
-private:
-  RCLCPP_DISABLE_COPY(ClientBase);
-
-  std::shared_ptr<rmw_node_t> node_handle_;
-
-  rmw_client_t * client_handle_;
-  std::string service_name_;
-
-};
-
-template<typename ServiceT>
-class Client : public ClientBase
-{
-public:
-  using Promise = std::promise<typename ServiceT::Response::SharedPtr>;
-  using SharedPromise = std::shared_ptr<Promise>;
-  using SharedFuture = std::shared_future<typename ServiceT::Response::SharedPtr>;
-
-  using CallbackType = std::function<void(SharedFuture)>;
-
-  RCLCPP_SMART_PTR_DEFINITIONS(Client);
-
-  Client(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_client_t * client_handle,
-    const std::string & service_name)
-  : ClientBase(node_handle, client_handle, service_name)
-  {}
-
-  std::shared_ptr<void> create_response()
-  {
-    return std::shared_ptr<void>(new typename ServiceT::Response());
-  }
-
-  std::shared_ptr<void> create_request_header()
-  {
-    // TODO(wjwwood): This should probably use rmw_request_id's allocator.
-    //                (since it is a C type)
-    return std::shared_ptr<void>(new rmw_request_id_t);
-  }
-
-  void handle_response(std::shared_ptr<void> & request_header, std::shared_ptr<void> & response)
-  {
-    auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
-    auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response);
-    int64_t sequence_number = typed_request_header->sequence_number;
-    // TODO this must check if the sequence_number is valid otherwise the call_promise will be null
-    auto tuple = this->pending_requests_[sequence_number];
-    auto call_promise = std::get<0>(tuple);
-    auto callback = std::get<1>(tuple);
-    auto future = std::get<2>(tuple);
-    this->pending_requests_.erase(sequence_number);
-    call_promise->set_value(typed_response);
-    callback(future);
-  }
-
-  SharedFuture async_send_request(
-    typename ServiceT::Request::SharedPtr request)
-  {
-    return async_send_request(request, [](SharedFuture) {});
-  }
-
-  SharedFuture async_send_request(
-    typename ServiceT::Request::SharedPtr request,
-    CallbackType cb)
-  {
-    int64_t sequence_number;
-    if (RMW_RET_OK != rmw_send_request(get_client_handle(), request.get(), &sequence_number)) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("failed to send request: ") + rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-
-    SharedPromise call_promise = std::make_shared<Promise>();
-    SharedFuture f(call_promise->get_future());
-    pending_requests_[sequence_number] = std::make_tuple(call_promise, cb, f);
-    return f;
-  }
-
-private:
-  RCLCPP_DISABLE_COPY(Client);
-
-  std::map<int64_t, std::tuple<SharedPromise, CallbackType, SharedFuture>> pending_requests_;
-};
-
-} /* namespace client */
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_CLIENT_HPP_ */

rclcpp/src/rclcpp/context.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,69 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CONTEXT_HPP_
+#include "rclcpp/context.hpp"
-#define RCLCPP_RCLCPP_CONTEXT_HPP_
 
-#include <rclcpp/macros.hpp>
+using rclcpp::context::Context;
 
-#include <iostream>
+Context::Context() {}
-
-#include <memory>
-#include <mutex>
-#include <typeinfo>
-#include <typeindex>
-#include <unordered_map>
-
-#include <rmw/rmw.h>
-
-namespace rclcpp
-{
-
-namespace context
-{
-
-class Context
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(Context);
-
-  Context() {}
-
-  template<typename SubContext, typename ... Args>
-  std::shared_ptr<SubContext>
-  get_sub_context(Args && ... args)
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-
-    std::type_index type_i(typeid(SubContext));
-    std::shared_ptr<SubContext> sub_context;
-    auto it = sub_contexts_.find(type_i);
-    if (it == sub_contexts_.end()) {
-      // It doesn't exist yet, make it
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      sub_context = std::shared_ptr<SubContext>(
-        new SubContext(std::forward<Args>(args) ...),
-        [] (SubContext * sub_context_ptr) {
-          delete sub_context_ptr;
-        });
-      // *INDENT-ON*
-      sub_contexts_[type_i] = sub_context;
-    } else {
-      // It exists, get it out and cast it.
-      sub_context = std::static_pointer_cast<SubContext>(it->second);
-    }
-    return sub_context;
-  }
-
-private:
-  RCLCPP_DISABLE_COPY(Context);
-
-  std::unordered_map<std::type_index, std::shared_ptr<void>> sub_contexts_;
-  std::mutex mutex_;
-
-};
-
-} /* namespace context */
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_CONTEXT_HPP_ */

rclcpp/src/rclcpp/contexts/default_context.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,36 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_
+#include "rclcpp/contexts/default_context.hpp"
-#define RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_
 
-#include <rclcpp/context.hpp>
+using rclcpp::contexts::default_context::DefaultContext;
 
-namespace rclcpp
+DefaultContext::DefaultContext()
-{
+{}
-namespace contexts
-{
-namespace default_context
-{
-
-class DefaultContext : public rclcpp::context::Context
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext);
-
-  DefaultContext() {}
-
-};
 
 DefaultContext::SharedPtr
-get_global_default_context()
+rclcpp::contexts::default_context::get_global_default_context()
 {
   static DefaultContext::SharedPtr default_context = DefaultContext::make_shared();
   return default_context;
 }
-
-} // namespace default_context
-} // namespace contexts
-} // namespace rclcpp
-
-#endif /* RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_ */

rclcpp/src/rclcpp/executor.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,57 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__EXECUTOR_HPP_
+#include "rclcpp/executor.hpp"
-#define RCLCPP__EXECUTOR_HPP_
-
-#include <algorithm>
-#include <cassert>
-#include <cstdlib>
-#include <iostream>
-#include <list>
-#include <memory>
-#include <vector>
 
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
-#include "rclcpp/any_executable.hpp"
+using rclcpp::executor::AnyExecutable;
-#include "rclcpp/macros.hpp"
+using rclcpp::executor::Executor;
-#include "rclcpp/memory_strategies.hpp"
-#include "rclcpp/memory_strategy.hpp"
-#include "rclcpp/node.hpp"
-#include "rclcpp/utilities.hpp"
 
-namespace rclcpp
+Executor::Executor(memory_strategy::MemoryStrategy::SharedPtr ms)
-{
-namespace executor
-{
-
-/// Coordinate the order and timing of available communication tasks.
-/**
- * Executor provides spin functions (including spin_node_once and spin_some).
- * It coordinates the nodes and callback groups by looking for available work and completing it,
- * based on the threading or concurrency scheme provided by the subclass implementation.
- * An example of available work is executing a subscription callback, or a timer callback.
- * The executor structure allows for a decoupling of the communication graph and the execution
- * model.
- * See SingleThreadedExecutor and MultiThreadedExecutor for examples of execution paradigms.
- */
-class Executor
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor);
-
-  /// Default constructor.
-  // \param[in] ms The memory strategy to be used with this executor.
-  explicit Executor(memory_strategy::MemoryStrategy::SharedPtr ms =
-    memory_strategies::create_default_strategy())
 : interrupt_guard_condition_(rmw_create_guard_condition()),
   memory_strategy_(ms)
 {
 }
 
-  /// Default destructor.
+Executor::~Executor()
-  virtual ~Executor()
 {
   // Try to deallocate the interrupt guard condition.
   if (interrupt_guard_condition_ != nullptr) {
@@ -74,20 +37,8 @@ public:
   }
 }
 
-  /// Do work periodically as it becomes available to us. Blocking call, may block indefinitely.
+void
-  // It is up to the implementation of Executor to implement spin.
+Executor::add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
-  virtual void spin() = 0;
-
-  /// Add a node to the executor.
-  /**
-   * An executor can have zero or more nodes which provide work during `spin` functions.
-   * \param[in] node_ptr Shared pointer to the node to be added.
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
-   * node was added, it will wake up.
-   */
-  virtual void
-  add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true)
 {
   // Check to ensure node not already added
   for (auto & weak_node : weak_nodes_) {
@@ -107,26 +58,23 @@ public:
   }
 }
 
-  /// Remove a node from the executor.
+void
-  /**
+Executor::remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
-   * \param[in] node_ptr Shared pointer to the node to remove.
-   * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
-   * This is useful if the last node was removed from the executor while the executor was blocked
-   * waiting for work in another thread, because otherwise the executor would never be notified.
-   */
-  virtual void
-  remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true)
 {
   bool node_removed = false;
   weak_nodes_.erase(
     std::remove_if(
       weak_nodes_.begin(), weak_nodes_.end(),
+      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
       [&](std::weak_ptr<rclcpp::node::Node> & i)
       {
         bool matched = (i.lock() == node_ptr);
         node_removed |= matched;
         return matched;
-        }));
+      }
+      // *INDENT-ON*
+    )
+  );
   if (notify) {
     // If the node was matched and removed, interrupt waiting
     if (node_removed) {
@@ -138,16 +86,10 @@ public:
   }
 }
 
-  /// Add a node to executor, execute the next available unit of work, and remove the node.
+void
-  /**
+Executor::spin_node_once_nanoseconds(
-   * \param[in] node Shared pointer to the node to add.
+  rclcpp::node::Node::SharedPtr node,
-   * \param[in] timeout How long to wait for work to become available. Negative values cause
+  std::chrono::nanoseconds timeout)
-   * spin_node_once to block indefinitely (the default behavior). A timeout of 0 causes this
-   * function to be non-blocking.
-   */
-  template<typename T = std::milli>
-  void spin_node_once(rclcpp::node::Node::SharedPtr node,
-    std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
 {
   this->add_node(node, false);
   // non-blocking = true
@@ -158,25 +100,16 @@ public:
   this->remove_node(node, false);
 }
 
-  /// Add a node, complete all immediately available work, and remove the node.
+void
-  /**
+Executor::spin_node_some(rclcpp::node::Node::SharedPtr node)
-   * \param[in] node Shared pointer to the node to add.
-   */
-  void spin_node_some(rclcpp::node::Node::SharedPtr node)
 {
   this->add_node(node, false);
   spin_some();
   this->remove_node(node, false);
 }
 
-  /// Complete all available queued work without blocking.
+void
-  /**
+Executor::spin_some()
-   * This function can be overridden. The default implementation is suitable for a
-   * single-threaded model of execution.
-   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
-   * to block (which may have unintended consequences).
-   */
-  virtual void spin_some()
 {
   while (AnyExecutable::SharedPtr any_exec =
     get_next_executable(std::chrono::milliseconds::zero()))
@@ -185,14 +118,8 @@ public:
   }
 }
 
-  /// Support dynamic switching of the memory strategy.
-  /**
-   * Switching the memory strategy while the executor is spinning in another threading could have
-   * unintended consequences.
-   * \param[in] memory_strategy Shared pointer to the memory strategy to set.
-   */
 void
-  set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy)
+Executor::set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy)
 {
   if (memory_strategy == nullptr) {
     throw std::runtime_error("Received NULL memory strategy in executor.");
@@ -200,13 +127,8 @@ public:
   memory_strategy_ = memory_strategy;
 }
 
-protected:
-  /// Find the next available executable and do the work associated with it.
-  /** \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
-   * service, client).
-   */
 void
-  execute_any_executable(AnyExecutable::SharedPtr any_exec)
+Executor::execute_any_executable(AnyExecutable::SharedPtr any_exec)
 {
   if (!any_exec) {
     return;
@@ -236,8 +158,8 @@ protected:
   }
 }
 
-  static void
+void
-  execute_subscription(
+Executor::execute_subscription(
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
 {
   std::shared_ptr<void> message = subscription->create_message();
@@ -259,8 +181,8 @@ protected:
   subscription->return_message(message);
 }
 
-  static void
+void
-  execute_intra_process_subscription(
+Executor::execute_intra_process_subscription(
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
 {
   rcl_interfaces::msg::IntraProcessMessage ipm;
@@ -283,15 +205,15 @@ protected:
   }
 }
 
-  static void
+void
-  execute_timer(
+Executor::execute_timer(
   rclcpp::timer::TimerBase::SharedPtr timer)
 {
   timer->execute_callback();
 }
 
-  static void
+void
-  execute_service(
+Executor::execute_service(
   rclcpp::service::ServiceBase::SharedPtr service)
 {
   std::shared_ptr<void> request_header = service->create_request_header();
@@ -313,8 +235,8 @@ protected:
   }
 }
 
-  static void
+void
-  execute_client(
+Executor::execute_client(
   rclcpp::client::ClientBase::SharedPtr client)
 {
   std::shared_ptr<void> request_header = client->create_request_header();
@@ -336,11 +258,8 @@ protected:
   }
 }
 
-/*** Populate class storage from stored weak node pointers and wait. ***/
-
-  template<typename T = std::milli>
 void
-  wait_for_work(std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
+Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
   memory_strategy_->clear_active_entities();
 
@@ -350,11 +269,16 @@ protected:
   // Clean up any invalid nodes, if they were detected
   if (has_invalid_weak_nodes) {
     weak_nodes_.erase(
-        remove_if(weak_nodes_.begin(), weak_nodes_.end(),
+      remove_if(
+        weak_nodes_.begin(), weak_nodes_.end(),
+        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
         [](std::weak_ptr<rclcpp::node::Node> i)
         {
           return i.expired();
-          }));
+        }
+        // *INDENT-ON*
+      )
+    );
   }
 
   // Use the number of subscriptions to allocate memory in the handles
@@ -399,13 +323,13 @@ protected:
   // replace the requested timeout with the next timeout.
   bool has_valid_timer = next_timer_duration >= std::chrono::nanoseconds::zero();
   if ((next_timer_duration < timeout ||
-      timeout < std::chrono::duration<int64_t, T>::zero()) && has_valid_timer)
+    timeout < std::chrono::nanoseconds::zero()) && has_valid_timer)
   {
     rmw_timeout.sec =
       std::chrono::duration_cast<std::chrono::seconds>(next_timer_duration).count();
     rmw_timeout.nsec = next_timer_duration.count() % (1000 * 1000 * 1000);
     wait_timeout = &rmw_timeout;
-    } else if (timeout >= std::chrono::duration<int64_t, T>::zero()) {
+  } else if (timeout >= std::chrono::nanoseconds::zero()) {
     // Convert timeout representation to rmw_time
     rmw_timeout.sec = std::chrono::duration_cast<std::chrono::seconds>(timeout).count();
     rmw_timeout.nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count() %
@@ -433,9 +357,8 @@ protected:
   memory_strategy_->revalidate_handles();
 }
 
-/******************************/
 rclcpp::node::Node::SharedPtr
-  get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   if (!group) {
     return rclcpp::node::Node::SharedPtr();
@@ -456,8 +379,7 @@ protected:
 }
 
 rclcpp::callback_group::CallbackGroup::SharedPtr
-  get_group_by_timer(
+Executor::get_group_by_timer(rclcpp::timer::TimerBase::SharedPtr timer)
-    rclcpp::timer::TimerBase::SharedPtr timer)
 {
   for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
@@ -481,7 +403,7 @@ protected:
 }
 
 void
-  get_next_timer(AnyExecutable::SharedPtr any_exec)
+Executor::get_next_timer(AnyExecutable::SharedPtr any_exec)
 {
   for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
@@ -507,7 +429,7 @@ protected:
 }
 
 std::chrono::nanoseconds
-  get_earliest_timer()
+Executor::get_earliest_timer()
 {
   std::chrono::nanoseconds latest = std::chrono::nanoseconds::max();
   bool timers_empty = true;
@@ -538,7 +460,7 @@ protected:
 }
 
 AnyExecutable::SharedPtr
-  get_next_ready_executable()
+Executor::get_next_ready_executable()
 {
   auto any_exec = memory_strategy_->instantiate_next_executable();
   // Check the timers to see if there are any that are ready, if so return
@@ -565,10 +487,8 @@ protected:
   return nullptr;
 }
 
-  template<typename T = std::milli>
 AnyExecutable::SharedPtr
-  get_next_executable(std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t,
+Executor::get_next_executable(std::chrono::nanoseconds timeout)
-    T>(-1))
 {
   // Check to see if there are any subscriptions or timers needing service
   // TODO(wjwwood): improve run to run efficiency of this function
@@ -596,21 +516,3 @@ protected:
   }
   return any_exec;
 }
-
-  /// Guard condition for signaling the rmw layer to wake up for special events.
-  rmw_guard_condition_t * interrupt_guard_condition_;
-
-  /// The memory strategy: an interface for handling user-defined memory allocation strategies.
-  memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
-
-private:
-  RCLCPP_DISABLE_COPY(Executor);
-
-  std::vector<std::weak_ptr<rclcpp::node::Node>> weak_nodes_;
-  std::array<void *, 2> guard_cond_handles_;
-};
-
-}  // namespace executor
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTOR_HPP_

rclcpp/src/rclcpp/executors.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,76 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_EXECUTORS_HPP_
+#include "rclcpp/executors.hpp"
-#define RCLCPP_RCLCPP_EXECUTORS_HPP_
 
-#include <future>
+void
-#include <rclcpp/executors/multi_threaded_executor.hpp>
+rclcpp::spin_some(node::Node::SharedPtr node_ptr)
-#include <rclcpp/executors/single_threaded_executor.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/utilities.hpp>
-
-namespace rclcpp
 {
-namespace executors
+  rclcpp::executors::SingleThreadedExecutor exec;
+  exec.spin_node_some(node_ptr);
+}
+
+void
+rclcpp::spin(node::Node::SharedPtr node_ptr)
 {
-
+  rclcpp::executors::SingleThreadedExecutor exec;
-using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
+  exec.add_node(node_ptr);
-using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
+  exec.spin();
-
-/// Return codes to be used with spin_until_future_complete.
-/**
- * SUCCESS: The future is complete and can be accessed with "get" without blocking.
- * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
- * TIMEOUT: Spinning timed out.
- */
-enum FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
-
-/// Spin (blocking) until the future is complete, until the function times out (if applicable),
-/// or until rclcpp is interrupted.
-/**
- * \param[in] executor The executor which will spin the node.
- * \param[in] node_ptr The node to spin.
- * \param[in] future The future to wait on. If SUCCESS, the future is safe to access after this function
- * \param[in] timeout Optional timeout parameter, which gets passed to Executor::spin_node_once.
-   -1 is block forever, 0 is non-blocking.
-   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return code.
- * \return The return code, one of SUCCESS, INTERRUPTED, or TIMEOUT.
- */
-template<typename ResponseT, typename TimeT = std::milli>
-FutureReturnCode
-spin_node_until_future_complete(
-  rclcpp::executor::Executor & executor, rclcpp::node::Node::SharedPtr node_ptr,
-  std::shared_future<ResponseT> & future,
-  std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
-{
-  // TODO(wjwwood): does not work recursively right, can't call spin_node_until_future_complete
-  // inside a callback executed by an executor.
-
-  // Check the future before entering the while loop.
-  // If the future is already complete, don't try to spin.
-  std::future_status status = future.wait_for(std::chrono::seconds(0));
-
-  auto start_time = std::chrono::system_clock::now();
-
-  while (status != std::future_status::ready && rclcpp::utilities::ok()) {
-    executor.spin_node_once(node_ptr, timeout);
-    if (timeout.count() >= 0) {
-      if (start_time + timeout < std::chrono::system_clock::now()) {
-        return TIMEOUT;
 }
-    }
-    status = future.wait_for(std::chrono::seconds(0));
-  }
-
-  // If the future completed, and we weren't interrupted by ctrl-C, return the response
-  if (status == std::future_status::ready) {
-    return FutureReturnCode::SUCCESS;
-  }
-  return FutureReturnCode::INTERRUPTED;
-}
-
-} // namespace executors
-} // namespace rclcpp
-
-#endif /* RCLCPP_RCLCPP_EXECUTORS_HPP_ */

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,36 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
+#include "rclcpp/executors/multi_threaded_executor.hpp"
-#define RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 
-#include <rmw/rmw.h>
+#include <chrono>
-
+#include <functional>
-#include <cassert>
-#include <cstdlib>
-#include <memory>
-#include <mutex>
 #include <vector>
 
-#include "rclcpp/executor.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 
-namespace rclcpp
+using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
-{
-namespace executors
-{
-namespace multi_threaded_executor
-{
 
-class MultiThreadedExecutor : public executor::Executor
+MultiThreadedExecutor::MultiThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms)
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor);
-
-  MultiThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
-    memory_strategies::create_default_strategy())
 : executor::Executor(ms)
 {
   number_of_threads_ = std::thread::hardware_concurrency();
@@ -50,18 +31,18 @@ public:
   }
 }
 
-  virtual ~MultiThreadedExecutor() {}
+MultiThreadedExecutor::~MultiThreadedExecutor() {}
 
 void
-  spin()
+MultiThreadedExecutor::spin()
 {
   std::vector<std::thread> threads;
   {
     std::lock_guard<std::mutex> wait_lock(wait_mutex_);
-      size_t thread_id_ = 1;  // Use a _ suffix to avoid shadowing `rclcpp::thread_id`
+    size_t thread_id = 1;
     for (size_t i = number_of_threads_; i > 0; --i) {
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
-        auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id_++);
+      auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id++);
       threads.emplace_back(func);
     }
   }
@@ -71,15 +52,15 @@ public:
 }
 
 size_t
-  get_number_of_threads()
+MultiThreadedExecutor::get_number_of_threads()
 {
   return number_of_threads_;
 }
 
-private:
+void
-  void run(size_t this_thread_id)
+MultiThreadedExecutor::run(size_t this_thread_number)
 {
-    rclcpp::thread_id = this_thread_id;
+  thread_number_by_thread_id_[std::this_thread::get_id()] = this_thread_number;
   while (rclcpp::utilities::ok()) {
     executor::AnyExecutable::SharedPtr any_exec;
     {
@@ -92,15 +73,3 @@ private:
     execute_any_executable(any_exec);
   }
 }
-
-  RCLCPP_DISABLE_COPY(MultiThreadedExecutor);
-
-  std::mutex wait_mutex_;
-  size_t number_of_threads_;
-};
-
-}  // namespace multi_threaded_executor
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,62 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
+#include <rclcpp/executors/single_threaded_executor.hpp>
-#define RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
 
-#include <rmw/rmw.h>
+using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
 
-#include <cassert>
+SingleThreadedExecutor::SingleThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms)
-#include <cstdlib>
-#include <memory>
-#include <vector>
-
-#include "rclcpp/executor.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/memory_strategies.hpp"
-#include "rclcpp/node.hpp"
-#include "rclcpp/utilities.hpp"
-#include "rclcpp/rate.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-namespace single_threaded_executor
-{
-
-/// Single-threaded executor implementation
-// This is the default executor created by rclcpp::spin.
-class SingleThreadedExecutor : public executor::Executor
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor);
-
-  /// Default constructor. See the default constructor for Executor.
-  SingleThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
-    memory_strategies::create_default_strategy())
 : executor::Executor(ms) {}
 
-  /// Default destrcutor.
-  virtual ~SingleThreadedExecutor() {}
 
-  /// Single-threaded implementation of spin.
+SingleThreadedExecutor::~SingleThreadedExecutor() {}
-  // This function will block until work comes in, execute it, and keep blocking.
+
-  // It will only be interrupt by a CTRL-C (managed by the global signal handler).
+void
-  void spin()
+SingleThreadedExecutor::spin()
 {
   while (rclcpp::utilities::ok()) {
     auto any_exec = get_next_executable();
     execute_any_executable(any_exec);
   }
 }
-
-private:
-  RCLCPP_DISABLE_COPY(SingleThreadedExecutor);
-};
-
-}  // namespace single_threaded_executor
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_

rclcpp/src/rclcpp/intra_process_manager.cpp

@@ -12,340 +12,50 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__INTRA_PROCESS_MANAGER_HPP_
+#include "rclcpp/intra_process_manager.hpp"
-#define RCLCPP__INTRA_PROCESS_MANAGER_HPP_
 
-#include <rmw/types.h>
+using rclcpp::intra_process_manager::IntraProcessManager;
 
-#include <algorithm>
+static std::atomic<uint64_t> _next_unique_id {1};
-#include <atomic>
-#include <cstdint>
-#include <exception>
-#include <map>
-#include <memory>
-#include <unordered_map>
-#include <set>
 
-#include "rclcpp/allocator/allocator_deleter.hpp"
+IntraProcessManager::IntraProcessManager(IntraProcessManagerStateBase::SharedPtr state)
-#include "rclcpp/intra_process_manager_state.hpp"
-#include "rclcpp/mapped_ring_buffer.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/publisher.hpp"
-#include "rclcpp/subscription.hpp"
-
-namespace rclcpp
-{
-namespace intra_process_manager
-{
-
-/// This class facilitates intra process communication between nodes.
-/* This class is used in the creation of publishers and subscriptions.
- * A singleton instance of this class is owned by a rclcpp::Context and a
- * rclcpp::Node can use an associated Context to get an instance of this class.
- * Nodes which do not have a common Context will not exchange intra process
- * messages because they will not share access to an instance of this class.
- *
- * When a Node creates a publisher or subscription, it will register them
- * with this class.
- * The node will also hook into the publisher's publish call
- * in order to do intra process related work.
- *
- * When a publisher is created, it advertises on the topic the user provided,
- * as well as a "shadowing" topic of type rcl_interfaces/IntraProcessMessage.
- * For instance, if the user specified the topic '/namespace/chatter', then the
- * corresponding intra process topic might be '/namespace/chatter__intra'.
- * The publisher is also allocated an id which is unique among all publishers
- * and subscriptions in this process.
- * Additionally, when registered with this class a ring buffer is created and
- * owned by this class as a temporary place to hold messages destined for intra
- * process subscriptions.
- *
- * When a subscription is created, it subscribes to the topic provided by the
- * user as well as to the corresponding intra process topic.
- * It is also gets a unique id from the singleton instance of this class which
- * is unique among publishers and subscriptions.
- *
- * When the user publishes a message, the message is stored by calling
- * store_intra_process_message on this class.
- * The instance of that message is uniquely identified by a publisher id and a
- * message sequence number.
- * The publisher id, message sequence pair is unique with in the process.
- * At that point a list of the id's of intra process subscriptions which have
- * been registered with the singleton instance of this class are stored with
- * the message instance so that delivery is only made to those subscriptions.
- * Then an instance of rcl_interfaces/IntraProcessMessage is published to the
- * intra process topic which is specific to the topic specified by the user.
- *
- * When an instance of rcl_interfaces/IntraProcessMessage is received by a
- * subscription, then it is handled by calling take_intra_process_message
- * on a singleton of this class.
- * The subscription passes a publisher id, message sequence pair which
- * uniquely identifies the message instance it was suppose to receive as well
- * as the subscriptions unique id.
- * If the message is still being held by this class and the subscription's id
- * is in the list of intended subscriptions then the message is returned.
- * If either of those predicates are not satisfied then the message is not
- * returned and the subscription does not call the users callback.
- *
- * Since the publisher builds a list of destined subscriptions on publish, and
- * other requests are ignored, this class knows how many times a message
- * instance should be requested.
- * The final time a message is requested, the ownership is passed out of this
- * class and passed to the final subscription, effectively freeing space in
- * this class's internal storage.
- *
- * Since a topic is being used to ferry notifications about new intra process
- * messages between publishers and subscriptions, it is possible for that
- * notification to be lost.
- * It is also possible that a subscription which was available when publish was
- * called will no longer exist once the notification gets posted.
- * In both cases this might result in a message instance getting requested
- * fewer times than expected.
- * This is why the internal storage of this class is a ring buffer.
- * That way if a message is orphaned it will eventually be dropped from storage
- * when a new message instance is stored and will not result in a memory leak.
- *
- * However, since the storage system is finite, this also means that a message
- * instance might get displaced by an incoming message instance before all
- * interested parties have called take_intra_process_message.
- * Because of this the size of the internal storage should be carefully
- * considered.
- *
- * /TODO(wjwwood): update to include information about handling latching.
- * /TODO(wjwwood): consider thread safety of the class.
- *
- * This class is neither CopyConstructable nor CopyAssignable.
- */
-class IntraProcessManager
-{
-private:
-  RCLCPP_DISABLE_COPY(IntraProcessManager);
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager);
-
-  explicit IntraProcessManager(
-    IntraProcessManagerStateBase::SharedPtr state = create_default_state()
-  )
 : state_(state)
-  {
+{}
-  }
+
+IntraProcessManager::~IntraProcessManager()
+{}
 
-  /// Register a subscription with the manager, returns subscriptions unique id.
-  /* In addition to generating a unique intra process id for the subscription,
-   * this method also stores the topic name of the subscription.
-   *
-   * This method is normally called during the creation of a subscription,
-   * but after it creates the internal intra process rmw_subscription_t.
-   *
-   * This method will allocate memory.
-   *
-   * \param subscription the Subscription to register.
-   * \return an unsigned 64-bit integer which is the subscription's unique id.
-   */
 uint64_t
-  add_subscription(subscription::SubscriptionBase::SharedPtr subscription)
+IntraProcessManager::add_subscription(
+  rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
 {
   auto id = IntraProcessManager::get_next_unique_id();
   state_->add_subscription(id, subscription);
   return id;
 }
 
-  /// Unregister a subscription using the subscription's unique id.
-  /* This method does not allocate memory.
-   *
-   * \param intra_process_subscription_id id of the subscription to remove.
-   */
 void
-  remove_subscription(uint64_t intra_process_subscription_id)
+IntraProcessManager::remove_subscription(uint64_t intra_process_subscription_id)
 {
   state_->remove_subscription(intra_process_subscription_id);
 }
 
-  /// Register a publisher with the manager, returns the publisher unique id.
-  /* In addition to generating and returning a unique id for the publisher,
-   * this method creates internal ring buffer storage for "in-flight" intra
-   * process messages which are stored when store_intra_process_message is
-   * called with this publisher's unique id.
-   *
-   * The buffer_size must be less than or equal to the max uint64_t value.
-   * If the buffer_size is 0 then a buffer size is calculated using the
-   * publisher's QoS settings.
-   * The default is to use the depth field of the publisher's QoS.
-   * TODO(wjwwood): Consider doing depth *= 1.2, round up, or similar.
-   * TODO(wjwwood): Consider what to do for keep all.
-   *
-   * This method is templated on the publisher's message type so that internal
-   * storage of the same type can be allocated.
-   *
-   * This method will allocate memory.
-   *
-   * \param publisher publisher to be registered with the manager.
-   * \param buffer_size if 0 (default) a size is calculated based on the QoS.
-   * \return an unsigned 64-bit integer which is the publisher's unique id.
-   */
-  template<typename MessageT, typename Alloc>
-  uint64_t
-  add_publisher(typename publisher::Publisher<MessageT, Alloc>::SharedPtr publisher,
-    size_t buffer_size = 0)
-  {
-    auto id = IntraProcessManager::get_next_unique_id();
-    size_t size = buffer_size > 0 ? buffer_size : publisher->get_queue_size();
-    auto mrb = mapped_ring_buffer::MappedRingBuffer<MessageT,
-      typename publisher::Publisher<MessageT, Alloc>::MessageAlloc>::make_shared(
-      size, publisher->get_allocator());
-    state_->add_publisher(id, publisher, mrb, size);
-    return id;
-  }
-
-  /// Unregister a publisher using the publisher's unique id.
-  /* This method does not allocate memory.
-   *
-   * \param intra_process_publisher_id id of the publisher to remove.
-   */
 void
-  remove_publisher(uint64_t intra_process_publisher_id)
+IntraProcessManager::remove_publisher(uint64_t intra_process_publisher_id)
 {
   state_->remove_publisher(intra_process_publisher_id);
 }
 
-  /// Store a message in the manager, and return the message sequence number.
-  /* The given message is stored in internal storage using the given publisher
-   * id and the newly generated message sequence, which is also returned.
-   * The combination of publisher id and message sequence number can later
-   * be used with a subscription id to retrieve the message by calling
-   * take_intra_process_message.
-   * The number of times take_intra_process_message can be called with this
-   * unique pair of id's is determined by the number of subscriptions currently
-   * subscribed to the same topic and which share the same Context, i.e. once
-   * for each subscription which should receive the intra process message.
-   *
-   * The ownership of the incoming message is transfered to the internal
-   * storage in order to avoid copying the message data.
-   * Therefore, the message parameter will no longer contain the original
-   * message after calling this method.
-   * Instead it will either be a nullptr or it will contain the ownership of
-   * the message instance which was displaced.
-   * If the message parameter is not equal to nullptr after calling this method
-   * then a message was prematurely displaced, i.e. take_intra_process_message
-   * had not been called on it as many times as was expected.
-   *
-   * This method can throw an exception if the publisher id is not found or
-   * if the publisher shared_ptr given to add_publisher has gone out of scope.
-   *
-   * This method does allocate memory.
-   *
-   * \param intra_process_publisher_id the id of the publisher of this message.
-   * \param message the message that is being stored.
-   * \return the message sequence number.
-   */
-  template<typename MessageT, typename Alloc = std::allocator<void>,
-  typename Deleter = std::default_delete<MessageT>>
-  uint64_t
-  store_intra_process_message(
-    uint64_t intra_process_publisher_id,
-    std::unique_ptr<MessageT, Deleter> & message)
-  {
-    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
-    using TypedMRB = typename mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
-    uint64_t message_seq = 0;
-    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = state_->get_publisher_info_for_id(
-      intra_process_publisher_id, message_seq);
-    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
-    if (!typed_buffer) {
-      throw std::runtime_error("Typecast failed due to incorrect message type");
-    }
-
-    // Insert the message into the ring buffer using the message_seq to identify it.
-    bool did_replace = typed_buffer->push_and_replace(message_seq, message);
-    // TODO(wjwwood): do something when a message was displaced. log debug?
-    (void)did_replace;  // Avoid unused variable warning.
-
-    state_->store_intra_process_message(intra_process_publisher_id, message_seq);
-
-    // Return the message sequence which is sent to the subscription.
-    return message_seq;
-  }
-
-  /// Take an intra process message.
-  /* The intra_process_publisher_id and message_sequence_number parameters
-   * uniquely identify a message instance, which should be taken.
-   *
-   * The requesting_subscriptions_intra_process_id parameter is used to make
-   * sure the requesting subscription was intended to receive this message
-   * instance.
-   * This check is made because it could happen that the requester
-   * comes up after the publish event, so it still receives the notification of
-   * a new intra process message, but it wasn't registered with the manager at
-   * the time of publishing, causing it to take when it wasn't intended.
-   * This should be avioded unless latching-like behavior is involved.
-   *
-   * The message parameter is used to store the taken message.
-   * On the last expected call to this method, the ownership is transfered out
-   * of internal storage and into the message parameter.
-   * On all previous calls a copy of the internally stored message is made and
-   * the ownership of the copy is transfered to the message parameter.
-   * TODO(wjwwood): update this documentation when latching is supported.
-   *
-   * The message parameter can be set to nullptr if:
-   *
-   * - The publisher id is not found.
-   * - The message sequence is not found for the given publisher id.
-   * - The requesting subscription's id is not in the list of intended takers.
-   * - The requesting subscription's id has been used before with this message.
-   *
-   * This method may allocate memory to copy the stored message.
-   *
-   * \param intra_process_publisher_id the id of the message's publisher.
-   * \param message_sequence_number the sequence number of the message.
-   * \param requesting_subscriptions_intra_process_id the subscription's id.
-   * \param message the message typed unique_ptr used to return the message.
-   */
-  template<typename MessageT, typename Alloc = std::allocator<void>,
-  typename Deleter = std::default_delete<MessageT>>
-  void
-  take_intra_process_message(
-    uint64_t intra_process_publisher_id,
-    uint64_t message_sequence_number,
-    uint64_t requesting_subscriptions_intra_process_id,
-    std::unique_ptr<MessageT, Deleter> & message)
-  {
-    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
-    using TypedMRB = mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
-    message = nullptr;
-
-    size_t target_subs_size = 0;
-    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = state_->take_intra_process_message(
-      intra_process_publisher_id,
-      message_sequence_number,
-      requesting_subscriptions_intra_process_id,
-      target_subs_size
-      );
-    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
-    if (!typed_buffer) {
-      return;
-    }
-    // Return a copy or the unique_ptr (ownership) depending on how many subscriptions are left.
-    if (target_subs_size) {
-      // There are more subscriptions to serve, return a copy.
-      typed_buffer->get_copy_at_key(message_sequence_number, message);
-    } else {
-      // This is the last one to be returned, transfer ownership.
-      typed_buffer->pop_at_key(message_sequence_number, message);
-    }
-  }
-
-  /// Return true if the given rmw_gid_t matches any stored Publishers.
 bool
-  matches_any_publishers(const rmw_gid_t * id) const
+IntraProcessManager::matches_any_publishers(const rmw_gid_t * id) const
 {
   return state_->matches_any_publishers(id);
 }
 
-private:
+uint64_t
-  static uint64_t get_next_unique_id()
+IntraProcessManager::get_next_unique_id()
 {
-    auto next_id = next_unique_id_.fetch_add(1, std::memory_order_relaxed);
+  auto next_id = _next_unique_id.fetch_add(1, std::memory_order_relaxed);
   // Check for rollover (we started at 1).
   if (0 == next_id) {
     // This puts a technical limit on the number of times you can add a publisher or subscriber.
@@ -363,15 +73,3 @@ private:
   }
   return next_id;
 }
-
-  static std::atomic<uint64_t> next_unique_id_;
-
-  IntraProcessManagerStateBase::SharedPtr state_;
-};
-
-std::atomic<uint64_t> IntraProcessManager::next_unique_id_ {1};
-
-}  // namespace intra_process_manager
-}  // namespace rclcpp
-
-#endif  // RCLCPP__INTRA_PROCESS_MANAGER_HPP_

rclcpp/src/rclcpp/intra_process_manager_state.cpp

@@ -12,259 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__INTRA_PROCESS_MANAGER_STATE_HPP_
+#include "rclcpp/intra_process_manager_state.hpp"
-#define RCLCPP__INTRA_PROCESS_MANAGER_STATE_HPP_
 
-#include <rclcpp/mapped_ring_buffer.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/subscription.hpp>
-
-#include <algorithm>
-#include <atomic>
-#include <functional>
-#include <limits>
 #include <memory>
-#include <map>
-#include <unordered_map>
-#include <set>
-#include <string>
-#include <utility>
 
-namespace rclcpp
+rclcpp::intra_process_manager::IntraProcessManagerStateBase::SharedPtr
-{
+rclcpp::intra_process_manager::create_default_state()
-namespace intra_process_manager
-{
-
-class IntraProcessManagerStateBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(IntraProcessManagerStateBase);
-
-  virtual void
-  add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription) = 0;
-
-  virtual void
-  remove_subscription(uint64_t intra_process_subscription_id) = 0;
-
-  virtual void add_publisher(uint64_t id,
-    publisher::PublisherBase::WeakPtr publisher,
-    mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
-    size_t size) = 0;
-
-  virtual void
-  remove_publisher(uint64_t intra_process_publisher_id) = 0;
-
-  virtual mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  get_publisher_info_for_id(
-    uint64_t intra_process_publisher_id,
-    uint64_t & message_seq) = 0;
-
-  virtual void
-  store_intra_process_message(uint64_t intra_process_publisher_id, uint64_t message_seq) = 0;
-
-  virtual mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  take_intra_process_message(uint64_t intra_process_publisher_id,
-    uint64_t message_sequence_number,
-    uint64_t requesting_subscriptions_intra_process_id,
-    size_t & size) = 0;
-
-  virtual bool
-  matches_any_publishers(const rmw_gid_t * id) const = 0;
-};
-
-template<typename Allocator = std::allocator<void>>
-class IntraProcessManagerState : public IntraProcessManagerStateBase
-{
-public:
-  void
-  add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription)
-  {
-    subscriptions_[id] = subscription;
-    subscription_ids_by_topic_[subscription->get_topic_name()].insert(id);
-  }
-
-  void
-  remove_subscription(uint64_t intra_process_subscription_id)
-  {
-    subscriptions_.erase(intra_process_subscription_id);
-    for (auto & pair : subscription_ids_by_topic_) {
-      pair.second.erase(intra_process_subscription_id);
-    }
-    // Iterate over all publisher infos and all stored subscription id's and
-    // remove references to this subscription's id.
-    for (auto & publisher_pair : publishers_) {
-      for (auto & sub_pair : publisher_pair.second.target_subscriptions_by_message_sequence) {
-        sub_pair.second.erase(intra_process_subscription_id);
-      }
-    }
-  }
-
-  void add_publisher(uint64_t id,
-    publisher::PublisherBase::WeakPtr publisher,
-    mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
-    size_t size)
-  {
-    publishers_[id].publisher = publisher;
-    // As long as the size of the ring buffer is less than the max sequence number, we're safe.
-    if (size > std::numeric_limits<uint64_t>::max()) {
-      throw std::invalid_argument("the calculated buffer size is too large");
-    }
-    publishers_[id].sequence_number.store(0);
-
-    publishers_[id].buffer = mrb;
-    publishers_[id].target_subscriptions_by_message_sequence.reserve(size);
-  }
-
-  void
-  remove_publisher(uint64_t intra_process_publisher_id)
-  {
-    publishers_.erase(intra_process_publisher_id);
-  }
-
-  // return message_seq and mrb
-  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  get_publisher_info_for_id(
-    uint64_t intra_process_publisher_id,
-    uint64_t & message_seq)
-  {
-    auto it = publishers_.find(intra_process_publisher_id);
-    if (it == publishers_.end()) {
-      throw std::runtime_error("store_intra_process_message called with invalid publisher id");
-    }
-    PublisherInfo & info = it->second;
-    // Calculate the next message sequence number.
-    message_seq = info.sequence_number.fetch_add(1, std::memory_order_relaxed);
-
-    return info.buffer;
-  }
-
-  void
-  store_intra_process_message(uint64_t intra_process_publisher_id, uint64_t message_seq)
-  {
-    auto it = publishers_.find(intra_process_publisher_id);
-    if (it == publishers_.end()) {
-      throw std::runtime_error("store_intra_process_message called with invalid publisher id");
-    }
-    PublisherInfo & info = it->second;
-    auto publisher = info.publisher.lock();
-    if (!publisher) {
-      throw std::runtime_error("publisher has unexpectedly gone out of scope");
-    }
-
-    // Figure out what subscriptions should receive the message.
-    auto & destined_subscriptions = subscription_ids_by_topic_[publisher->get_topic_name()];
-    // Store the list for later comparison.
-    info.target_subscriptions_by_message_sequence[message_seq].clear();
-    std::copy(
-      destined_subscriptions.begin(), destined_subscriptions.end(),
-      // Memory allocation occurs in info.target_subscriptions_by_message_sequence[message_seq]
-      std::inserter(
-        info.target_subscriptions_by_message_sequence[message_seq],
-        // This ends up only being a hint to std::set, could also be .begin().
-        info.target_subscriptions_by_message_sequence[message_seq].end()
-      )
-    );
-  }
-
-  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  take_intra_process_message(uint64_t intra_process_publisher_id,
-    uint64_t message_sequence_number,
-    uint64_t requesting_subscriptions_intra_process_id,
-    size_t & size
-  )
-  {
-    PublisherInfo * info;
-    {
-      auto it = publishers_.find(intra_process_publisher_id);
-      if (it == publishers_.end()) {
-        // Publisher is either invalid or no longer exists.
-        return 0;
-      }
-      info = &it->second;
-    }
-    // Figure out how many subscriptions are left.
-    AllocSet * target_subs;
-    {
-      auto it = info->target_subscriptions_by_message_sequence.find(message_sequence_number);
-      if (it == info->target_subscriptions_by_message_sequence.end()) {
-        // Message is no longer being stored by this publisher.
-        return 0;
-      }
-      target_subs = &it->second;
-    }
-    {
-      auto it = std::find(
-        target_subs->begin(), target_subs->end(),
-        requesting_subscriptions_intra_process_id);
-      if (it == target_subs->end()) {
-        // This publisher id/message seq pair was not intended for this subscription.
-        return 0;
-      }
-      target_subs->erase(it);
-    }
-    size = target_subs->size();
-    return info->buffer;
-  }
-
-  bool
-  matches_any_publishers(const rmw_gid_t * id) const
-  {
-    for (auto & publisher_pair : publishers_) {
-      auto publisher = publisher_pair.second.publisher.lock();
-      if (!publisher) {
-        continue;
-      }
-      if (*publisher.get() == id) {
-        return true;
-      }
-    }
-    return false;
-  }
-
-private:
-  template<typename T>
-  using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>;
-
-  using AllocSet = std::set<uint64_t, std::less<uint64_t>, RebindAlloc<uint64_t>>;
-  using SubscriptionMap = std::unordered_map<uint64_t, subscription::SubscriptionBase::WeakPtr,
-      std::hash<uint64_t>, std::equal_to<uint64_t>,
-      RebindAlloc<std::pair<const uint64_t, subscription::SubscriptionBase::WeakPtr>>>;
-  using IDTopicMap = std::map<std::string, AllocSet,
-      std::less<std::string>, RebindAlloc<std::pair<std::string, AllocSet>>>;
-
-  SubscriptionMap subscriptions_;
-
-  IDTopicMap subscription_ids_by_topic_;
-
-  struct PublisherInfo
-  {
-    RCLCPP_DISABLE_COPY(PublisherInfo);
-
-    PublisherInfo() = default;
-
-    publisher::PublisherBase::WeakPtr publisher;
-    std::atomic<uint64_t> sequence_number;
-    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer;
-
-    using TargetSubscriptionsMap = std::unordered_map<uint64_t, AllocSet,
-        std::hash<uint64_t>, std::equal_to<uint64_t>,
-        RebindAlloc<std::pair<const uint64_t, AllocSet>>>;
-    TargetSubscriptionsMap target_subscriptions_by_message_sequence;
-  };
-
-  using PublisherMap = std::unordered_map<uint64_t, PublisherInfo,
-      std::hash<uint64_t>, std::equal_to<uint64_t>,
-      RebindAlloc<std::pair<const uint64_t, PublisherInfo>>>;
-
-  PublisherMap publishers_;
-};
-
-static IntraProcessManagerStateBase::SharedPtr create_default_state()
 {
   return std::make_shared<IntraProcessManagerState<>>();
 }
-
-}  // namespace intra_process_manager
-}  // namespace rclcpp
-
-#endif  // RCLCPP__INTRA_PROCESS_MANAGER_STATE_HPP_

rclcpp/src/rclcpp/memory_strategies.cpp

@@ -12,25 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__MEMORY_STRATEGIES_HPP_
+#include "rclcpp/memory_strategies.hpp"
-#define RCLCPP__MEMORY_STRATEGIES_HPP_
 
-#include <rclcpp/memory_strategy.hpp>
+#include "rclcpp/strategies/allocator_memory_strategy.hpp"
-#include <rclcpp/strategies/allocator_memory_strategy.hpp>
-
-namespace rclcpp
-{
-namespace memory_strategies
-{
 
 using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;
 
-static memory_strategy::MemoryStrategy::SharedPtr create_default_strategy()
+rclcpp::memory_strategy::MemoryStrategy::SharedPtr
+rclcpp::memory_strategies::create_default_strategy()
 {
   return std::make_shared<AllocatorMemoryStrategy<>>();
 }
-
-}  // namespace memory_strategies
-}  // namespace rclcpp
-
-#endif  // RCLCPP__MEMORY_STRATEGIES_HPP_

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -12,67 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__MEMORY_STRATEGY_HPP_
+#include "rclcpp/memory_strategy.hpp"
-#define RCLCPP__MEMORY_STRATEGY_HPP_
 
-#include <memory>
+using rclcpp::memory_strategy::MemoryStrategy;
-#include <vector>
 
-#include "rclcpp/any_executable.hpp"
+rclcpp::subscription::SubscriptionBase::SharedPtr
-#include "rclcpp/macros.hpp"
+MemoryStrategy::get_subscription_by_handle(
-#include "rclcpp/node.hpp"
+  void * subscriber_handle, const WeakNodeVector & weak_nodes)
-
-namespace rclcpp
-{
-namespace memory_strategy
-{
-
-/// Delegate for handling memory allocations while the Executor is executing.
-/**
- * By default, the memory strategy dynamically allocates memory for structures that come in from
- * the rmw implementation after the executor waits for work, based on the number of entities that
- * come through.
- */
-class MemoryStrategy
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy);
-  using WeakNodeVector = std::vector<std::weak_ptr<node::Node>>;
-
-  // return the new number of subscribers
-  virtual size_t fill_subscriber_handles(void ** & ptr) = 0;
-
-  // return the new number of services
-  virtual size_t fill_service_handles(void ** & ptr) = 0;
-
-  // return the new number of clients
-  virtual size_t fill_client_handles(void ** & ptr) = 0;
-
-  virtual void clear_active_entities() = 0;
-
-  virtual void clear_handles() = 0;
-  virtual void revalidate_handles() = 0;
-  virtual bool collect_entities(const WeakNodeVector & weak_nodes) = 0;
-
-  /// Provide a newly initialized AnyExecutable object.
-  // \return Shared pointer to the fresh executable.
-  virtual executor::AnyExecutable::SharedPtr instantiate_next_executable() = 0;
-
-  virtual void
-  get_next_subscription(executor::AnyExecutable::SharedPtr any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
-
-  virtual void
-  get_next_service(executor::AnyExecutable::SharedPtr any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
-
-  virtual void
-  get_next_client(executor::AnyExecutable::SharedPtr any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
-
-  static rclcpp::subscription::SubscriptionBase::SharedPtr
-  get_subscription_by_handle(void * subscriber_handle,
-    const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -102,8 +48,8 @@ public:
   return nullptr;
 }
 
-  static rclcpp::service::ServiceBase::SharedPtr
+rclcpp::service::ServiceBase::SharedPtr
-  get_service_by_handle(void * service_handle, const WeakNodeVector & weak_nodes)
+MemoryStrategy::get_service_by_handle(void * service_handle, const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -125,8 +71,8 @@ public:
   return nullptr;
 }
 
-  static rclcpp::client::ClientBase::SharedPtr
+rclcpp::client::ClientBase::SharedPtr
-  get_client_by_handle(void * client_handle, const WeakNodeVector & weak_nodes)
+MemoryStrategy::get_client_by_handle(void * client_handle, const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -148,8 +94,8 @@ public:
   return nullptr;
 }
 
-  static rclcpp::node::Node::SharedPtr
+rclcpp::node::Node::SharedPtr
-  get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group,
+MemoryStrategy::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group,
   const WeakNodeVector & weak_nodes)
 {
   if (!group) {
@@ -170,8 +116,8 @@ public:
   return nullptr;
 }
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::callback_group::CallbackGroup::SharedPtr
-  get_group_by_subscription(
+MemoryStrategy::get_group_by_subscription(
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
   const WeakNodeVector & weak_nodes)
 {
@@ -196,8 +142,8 @@ public:
   return nullptr;
 }
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::callback_group::CallbackGroup::SharedPtr
-  get_group_by_service(
+MemoryStrategy::get_group_by_service(
   rclcpp::service::ServiceBase::SharedPtr service,
   const WeakNodeVector & weak_nodes)
 {
@@ -221,8 +167,9 @@ public:
   return nullptr;
 }
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::callback_group::CallbackGroup::SharedPtr
-  get_group_by_client(rclcpp::client::ClientBase::SharedPtr client,
+MemoryStrategy::get_group_by_client(
+  rclcpp::client::ClientBase::SharedPtr client,
   const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
@@ -244,12 +191,3 @@ public:
   }
   return nullptr;
 }
-
-
-};
-
-}  // namespace memory_strategy
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__MEMORY_STRATEGY_HPP_

rclcpp/src/rclcpp/node.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,38 +12,53 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__NODE_IMPL_HPP_
-#define RCLCPP__NODE_IMPL_HPP_
-
-#include <rmw/error_handling.h>
-#include <rmw/rmw.h>
-
 #include <algorithm>
-#include <cstdlib>
-#include <iostream>
 #include <limits>
 #include <map>
-#include <memory>
-#include <sstream>
-#include <stdexcept>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "rclcpp/node.hpp"
-#include "rosidl_generator_cpp/message_type_support.hpp"
-#include "rosidl_generator_cpp/service_type_support.hpp"
 
-#include "rclcpp/contexts/default_context.hpp"
+// Specializations with references to unresolved symbols to delay evaluation until later.
-#include "rclcpp/intra_process_manager.hpp"
+// On Windows this is not necessary since it will be built against the rmw implementation directly.
-#include "rclcpp/parameter.hpp"
+#if !defined(WIN32)
+namespace rosidl_generator_cpp
+{
 
-#ifndef RCLCPP__NODE_HPP_
+template<>
-#include "node.hpp"
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::ParameterEvent>()
+{
+  return rclcpp::type_support::get_parameter_event_msg_type_support();
+}
+
+template<>
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::SetParametersResult>()
+{
+  return rclcpp::type_support::get_set_parameters_result_msg_type_support();
+}
+
+template<>
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::ParameterDescriptor>()
+{
+  return rclcpp::type_support::get_parameter_descriptor_msg_type_support();
+}
+
+template<>
+const rosidl_message_type_support_t *
+get_message_type_support_handle<rcl_interfaces::msg::ListParametersResult>()
+{
+  return rclcpp::type_support::get_list_parameters_result_msg_type_support();
+}
+
+}  // namespace rosidl_generator_cpp
 #endif
 
-using namespace rclcpp;
+using rclcpp::node::Node;
-using namespace node;
 
 Node::Node(const std::string & node_name, bool use_intra_process_comms)
 : Node(
@@ -106,6 +121,12 @@ Node::Node(
     "parameter_events", rmw_qos_profile_parameter_events);
 }
 
+const std::string &
+Node::get_name() const
+{
+  return name_;
+}
+
 rclcpp::callback_group::CallbackGroup::SharedPtr
 Node::create_callback_group(
   rclcpp::callback_group::CallbackGroupType group_type)
@@ -117,95 +138,6 @@ Node::create_callback_group(
   return group;
 }
 
-template<typename MessageT, typename Alloc>
-typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
-Node::create_publisher(
-  const std::string & topic_name, size_t qos_history_depth,
-  std::shared_ptr<Alloc> allocator)
-{
-  if (!allocator) {
-    allocator = std::make_shared<Alloc>();
-  }
-  rmw_qos_profile_t qos = rmw_qos_profile_default;
-  qos.depth = qos_history_depth;
-  return this->create_publisher<MessageT, Alloc>(topic_name, qos, allocator);
-}
-
-template<typename MessageT, typename Alloc>
-typename publisher::Publisher<MessageT, Alloc>::SharedPtr
-Node::create_publisher(
-  const std::string & topic_name, const rmw_qos_profile_t & qos_profile,
-  std::shared_ptr<Alloc> allocator)
-{
-  if (!allocator) {
-    allocator = std::make_shared<Alloc>();
-  }
-  using rosidl_generator_cpp::get_message_type_support_handle;
-  auto type_support_handle = get_message_type_support_handle<MessageT>();
-  rmw_publisher_t * publisher_handle = rmw_create_publisher(
-    node_handle_.get(), type_support_handle, topic_name.c_str(), qos_profile);
-  if (!publisher_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create publisher: ") +
-      rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  auto publisher = publisher::Publisher<MessageT, Alloc>::make_shared(
-    node_handle_, publisher_handle, topic_name, qos_profile.depth, allocator);
-
-  if (use_intra_process_comms_) {
-    rmw_publisher_t * intra_process_publisher_handle = rmw_create_publisher(
-      node_handle_.get(), ipm_ts_, (topic_name + "__intra").c_str(), qos_profile);
-    if (!intra_process_publisher_handle) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("could not create intra process publisher: ") +
-        rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-
-    auto intra_process_manager =
-      context_->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    uint64_t intra_process_publisher_id =
-      intra_process_manager->add_publisher<MessageT, Alloc>(publisher);
-    rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = intra_process_manager;
-    // *INDENT-OFF*
-    auto shared_publish_callback =
-      [weak_ipm](uint64_t publisher_id, void * msg, const std::type_info & type_info) -> uint64_t
-    {
-      auto ipm = weak_ipm.lock();
-      if (!ipm) {
-        // TODO(wjwwood): should this just return silently? Or maybe return with a logged warning?
-        throw std::runtime_error(
-          "intra process publish called after destruction of intra process manager");
-      }
-      if (!msg) {
-        throw std::runtime_error("cannot publisher msg which is a null pointer");
-      }
-      auto & message_type_info = typeid(MessageT);
-      if (message_type_info != type_info) {
-        throw std::runtime_error(
-          std::string("published type '") + type_info.name() +
-          "' is incompatible from the publisher type '" + message_type_info.name() + "'");
-      }
-      MessageT * typed_message_ptr = static_cast<MessageT *>(msg);
-      using MessageDeleter = typename publisher::Publisher<MessageT, Alloc>::MessageDeleter;
-      std::unique_ptr<MessageT, MessageDeleter> unique_msg(typed_message_ptr);
-      uint64_t message_seq =
-        ipm->store_intra_process_message<MessageT, Alloc>(publisher_id, unique_msg);
-      return message_seq;
-    };
-    // *INDENT-ON*
-    publisher->setup_intra_process(
-      intra_process_publisher_id,
-      shared_publish_callback,
-      intra_process_publisher_handle);
-  }
-  return publisher;
-}
-
 bool
 Node::group_in_node(callback_group::CallbackGroup::SharedPtr group)
 {
@@ -219,138 +151,6 @@ Node::group_in_node(callback_group::CallbackGroup::SharedPtr group)
   return group_belongs_to_this_node;
 }
 
-template<typename MessageT, typename CallbackT, typename Alloc>
-typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
-Node::create_subscription(
-  const std::string & topic_name,
-  CallbackT callback,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
-  msg_mem_strat,
-  typename std::shared_ptr<Alloc> allocator)
-{
-  if (!allocator) {
-    allocator = std::make_shared<Alloc>();
-  }
-
-  rclcpp::subscription::AnySubscriptionCallback<MessageT,
-  Alloc> any_subscription_callback(allocator);
-  any_subscription_callback.set(callback);
-
-  using rosidl_generator_cpp::get_message_type_support_handle;
-
-  if (!msg_mem_strat) {
-    msg_mem_strat =
-      rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::create_default();
-  }
-
-  auto type_support_handle = get_message_type_support_handle<MessageT>();
-  rmw_subscription_t * subscriber_handle = rmw_create_subscription(
-    node_handle_.get(), type_support_handle,
-    topic_name.c_str(), qos_profile, ignore_local_publications);
-  if (!subscriber_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create subscription: ") + rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  using namespace rclcpp::subscription;
-
-  auto sub = Subscription<MessageT, Alloc>::make_shared(
-    node_handle_,
-    subscriber_handle,
-    topic_name,
-    ignore_local_publications,
-    any_subscription_callback,
-    msg_mem_strat);
-  auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
-  // Setup intra process.
-  if (use_intra_process_comms_) {
-    rmw_subscription_t * intra_process_subscriber_handle = rmw_create_subscription(
-      node_handle_.get(), ipm_ts_,
-      (topic_name + "__intra").c_str(), qos_profile, false);
-    if (!subscriber_handle) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("could not create intra process subscription: ") + rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-    auto intra_process_manager =
-      context_->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = intra_process_manager;
-    uint64_t intra_process_subscription_id =
-      intra_process_manager->add_subscription(sub_base_ptr);
-    // *INDENT-OFF*
-    sub->setup_intra_process(
-      intra_process_subscription_id,
-      intra_process_subscriber_handle,
-      [weak_ipm](
-        uint64_t publisher_id,
-        uint64_t message_sequence,
-        uint64_t subscription_id,
-        typename Subscription<MessageT, Alloc>::MessageUniquePtr & message)
-      {
-        auto ipm = weak_ipm.lock();
-        if (!ipm) {
-          // TODO(wjwwood): should this just return silently? Or maybe return with a logged warning?
-          throw std::runtime_error(
-            "intra process take called after destruction of intra process manager");
-        }
-        ipm->take_intra_process_message<MessageT, Alloc>(
-          publisher_id, message_sequence, subscription_id, message);
-      },
-      [weak_ipm](const rmw_gid_t * sender_gid) -> bool {
-        auto ipm = weak_ipm.lock();
-        if (!ipm) {
-          throw std::runtime_error(
-            "intra process publisher check called after destruction of intra process manager");
-        }
-        return ipm->matches_any_publishers(sender_gid);
-      }
-    );
-    // *INDENT-ON*
-  }
-  // Assign to a group.
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(jacquelinekay): use custom exception
-      throw std::runtime_error("Cannot create subscription, group not in node.");
-    }
-    group->add_subscription(sub_base_ptr);
-  } else {
-    default_callback_group_->add_subscription(sub_base_ptr);
-  }
-  number_of_subscriptions_++;
-  return sub;
-}
-
-template<typename MessageT, typename CallbackT, typename Alloc>
-typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
-Node::create_subscription(
-  const std::string & topic_name,
-  size_t qos_history_depth,
-  CallbackT callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
-{
-  rmw_qos_profile_t qos = rmw_qos_profile_default;
-  qos.depth = qos_history_depth;
-  return this->create_subscription<MessageT, CallbackT, Alloc>(
-    topic_name,
-    callback,
-    qos,
-    group,
-    ignore_local_publications,
-    msg_mem_strat,
-    allocator);
-}
-
 rclcpp::timer::WallTimer::SharedPtr
 Node::create_wall_timer(
   std::chrono::nanoseconds period,
@@ -384,88 +184,6 @@ Node::create_wall_timer(
 //     group);
 // }
 
-template<typename ServiceT>
-typename client::Client<ServiceT>::SharedPtr
-Node::create_client(
-  const std::string & service_name,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
-{
-  using rosidl_generator_cpp::get_service_type_support_handle;
-  auto service_type_support_handle =
-    get_service_type_support_handle<ServiceT>();
-
-  rmw_client_t * client_handle = rmw_create_client(
-    this->node_handle_.get(), service_type_support_handle, service_name.c_str());
-  if (!client_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create client: ") +
-      rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  using namespace rclcpp::client;
-
-  auto cli = Client<ServiceT>::make_shared(
-    node_handle_,
-    client_handle,
-    service_name);
-
-  auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(esteve): use custom exception
-      throw std::runtime_error("Cannot create client, group not in node.");
-    }
-    group->add_client(cli_base_ptr);
-  } else {
-    default_callback_group_->add_client(cli_base_ptr);
-  }
-  number_of_clients_++;
-
-  return cli;
-}
-
-template<typename ServiceT, typename FunctorT>
-typename rclcpp::service::Service<ServiceT>::SharedPtr
-Node::create_service(
-  const std::string & service_name,
-  FunctorT callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
-{
-  using rosidl_generator_cpp::get_service_type_support_handle;
-  auto service_type_support_handle =
-    get_service_type_support_handle<ServiceT>();
-
-  rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
-  any_service_callback.set(callback);
-
-  rmw_service_t * service_handle = rmw_create_service(
-    node_handle_.get(), service_type_support_handle, service_name.c_str());
-  if (!service_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create service: ") +
-      rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  auto serv = service::Service<ServiceT>::make_shared(
-    node_handle_, service_handle, service_name, any_service_callback);
-  auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(jacquelinekay): use custom exception
-      throw std::runtime_error("Cannot create service, group not in node.");
-    }
-    group->add_service(serv_base_ptr);
-  } else {
-    default_callback_group_->add_service(serv_base_ptr);
-  }
-  number_of_services_++;
-  return serv;
-}
-
 std::vector<rcl_interfaces::msg::SetParametersResult>
 Node::set_parameters(
   const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
@@ -672,5 +390,3 @@ Node::get_callback_groups() const
 {
   return callback_groups_;
 }
-
-#endif  // RCLCPP__NODE_IMPL_HPP_

rclcpp/src/rclcpp/parameter.cpp

@@ -12,92 +12,84 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_PARAMETER_HPP_
+#include "rclcpp/parameter.hpp"
-#define RCLCPP_RCLCPP_PARAMETER_HPP_
 
 #include <ostream>
 #include <sstream>
 #include <string>
+#include <vector>
 
-#include <rmw/rmw.h>
+using rclcpp::parameter::ParameterType;
+using rclcpp::parameter::ParameterVariant;
 
-#include <rcl_interfaces/msg/parameter.hpp>
+ParameterVariant::ParameterVariant()
-#include <rcl_interfaces/msg/parameter_type.hpp>
-#include <rcl_interfaces/msg/parameter_value.hpp>
-
-namespace rclcpp
-{
-
-namespace parameter
-{
-
-enum ParameterType
-{
-  PARAMETER_NOT_SET=rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET,
-  PARAMETER_BOOL=rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
-  PARAMETER_INTEGER=rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
-  PARAMETER_DOUBLE=rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
-  PARAMETER_STRING=rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
-  PARAMETER_BYTES=rcl_interfaces::msg::ParameterType::PARAMETER_BYTES,
-};
-
-// Structure to store an arbitrary parameter with templated get/set methods
-class ParameterVariant
-{
-public:
-  ParameterVariant()
 : name_("")
 {
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET;
 }
-  explicit ParameterVariant(const std::string & name, const bool bool_value)
+
+ParameterVariant::ParameterVariant(const std::string & name, const bool bool_value)
 : name_(name)
 {
   value_.bool_value = bool_value;
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
 }
-  explicit ParameterVariant(const std::string & name, const int int_value)
+
+ParameterVariant::ParameterVariant(const std::string & name, const int int_value)
 : name_(name)
 {
   value_.integer_value = int_value;
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
 }
-  explicit ParameterVariant(const std::string & name, const int64_t int_value)
+
+ParameterVariant::ParameterVariant(const std::string & name, const int64_t int_value)
 : name_(name)
 {
   value_.integer_value = int_value;
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
 }
-  explicit ParameterVariant(const std::string & name, const float double_value)
+
+ParameterVariant::ParameterVariant(const std::string & name, const float double_value)
 : name_(name)
 {
   value_.double_value = double_value;
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
 }
-  explicit ParameterVariant(const std::string & name, const double double_value)
+
+ParameterVariant::ParameterVariant(const std::string & name, const double double_value)
 : name_(name)
 {
   value_.double_value = double_value;
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
 }
-  explicit ParameterVariant(const std::string & name, const std::string & string_value)
+
+ParameterVariant::ParameterVariant(const std::string & name, const std::string & string_value)
 : name_(name)
 {
   value_.string_value = string_value;
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
 }
-  explicit ParameterVariant(const std::string & name, const char * string_value)
+
-  : ParameterVariant(name, std::string(string_value)) {}
+ParameterVariant::ParameterVariant(const std::string & name, const char * string_value)
-  explicit ParameterVariant(const std::string & name, const std::vector<uint8_t> & bytes_value)
+: ParameterVariant(name, std::string(string_value))
+{}
+
+ParameterVariant::ParameterVariant(
+  const std::string & name, const std::vector<uint8_t> & bytes_value)
 : name_(name)
 {
   value_.bytes_value = bytes_value;
   value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_BYTES;
 }
 
-  inline ParameterType get_type() const {return static_cast<ParameterType>(value_.type); }
+ParameterType
+ParameterVariant::get_type() const
+{
+  return static_cast<ParameterType>(value_.type);
+}
 
-  inline std::string get_type_name() const
+std::string
+ParameterVariant::get_type_name() const
 {
   switch (get_type()) {
     case rclcpp::parameter::ParameterType::PARAMETER_BOOL:
@@ -120,79 +112,50 @@ public:
   }
 }
 
-  inline std::string get_name() const & {return name_; }
+const std::string &
+ParameterVariant::get_name() const
+{
+  return name_;
+}
 
-  inline rcl_interfaces::msg::ParameterValue get_parameter_value() const
+rcl_interfaces::msg::ParameterValue
+ParameterVariant::get_parameter_value() const
 {
   return value_;
 }
 
-  template<ParameterType type>
+int64_t
-  typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
+ParameterVariant::as_int() const
-  get_value() const
 {
-    if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
+  return get_value<ParameterType::PARAMETER_INTEGER>();
-      // TODO: use custom exception
-      throw std::runtime_error("Invalid type");
-    }
-    return value_.integer_value;
-  }
-  template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type
-  get_value() const
-  {
-    if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
-      // TODO: use custom exception
-      throw std::runtime_error("Invalid type");
-    }
-    return value_.double_value;
-  }
-  template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_STRING, const std::string &>::type
-  get_value() const
-  {
-    if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_STRING) {
-      // TODO: use custom exception
-      throw std::runtime_error("Invalid type");
-    }
-    return value_.string_value;
-  }
-  template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type
-  get_value() const
-  {
-    if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
-      // TODO: use custom exception
-      throw std::runtime_error("Invalid type");
-    }
-    return value_.bool_value;
-  }
-  template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_BYTES,
-  const std::vector<uint8_t> &>::type
-  get_value() const
-  {
-    if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BYTES) {
-      // TODO: use custom exception
-      throw std::runtime_error("Invalid type");
-    }
-    return value_.bytes_value;
 }
 
-  int64_t as_int() const {return get_value<ParameterType::PARAMETER_INTEGER>(); }
+double
+ParameterVariant::as_double() const
+{
+  return get_value<ParameterType::PARAMETER_DOUBLE>();
+}
 
-  double as_double() const {return get_value<ParameterType::PARAMETER_DOUBLE>(); }
+const std::string &
+ParameterVariant::as_string() const
+{
+  return get_value<ParameterType::PARAMETER_STRING>();
+}
 
-  const std::string & as_string() const {return get_value<ParameterType::PARAMETER_STRING>(); }
+bool
+ParameterVariant::as_bool() const
+{
+  return get_value<ParameterType::PARAMETER_BOOL>();
+}
 
-  bool as_bool() const {return get_value<ParameterType::PARAMETER_BOOL>(); }
+const std::vector<uint8_t> &
-
+ParameterVariant::as_bytes() const
-  const std::vector<uint8_t> & as_bytes() const
 {
   return get_value<ParameterType::PARAMETER_BYTES>();
 }
 
-  static ParameterVariant from_parameter(const rcl_interfaces::msg::Parameter & parameter)
+ParameterVariant
+ParameterVariant::from_parameter(const rcl_interfaces::msg::Parameter & parameter)
 {
   switch (parameter.value.type) {
     case PARAMETER_BOOL:
@@ -216,7 +179,8 @@ public:
   }
 }
 
-  rcl_interfaces::msg::Parameter to_parameter()
+rcl_interfaces::msg::Parameter
+ParameterVariant::to_parameter()
 {
   rcl_interfaces::msg::Parameter parameter;
   parameter.name = name_;
@@ -224,7 +188,8 @@ public:
   return parameter;
 }
 
-  std::string value_to_string() const
+std::string
+ParameterVariant::value_to_string() const
 {
   switch (get_type()) {
     case rclcpp::parameter::ParameterType::PARAMETER_BOOL:
@@ -260,14 +225,8 @@ public:
   }
 }
 
-private:
+std::string
-  std::string name_;
+rclcpp::parameter::_to_json_dict_entry(const ParameterVariant & param)
-  rcl_interfaces::msg::ParameterValue value_;
-};
-
-
-/* Return a json encoded version of the parameter intended for a dict. */
-std::string _to_json_dict_entry(const ParameterVariant & param)
 {
   std::stringstream ss;
   ss << "\"" << param.get_name() << "\": ";
@@ -276,15 +235,22 @@ std::string _to_json_dict_entry(const ParameterVariant & param)
   return ss.str();
 }
 
-
+std::ostream &
-} /* namespace parameter */
+rclcpp::parameter::operator<<(std::ostream & os, const rclcpp::parameter::ParameterVariant & pv)
-
-} /* namespace rclcpp */
-
-namespace std
 {
-/* Return a json encoded version of the parameter intended for a list. */
+  os << std::to_string(pv);
-inline std::string to_string(const rclcpp::parameter::ParameterVariant & param)
+  return os;
+}
+
+std::ostream &
+rclcpp::parameter::operator<<(std::ostream & os, const std::vector<ParameterVariant> & parameters)
+{
+  os << std::to_string(parameters);
+  return os;
+}
+
+std::string
+std::to_string(const rclcpp::parameter::ParameterVariant & param)
 {
   std::stringstream ss;
   ss << "{\"name\": \"" << param.get_name() << "\", ";
@@ -293,8 +259,8 @@ inline std::string to_string(const rclcpp::parameter::ParameterVariant & param)
   return ss.str();
 }
 
-/* Return a json encoded version of a vector of parameters, as a string*/
+std::string
-inline std::string to_string(const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+std::to_string(const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
   std::stringstream ss;
   ss << "{";
@@ -310,28 +276,3 @@ inline std::string to_string(const std::vector<rclcpp::parameter::ParameterVaria
   ss << "}";
   return ss.str();
 }
-
-} /* namespace std */
-
-namespace rclcpp
-{
-namespace parameter
-{
-
-std::ostream & operator<<(std::ostream & os, const rclcpp::parameter::ParameterVariant & pv)
-{
-  os << std::to_string(pv);
-  return os;
-}
-
-std::ostream & operator<<(std::ostream & os, const std::vector<ParameterVariant> & parameters)
-{
-  os << std::to_string(parameters);
-  return os;
-}
-
-} /* namespace parameter */
-
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_PARAMETER_HPP_ */

rclcpp/src/rclcpp/parameter_client.cpp

@@ -12,42 +12,69 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_
+#include "rclcpp/parameter_client.hpp"
-#define RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_
 
+#include <algorithm>
 #include <string>
+#include <vector>
 
-#include <rmw/rmw.h>
+// Specializations with references to unresolved symbols to delay evaluation until later.
-
+// On Windows this is not necessary since it will be built against the rmw implementation directly.
-#include <rclcpp/executors.hpp>
+#if !defined(WIN32)
-#include <rclcpp/macros.hpp>
+namespace rosidl_generator_cpp
-#include <rclcpp/node.hpp>
-#include <rclcpp/parameter.hpp>
-
-#include <rcl_interfaces/msg/parameter.hpp>
-#include <rcl_interfaces/msg/parameter_event.hpp>
-#include <rcl_interfaces/msg/parameter_value.hpp>
-#include <rcl_interfaces/srv/describe_parameters.hpp>
-#include <rcl_interfaces/srv/get_parameters.hpp>
-#include <rcl_interfaces/srv/get_parameter_types.hpp>
-#include <rcl_interfaces/srv/list_parameters.hpp>
-#include <rcl_interfaces/srv/set_parameters.hpp>
-#include <rcl_interfaces/srv/set_parameters_atomically.hpp>
-
-namespace rclcpp
 {
 
-namespace parameter_client
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::GetParameters>()
 {
+  return rclcpp::type_support::get_get_parameters_srv_type_support();
+}
 
-class AsyncParametersClient
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::GetParameterTypes>()
 {
+  return rclcpp::type_support::get_get_parameter_types_srv_type_support();
+}
 
-public:
+template<>
-  RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient);
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::SetParameters>()
+{
+  return rclcpp::type_support::get_set_parameters_srv_type_support();
+}
 
-  AsyncParametersClient(const rclcpp::node::Node::SharedPtr node,
+template<>
-    const std::string & remote_node_name = "")
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::ListParameters>()
+{
+  return rclcpp::type_support::get_list_parameters_srv_type_support();
+}
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::DescribeParameters>()
+{
+  return rclcpp::type_support::get_describe_parameters_srv_type_support();
+}
+
+template<>
+const rosidl_service_type_support_t *
+get_service_type_support_handle<rcl_interfaces::srv::SetParametersAtomically>()
+{
+  return rclcpp::type_support::get_set_parameters_atomically_srv_type_support();
+}
+
+}  // namespace rosidl_generator_cpp
+#endif
+
+using rclcpp::parameter_client::AsyncParametersClient;
+using rclcpp::parameter_client::SyncParametersClient;
+
+AsyncParametersClient::AsyncParametersClient(
+  const rclcpp::node::Node::SharedPtr node,
+  const std::string & remote_node_name)
 : node_(node)
 {
   if (remote_node_name != "") {
@@ -68,10 +95,11 @@ public:
 }
 
 std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
-  get_parameters(
+AsyncParametersClient::get_parameters(
   const std::vector<std::string> & names,
-    std::function<void(
+  std::function<
-      std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)> callback = nullptr)
+    void(std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)
+  > callback)
 {
   auto promise_result =
     std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterVariant>>>();
@@ -80,10 +108,12 @@ public:
   auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
   request->names = names;
 
+  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
   get_parameters_client_->async_send_request(
     request,
     [request, promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f) {
+      rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f)
+    {
       std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
       auto & pvalues = cb_f.get()->values;
 
@@ -102,15 +132,17 @@ public:
       }
     }
   );
+  // *INDENT-ON*
 
   return future_result;
 }
 
 std::shared_future<std::vector<rclcpp::parameter::ParameterType>>
-  get_parameter_types(
+AsyncParametersClient::get_parameter_types(
   const std::vector<std::string> & names,
-    std::function<void(
+  std::function<
-      std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
+    void(std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)
+  > callback)
 {
   auto promise_result =
     std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterType>>>();
@@ -119,10 +151,12 @@ public:
   auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
   request->names = names;
 
+  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
   get_parameter_types_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f) {
+      rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f)
+    {
       std::vector<rclcpp::parameter::ParameterType> types;
       auto & pts = cb_f.get()->types;
       for (auto & pt : pts) {
@@ -134,15 +168,17 @@ public:
       }
     }
   );
+  // *INDENT-ON*
 
   return future_result;
 }
 
 std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
-  set_parameters(
+AsyncParametersClient::set_parameters(
   const std::vector<rclcpp::parameter::ParameterVariant> & parameters,
-    std::function<void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)> callback =
+  std::function<
-    nullptr)
+    void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)
+  > callback)
 {
   auto promise_result =
     std::make_shared<std::promise<std::vector<rcl_interfaces::msg::SetParametersResult>>>();
@@ -150,29 +186,35 @@ public:
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
 
-    std::transform(parameters.begin(), parameters.end(), std::back_inserter(
+  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        request->parameters), [](
+  std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
-        rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
+    [](rclcpp::parameter::ParameterVariant p) {
+      return p.to_parameter();
+    }
+  );
 
   set_parameters_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f) {
+      rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f)
+    {
       promise_result->set_value(cb_f.get()->results);
       if (callback != nullptr) {
         callback(future_result);
       }
     }
   );
+  // *INDENT-ON*
 
   return future_result;
 }
 
 std::shared_future<rcl_interfaces::msg::SetParametersResult>
-  set_parameters_atomically(
+AsyncParametersClient::set_parameters_atomically(
   const std::vector<rclcpp::parameter::ParameterVariant> & parameters,
-    std::function<void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)> callback =
+  std::function<
-    nullptr)
+    void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
+  > callback)
 {
   auto promise_result =
     std::make_shared<std::promise<rcl_interfaces::msg::SetParametersResult>>();
@@ -180,30 +222,36 @@ public:
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
 
-    std::transform(parameters.begin(), parameters.end(), std::back_inserter(
+  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        request->parameters), [](
+  std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
-        rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
+    [](rclcpp::parameter::ParameterVariant p) {
+      return p.to_parameter();
+    }
+  );
 
   set_parameters_atomically_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f) {
+      rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f)
+    {
       promise_result->set_value(cb_f.get()->result);
       if (callback != nullptr) {
         callback(future_result);
       }
     }
   );
+  // *INDENT-ON*
 
   return future_result;
 }
 
 std::shared_future<rcl_interfaces::msg::ListParametersResult>
-  list_parameters(
+AsyncParametersClient::list_parameters(
   const std::vector<std::string> & prefixes,
   uint64_t depth,
-    std::function<void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)> callback =
+  std::function<
-    nullptr)
+    void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)
+  > callback)
 {
   auto promise_result =
     std::make_shared<std::promise<rcl_interfaces::msg::ListParametersResult>>();
@@ -213,48 +261,24 @@ public:
   request->prefixes = prefixes;
   request->depth = depth;
 
+  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
   list_parameters_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
-        rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f) {
+      rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f)
+    {
       promise_result->set_value(cb_f.get()->result);
       if (callback != nullptr) {
         callback(future_result);
       }
     }
   );
+  // *INDENT-ON*
 
   return future_result;
 }
 
-  template<typename FunctorT>
+SyncParametersClient::SyncParametersClient(
-  typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(FunctorT callback)
-  {
-    return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      "parameter_events", callback, rmw_qos_profile_parameter_events);
-  }
-
-private:
-  const rclcpp::node::Node::SharedPtr node_;
-  rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
-    get_parameter_types_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
-    set_parameters_atomically_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::DescribeParameters>::SharedPtr
-    describe_parameters_client_;
-  std::string remote_node_name_;
-};
-
-class SyncParametersClient
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient);
-
-  SyncParametersClient(
   rclcpp::node::Node::SharedPtr node)
 : node_(node)
 {
@@ -262,7 +286,7 @@ public:
   async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
 }
 
-  SyncParametersClient(
+SyncParametersClient::SyncParametersClient(
   rclcpp::executor::Executor::SharedPtr executor,
   rclcpp::node::Node::SharedPtr node)
 : executor_(executor), node_(node)
@@ -271,7 +295,7 @@ public:
 }
 
 std::vector<rclcpp::parameter::ParameterVariant>
-  get_parameters(const std::vector<std::string> & parameter_names)
+SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_names)
 {
   auto f = async_parameters_client_->get_parameters(parameter_names);
   if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
@@ -284,7 +308,7 @@ public:
 }
 
 std::vector<rclcpp::parameter::ParameterType>
-  get_parameter_types(const std::vector<std::string> & parameter_names)
+SyncParametersClient::get_parameter_types(const std::vector<std::string> & parameter_names)
 {
   auto f = async_parameters_client_->get_parameter_types(parameter_names);
 
@@ -297,7 +321,8 @@ public:
 }
 
 std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+SyncParametersClient::set_parameters(
+  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
   auto f = async_parameters_client_->set_parameters(parameters);
 
@@ -310,7 +335,8 @@ public:
 }
 
 rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+SyncParametersClient::set_parameters_atomically(
+  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
   auto f = async_parameters_client_->set_parameters_atomically(parameters);
 
@@ -324,7 +350,7 @@ public:
 }
 
 rcl_interfaces::msg::ListParametersResult
-  list_parameters(
+SyncParametersClient::list_parameters(
   const std::vector<std::string> & parameter_prefixes,
   uint64_t depth)
 {
@@ -338,22 +364,3 @@ public:
 
   throw std::runtime_error("Unable to get result of list parameters service call.");
 }
-
-  template<typename FunctorT>
-  typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(FunctorT callback)
-  {
-    return async_parameters_client_->on_parameter_event(callback);
-  }
-
-private:
-  rclcpp::executor::Executor::SharedPtr executor_;
-  rclcpp::node::Node::SharedPtr node_;
-  AsyncParametersClient::SharedPtr async_parameters_client_;
-};
-
-} /* namespace parameter_client */
-
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_ */

rclcpp/src/rclcpp/parameter_service.cpp

@@ -12,43 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_
+#include "rclcpp/parameter_service.hpp"
-#define RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_
 
-#include <string>
+#include <algorithm>
+#include <vector>
 
-#include <rmw/rmw.h>
+using rclcpp::parameter_service::ParameterService;
 
-#include <rclcpp/executors.hpp>
+ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
-#include <rclcpp/macros.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/parameter.hpp>
-
-#include <rcl_interfaces/srv/describe_parameters.hpp>
-#include <rcl_interfaces/srv/get_parameters.hpp>
-#include <rcl_interfaces/srv/get_parameter_types.hpp>
-#include <rcl_interfaces/srv/list_parameters.hpp>
-#include <rcl_interfaces/srv/set_parameters.hpp>
-#include <rcl_interfaces/srv/set_parameters_atomically.hpp>
-
-namespace rclcpp
-{
-
-namespace parameter_service
-{
-
-class ParameterService
-{
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(ParameterService);
-
-  ParameterService(const rclcpp::node::Node::SharedPtr node)
 : node_(node)
 {
   std::weak_ptr<rclcpp::node::Node> captured_node = node_;
+  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
   get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
-      node_->get_name() + "__get_parameters", [captured_node](
+    node_->get_name() + "__get_parameters",
+    [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
@@ -65,7 +43,8 @@ public:
   );
 
   get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
-      node_->get_name() + "__get_parameter_types", [captured_node](
+    node_->get_name() + "__get_parameter_types",
+    [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
       std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
@@ -83,7 +62,8 @@ public:
   );
 
   set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
-      node_->get_name() + "__set_parameters", [captured_node](
+    node_->get_name() + "__set_parameters",
+    [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
@@ -103,7 +83,8 @@ public:
 
   set_parameters_atomically_service_ =
     node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
-      node_->get_name() + "__set_parameters_atomically", [captured_node](
+    node_->get_name() + "__set_parameters_atomically",
+    [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
       std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
@@ -125,7 +106,8 @@ public:
   );
 
   describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
-      node_->get_name() + "__describe_parameters", [captured_node](
+    node_->get_name() + "__describe_parameters",
+    [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
@@ -140,7 +122,8 @@ public:
   );
 
   list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
-      node_->get_name() + "__list_parameters", [captured_node](
+    node_->get_name() + "__list_parameters",
+    [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response)
@@ -153,25 +136,5 @@ public:
       response->result = result;
     }
   );
-
+  // *INDENT-ON*
-
 }
-
-private:
-  const rclcpp::node::Node::SharedPtr node_;
-  rclcpp::service::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
-    get_parameter_types_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
-    set_parameters_atomically_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
-    describe_parameters_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
-};
-
-} /* namespace parameter_service */
-
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_ */

rclcpp/src/rclcpp/publisher.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__PUBLISHER_HPP_
+#include "rclcpp/publisher.hpp"
-#define RCLCPP__PUBLISHER_HPP_
 
 #include <rmw/error_handling.h>
 #include <rmw/rmw.h>
@@ -27,35 +26,13 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 #include "rmw/impl/cpp/demangle.hpp"
 
+#include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/macros.hpp"
 
-namespace rclcpp
+using rclcpp::publisher::PublisherBase;
-{
 
-// Forward declaration for friend statement
+PublisherBase::PublisherBase(
-namespace node
-{
-class Node;
-}  // namespace node
-
-namespace publisher
-{
-
-class PublisherBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase);
-  /// Default constructor.
-  /**
-   * Typically, a publisher is not created through this method, but instead is created through a
-   * call to `Node::create_publisher`.
-   * \param[in] node_handle The corresponding rmw representation of the owner node.
-   * \param[in] publisher_handle The rmw publisher handle corresponding to this publisher.
-   * \param[in] topic The topic that this publisher publishes on.
-   * \param[in] queue_size The maximum number of unpublished messages to queue.
-   */
-  PublisherBase(
   std::shared_ptr<rmw_node_t> node_handle,
   rmw_publisher_t * publisher_handle,
   std::string topic,
@@ -74,8 +51,7 @@ public:
   }
 }
 
-  /// Default destructor.
+PublisherBase::~PublisherBase()
-  virtual ~PublisherBase()
 {
   if (intra_process_publisher_handle_) {
     if (rmw_destroy_publisher(node_handle_.get(), intra_process_publisher_handle_)) {
@@ -95,58 +71,38 @@ public:
   }
 }
 
-  /// Get the topic that this publisher publishes on.
-  // \return The topic name.
 const std::string &
-  get_topic_name() const
+PublisherBase::get_topic_name() const
 {
   return topic_;
 }
 
-  /// Get the queue size for this publisher.
-  // \return The queue size.
 size_t
-  get_queue_size() const
+PublisherBase::get_queue_size() const
 {
   return queue_size_;
 }
 
-  /// Get the global identifier for this publisher (used in rmw and by DDS).
-  // \return The gid.
 const rmw_gid_t &
-  get_gid() const
+PublisherBase::get_gid() const
 {
   return rmw_gid_;
 }
 
-  /// Get the global identifier for this publisher used by intra-process communication.
-  // \return The intra-process gid.
 const rmw_gid_t &
-  get_intra_process_gid() const
+PublisherBase::get_intra_process_gid() const
 {
   return intra_process_rmw_gid_;
 }
 
-  /// Compare this publisher to a gid.
-  /**
-   * Note that this function calls the next function.
-   * \param[in] gid Reference to a gid.
-   * \return True if the publisher's gid matches the input.
-   */
 bool
-  operator==(const rmw_gid_t & gid) const
+PublisherBase::operator==(const rmw_gid_t & gid) const
 {
   return *this == &gid;
 }
 
-  /// Compare this publisher to a pointer gid.
-  /**
-   * A wrapper for comparing this publisher's gid to the input using rmw_compare_gids_equal.
-   * \param[in] gid A pointer to a gid.
-   * \return True if this publisher's gid matches the input.
-   */
 bool
-  operator==(const rmw_gid_t * gid) const
+PublisherBase::operator==(const rmw_gid_t * gid) const
 {
   bool result = false;
   auto ret = rmw_compare_gids_equal(gid, &this->get_gid(), &result);
@@ -164,11 +120,8 @@ public:
   return result;
 }
 
-  typedef std::function<uint64_t(uint64_t, void *, const std::type_info &)> StoreMessageCallbackT;
-
-protected:
 void
-  setup_intra_process(
+PublisherBase::setup_intra_process(
   uint64_t intra_process_publisher_id,
   StoreMessageCallbackT callback,
   rmw_publisher_t * intra_process_publisher_handle)
@@ -186,169 +139,3 @@ protected:
     // *INDENT-ON*
   }
 }
-
-  std::shared_ptr<rmw_node_t> node_handle_;
-
-  rmw_publisher_t * publisher_handle_;
-  rmw_publisher_t * intra_process_publisher_handle_;
-
-  std::string topic_;
-  size_t queue_size_;
-
-  uint64_t intra_process_publisher_id_;
-  StoreMessageCallbackT store_intra_process_message_;
-
-  rmw_gid_t rmw_gid_;
-  rmw_gid_t intra_process_rmw_gid_;
-
-  std::mutex intra_process_publish_mutex_;
-};
-
-/// A publisher publishes messages of any type to a topic.
-template<typename MessageT, typename Alloc = std::allocator<void>>
-class Publisher : public PublisherBase
-{
-  friend rclcpp::node::Node;
-
-public:
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
-  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
-
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>);
-
-  Publisher(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_publisher_t * publisher_handle,
-    std::string topic,
-    size_t queue_size,
-    std::shared_ptr<Alloc> allocator)
-  : PublisherBase(node_handle, publisher_handle, topic, queue_size)
-  {
-    message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
-    allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
-  }
-
-
-  /// Send a message to the topic for this publisher.
-  /**
-   * This function is templated on the input message type, MessageT.
-   * \param[in] msg A shared pointer to the message to send.
-   */
-  void
-  publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
-  {
-    this->do_inter_process_publish(msg.get());
-    if (store_intra_process_message_) {
-      // Take the pointer from the unique_msg, release it and pass as a void *
-      // to the ipm. The ipm should then capture it again as a unique_ptr of
-      // the correct type.
-      // TODO(wjwwood):
-      //   investigate how to transfer the custom deleter (if there is one)
-      //   from the incoming unique_ptr through to the ipm's unique_ptr.
-      //   See: http://stackoverflow.com/questions/11002641/dynamic-casting-for-unique-ptr
-      MessageT * msg_ptr = msg.get();
-      msg.release();
-      uint64_t message_seq;
-      {
-        std::lock_guard<std::mutex> lock(intra_process_publish_mutex_);
-        message_seq =
-          store_intra_process_message_(intra_process_publisher_id_, msg_ptr, typeid(MessageT));
-      }
-      rcl_interfaces::msg::IntraProcessMessage ipm;
-      ipm.publisher_id = intra_process_publisher_id_;
-      ipm.message_sequence = message_seq;
-      auto status = rmw_publish(intra_process_publisher_handle_, &ipm);
-      if (status != RMW_RET_OK) {
-        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        throw std::runtime_error(
-          std::string("failed to publish intra process message: ") + rmw_get_error_string_safe());
-        // *INDENT-ON*
-      }
-    } else {
-      // Always destroy the message, even if we don't consume it, for consistency.
-      msg.reset();
-    }
-  }
-
-  void
-  publish(const std::shared_ptr<MessageT> & msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg.get());
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // TODO(wjwwood):
-    //   The intra process manager should probably also be able to store
-    //   shared_ptr's and do the "smart" thing based on other intra process
-    //   subscriptions. For now call the other publish().
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, *msg.get());
-    MessageUniquePtr unique_msg(ptr, message_deleter_);
-    return this->publish(unique_msg);
-  }
-
-  void
-  publish(std::shared_ptr<const MessageT> msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg.get());
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // TODO(wjwwood):
-    //   The intra process manager should probably also be able to store
-    //   shared_ptr's and do the "smart" thing based on other intra process
-    //   subscriptions. For now call the other publish().
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, *msg.get());
-    MessageUniquePtr unique_msg(ptr, message_deleter_);
-    return this->publish(unique_msg);
-  }
-
-  void
-  publish(const MessageT & msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(&msg);
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, msg);
-    MessageUniquePtr unique_msg(ptr, message_deleter_);
-    return this->publish(unique_msg);
-  }
-
-  std::shared_ptr<MessageAlloc> get_allocator() const
-  {
-    return message_allocator_;
-  }
-
-protected:
-  void
-  do_inter_process_publish(const MessageT * msg)
-  {
-    auto status = rmw_publish(publisher_handle_, msg);
-    if (status != RMW_RET_OK) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("failed to publish message: ") + rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-  }
-
-  std::shared_ptr<MessageAlloc> message_allocator_;
-
-  MessageDeleter message_deleter_;
-};
-
-}  // namespace publisher
-}  // namespace rclcpp
-
-#endif  // RCLCPP__PUBLISHER_HPP_

rclcpp/src/rclcpp/service.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_SERVICE_HPP_
+#include "rclcpp/service.hpp"
-#define RCLCPP_RCLCPP_SERVICE_HPP_
 
 #include <functional>
 #include <iostream>
@@ -21,32 +20,21 @@
 #include <sstream>
 #include <string>
 
-#include <rmw/error_handling.h>
+#include "rclcpp/any_service_callback.hpp"
-#include <rmw/rmw.h>
+#include "rclcpp/macros.hpp"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
 
-#include <rclcpp/macros.hpp>
+using rclcpp::service::ServiceBase;
-#include <rclcpp/any_service_callback.hpp>
 
-namespace rclcpp
+ServiceBase::ServiceBase(
-{
-
-namespace service
-{
-
-class ServiceBase
-{
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase);
-
-  ServiceBase(
   std::shared_ptr<rmw_node_t> node_handle,
   rmw_service_t * service_handle,
   const std::string service_name)
 : node_handle_(node_handle), service_handle_(service_handle), service_name_(service_name)
 {}
 
-  virtual ~ServiceBase()
+ServiceBase::~ServiceBase()
 {
   if (service_handle_) {
     if (rmw_destroy_service(service_handle_) != RMW_RET_OK) {
@@ -58,101 +46,14 @@ public:
   }
 }
 
-  std::string get_service_name()
+std::string
+ServiceBase::get_service_name()
 {
   return this->service_name_;
 }
 
-  const rmw_service_t * get_service_handle()
+const rmw_service_t *
+ServiceBase::get_service_handle()
 {
   return this->service_handle_;
 }
-
-  virtual std::shared_ptr<void> create_request() = 0;
-  virtual std::shared_ptr<void> create_request_header() = 0;
-  virtual void handle_request(
-    std::shared_ptr<void> request_header,
-    std::shared_ptr<void> request) = 0;
-
-private:
-  RCLCPP_DISABLE_COPY(ServiceBase);
-
-  std::shared_ptr<rmw_node_t> node_handle_;
-
-  rmw_service_t * service_handle_;
-  std::string service_name_;
-
-};
-
-using namespace any_service_callback;
-
-template<typename ServiceT>
-class Service : public ServiceBase
-{
-public:
-  using CallbackType = std::function<
-      void(
-        const std::shared_ptr<typename ServiceT::Request>,
-        std::shared_ptr<typename ServiceT::Response>)>;
-
-  using CallbackWithHeaderType = std::function<
-      void(
-        const std::shared_ptr<rmw_request_id_t>,
-        const std::shared_ptr<typename ServiceT::Request>,
-        std::shared_ptr<typename ServiceT::Response>)>;
-  RCLCPP_SMART_PTR_DEFINITIONS(Service);
-
-  Service(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_service_t * service_handle,
-    const std::string & service_name,
-    AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle, service_handle, service_name), any_callback_(any_callback)
-  {}
-
-  Service() = delete;
-
-  std::shared_ptr<void> create_request()
-  {
-    return std::shared_ptr<void>(new typename ServiceT::Request());
-  }
-
-  std::shared_ptr<void> create_request_header()
-  {
-    // TODO(wjwwood): This should probably use rmw_request_id's allocator.
-    //                (since it is a C type)
-    return std::shared_ptr<void>(new rmw_request_id_t);
-  }
-
-  void handle_request(std::shared_ptr<void> request_header, std::shared_ptr<void> request)
-  {
-    auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
-    auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
-    auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
-    any_callback_.dispatch(typed_request_header, typed_request, response);
-    send_response(typed_request_header, response);
-  }
-
-  void send_response(
-    std::shared_ptr<rmw_request_id_t> req_id,
-    std::shared_ptr<typename ServiceT::Response> response)
-  {
-    rmw_ret_t status = rmw_send_response(get_service_handle(), req_id.get(), response.get());
-    if (status != RMW_RET_OK) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("failed to send response: ") + rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-  }
-
-private:
-  RCLCPP_DISABLE_COPY(Service);
-
-  AnyServiceCallback<ServiceT> any_callback_;
-};
-
-} /* namespace service */
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_SERVICE_HPP_ */

rclcpp/src/rclcpp/subscription.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,49 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__SUBSCRIPTION_HPP_
+#include "rclcpp/subscription.hpp"
-#define RCLCPP__SUBSCRIPTION_HPP_
 
-#include <rmw/error_handling.h>
+#include <cstdio>
-#include <rmw/rmw.h>
-
-#include <functional>
-#include <iostream>
-#include <memory>
-#include <sstream>
 #include <string>
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
 
-#include "rclcpp/macros.hpp"
-#include "rclcpp/message_memory_strategy.hpp"
-#include "rclcpp/any_subscription_callback.hpp"
 
-namespace rclcpp
+using rclcpp::subscription::SubscriptionBase;
-{
 
-namespace node
+SubscriptionBase::SubscriptionBase(
-{
-class Node;
-}  // namespace node
-
-namespace subscription
-{
-
-/// Virtual base class for subscriptions. This pattern allows us to iterate over different template
-/// specializations of Subscription, among other things.
-class SubscriptionBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase);
-
-  /// Default constructor.
-  /**
-   * \param[in] node_handle The rmw representation of the node that owns this subscription.
-   * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] ignore_local_publications True to ignore local publications (unused).
-   */
-  SubscriptionBase(
   std::shared_ptr<rmw_node_t> node_handle,
   rmw_subscription_t * subscription_handle,
   const std::string & topic_name,
@@ -69,8 +38,7 @@ public:
   (void)ignore_local_publications_;
 }
 
-  /// Default destructor.
+SubscriptionBase::~SubscriptionBase()
-  virtual ~SubscriptionBase()
 {
   if (subscription_handle_) {
     if (rmw_destroy_subscription(node_handle_.get(), subscription_handle_) != RMW_RET_OK) {
@@ -91,194 +59,20 @@ public:
   }
 }
 
-  /// Get the topic that this subscription is subscribed on.
+const std::string &
-  const std::string & get_topic_name() const
+SubscriptionBase::get_topic_name() const
 {
   return this->topic_name_;
 }
 
-  const rmw_subscription_t * get_subscription_handle() const
+const rmw_subscription_t *
+SubscriptionBase::get_subscription_handle() const
 {
   return subscription_handle_;
 }
 
-  const rmw_subscription_t * get_intra_process_subscription_handle() const
+const rmw_subscription_t *
+SubscriptionBase::get_intra_process_subscription_handle() const
 {
   return intra_process_subscription_handle_;
 }
-
-  /// Borrow a new message.
-  // \return Shared pointer to the fresh message.
-  virtual std::shared_ptr<void> create_message() = 0;
-  /// Check if we need to handle the message, and execute the callback if we do.
-  /**
-   * \param[in] message Shared pointer to the message to handle.
-   * \param[in] message_info Metadata associated with this message.
-   */
-  virtual void handle_message(
-    std::shared_ptr<void> & message,
-    const rmw_message_info_t & message_info) = 0;
-
-  /// Return the message borrowed in create_message.
-  // \param[in] Shared pointer to the returned message.
-  virtual void return_message(std::shared_ptr<void> & message) = 0;
-  virtual void handle_intra_process_message(
-    rcl_interfaces::msg::IntraProcessMessage & ipm,
-    const rmw_message_info_t & message_info) = 0;
-
-protected:
-  rmw_subscription_t * intra_process_subscription_handle_;
-
-private:
-  RCLCPP_DISABLE_COPY(SubscriptionBase);
-
-  std::shared_ptr<rmw_node_t> node_handle_;
-
-  rmw_subscription_t * subscription_handle_;
-
-  std::string topic_name_;
-  bool ignore_local_publications_;
-};
-
-using namespace any_subscription_callback;
-
-/// Subscription implementation, templated on the type of message this subscription receives.
-template<typename MessageT, typename Alloc = std::allocator<void>>
-class Subscription : public SubscriptionBase
-{
-  friend class rclcpp::node::Node;
-
-public:
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
-  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
-
-  RCLCPP_SMART_PTR_DEFINITIONS(Subscription);
-
-  /// Default constructor.
-  /**
-   * The constructor for a subscription is almost never called directly. Instead, subscriptions
-   * should be instantiated through Node::create_subscription.
-   * \param[in] node_handle rmw representation of the node that owns this subscription.
-   * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] ignore_local_publications True to ignore local publications (unused).
-   * \param[in] callback User-defined callback to call when a message is received.
-   * \param[in] memory_strategy The memory strategy to be used for managing message memory.
-   */
-  Subscription(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_subscription_t * subscription_handle,
-    const std::string & topic_name,
-    bool ignore_local_publications,
-    AnySubscriptionCallback<MessageT, Alloc> callback,
-    typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr memory_strategy =
-    message_memory_strategy::MessageMemoryStrategy<MessageT,
-    Alloc>::create_default())
-  : SubscriptionBase(node_handle, subscription_handle, topic_name, ignore_local_publications),
-    any_callback_(callback),
-    message_memory_strategy_(memory_strategy),
-    get_intra_process_message_callback_(nullptr),
-    matches_any_intra_process_publishers_(nullptr)
-  {
-  }
-
-  /// Support dynamically setting the message memory strategy.
-  /**
-   * Behavior may be undefined if called while the subscription could be executing.
-   * \param[in] message_memory_strategy Shared pointer to the memory strategy to set.
-   */
-  void set_message_memory_strategy(
-    typename message_memory_strategy::MessageMemoryStrategy<MessageT,
-    Alloc>::SharedPtr message_memory_strategy)
-  {
-    message_memory_strategy_ = message_memory_strategy;
-  }
-  std::shared_ptr<void> create_message()
-  {
-    /* The default message memory strategy provides a dynamically allocated message on each call to
-     * create_message, though alternative memory strategies that re-use a preallocated message may be
-     * used (see rclcpp/strategies/message_pool_memory_strategy.hpp).
-     */
-    return message_memory_strategy_->borrow_message();
-  }
-
-  void handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info)
-  {
-    if (matches_any_intra_process_publishers_) {
-      if (matches_any_intra_process_publishers_(&message_info.publisher_gid)) {
-        // In this case, the message will be delivered via intra process and
-        // we should ignore this copy of the message.
-        return;
-      }
-    }
-    auto typed_message = std::static_pointer_cast<MessageT>(message);
-    any_callback_.dispatch(typed_message, message_info);
-  }
-
-  void return_message(std::shared_ptr<void> & message)
-  {
-    auto typed_message = std::static_pointer_cast<MessageT>(message);
-    message_memory_strategy_->return_message(typed_message);
-  }
-
-  void handle_intra_process_message(
-    rcl_interfaces::msg::IntraProcessMessage & ipm,
-    const rmw_message_info_t & message_info)
-  {
-    if (!get_intra_process_message_callback_) {
-      // throw std::runtime_error(
-      //   "handle_intra_process_message called before setup_intra_process");
-      // TODO(wjwwood): for now, this could mean that intra process was just not enabled.
-      // However, this can only really happen if this node has it disabled, but the other doesn't.
-      return;
-    }
-    MessageUniquePtr msg;
-    get_intra_process_message_callback_(
-      ipm.publisher_id,
-      ipm.message_sequence,
-      intra_process_subscription_id_,
-      msg);
-    if (!msg) {
-      // This either occurred because the publisher no longer exists or the
-      // message requested is no longer being stored.
-      // TODO(wjwwood): should we notify someone of this? log error, log warning?
-      return;
-    }
-    any_callback_.dispatch_intra_process(msg, message_info);
-  }
-
-private:
-  typedef
-    std::function<
-      void (uint64_t, uint64_t, uint64_t, MessageUniquePtr &)
-    > GetMessageCallbackType;
-  typedef std::function<bool (const rmw_gid_t *)> MatchesAnyPublishersCallbackType;
-
-  void setup_intra_process(
-    uint64_t intra_process_subscription_id,
-    rmw_subscription_t * intra_process_subscription,
-    GetMessageCallbackType get_message_callback,
-    MatchesAnyPublishersCallbackType matches_any_publisher_callback)
-  {
-    intra_process_subscription_id_ = intra_process_subscription_id;
-    intra_process_subscription_handle_ = intra_process_subscription;
-    get_intra_process_message_callback_ = get_message_callback;
-    matches_any_intra_process_publishers_ = matches_any_publisher_callback;
-  }
-
-  RCLCPP_DISABLE_COPY(Subscription);
-
-  AnySubscriptionCallback<MessageT, Alloc> any_callback_;
-  typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
-  message_memory_strategy_;
-
-  GetMessageCallbackType get_intra_process_message_callback_;
-  MatchesAnyPublishersCallbackType matches_any_intra_process_publishers_;
-  uint64_t intra_process_subscription_id_;
-};
-
-}  // namespace subscription
-}  // namespace rclcpp
-
-#endif  // RCLCPP__SUBSCRIPTION_HPP_

rclcpp/src/rclcpp/timer.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,166 +12,36 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_TIMER_HPP_
+#include "rclcpp/timer.hpp"
-#define RCLCPP_RCLCPP_TIMER_HPP_
 
 #include <chrono>
-#include <functional>
-#include <memory>
-#include <sstream>
-#include <thread>
 
-#include <rmw/error_handling.h>
+using rclcpp::timer::CallbackType;
-#include <rmw/rmw.h>
+using rclcpp::timer::TimerBase;
 
-#include <rclcpp/macros.hpp>
+TimerBase::TimerBase(std::chrono::nanoseconds period, CallbackType callback)
-#include <rclcpp/rate.hpp>
-#include <rclcpp/utilities.hpp>
-
-namespace rclcpp
-{
-
-namespace timer
-{
-
-using CallbackType = std::function<void()>;
-
-class TimerBase
-{
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase);
-
-  TimerBase(std::chrono::nanoseconds period, CallbackType callback)
 : period_(period),
   callback_(callback),
   canceled_(false)
-  {
+{}
-  }
 
-  virtual ~TimerBase()
+TimerBase::~TimerBase()
-  {
+{}
-  }
 
 void
-  cancel()
+TimerBase::cancel()
 {
   this->canceled_ = true;
 }
 
-  void execute_callback() const
+void
+TimerBase::execute_callback() const
 {
   callback_();
 }
 
-  const CallbackType & get_callback() const
+const CallbackType &
+TimerBase::get_callback() const
 {
   return callback_;
 }
-
-  /// Check how long the timer has until its next scheduled callback.
-  // \return A std::chrono::duration representing the relative time until the next callback.
-  virtual std::chrono::nanoseconds
-  time_until_trigger() = 0;
-
-  /// Is the clock steady (i.e. is the time between ticks constant?)
-  // \return True if the clock used by this timer is steady.
-  virtual bool is_steady() = 0;
-
-  /// Check if the timer needs to trigger the callback.
-  /**
-   * This function expects its caller to immediately trigger the callback after this function,
-   * since it maintains the last time the callback was triggered.
-   * \return True if the timer needs to trigger.
-   */
-  virtual bool check_and_trigger() = 0;
-
-protected:
-  std::chrono::nanoseconds period_;
-  CallbackType callback_;
-
-  bool canceled_;
-
-};
-
-/// Generic timer templated on the clock type. Periodically executes a user-specified callback.
-template<class Clock = std::chrono::high_resolution_clock>
-class GenericTimer : public TimerBase
-{
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericTimer);
-
-  /// Default constructor.
-  /**
-   * \param[in] period The interval at which the timer fires.
-   * \param[in] callback User-specified callback function.
-   */
-  GenericTimer(std::chrono::nanoseconds period, CallbackType callback)
-  : TimerBase(period, callback), loop_rate_(period)
-  {
-    /* Subtracting the loop rate period ensures that the callback gets triggered
-       on the first call to check_and_trigger. */
-    last_triggered_time_ = Clock::now() - period;
-  }
-
-  /// Default destructor.
-  virtual ~GenericTimer()
-  {
-    // Stop the timer from running.
-    cancel();
-  }
-
-  bool
-  check_and_trigger()
-  {
-    if (canceled_) {
-      return false;
-    }
-    if (Clock::now() < last_triggered_time_) {
-      return false;
-    }
-    if (std::chrono::duration_cast<std::chrono::nanoseconds>(Clock::now() - last_triggered_time_) >=
-      loop_rate_.period())
-    {
-      last_triggered_time_ = Clock::now();
-      return true;
-    }
-    return false;
-  }
-
-  std::chrono::nanoseconds
-  time_until_trigger()
-  {
-    std::chrono::nanoseconds time_until_trigger;
-    // Calculate the time between the next trigger and the current time
-    if (last_triggered_time_ + loop_rate_.period() < Clock::now()) {
-      // time is overdue, need to trigger immediately
-      time_until_trigger = std::chrono::nanoseconds::zero();
-    } else {
-      time_until_trigger = std::chrono::duration_cast<std::chrono::nanoseconds>(
-        last_triggered_time_ - Clock::now()) + loop_rate_.period();
-    }
-    return time_until_trigger;
-  }
-
-  virtual bool
-  is_steady()
-  {
-    return Clock::is_steady;
-  }
-
-private:
-  RCLCPP_DISABLE_COPY(GenericTimer);
-
-  rclcpp::rate::GenericRate<Clock> loop_rate_;
-  std::chrono::time_point<Clock> last_triggered_time_;
-
-};
-
-using WallTimer = GenericTimer<std::chrono::steady_clock>;
-
-} /* namespace timer */
-} /* namespace rclcpp */
-
-#endif /* RCLCPP_RCLCPP_TIMER_HPP_ */

rclcpp/src/rclcpp/utilities.cpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,54 +12,40 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_UTILITIES_HPP_
+#include "rclcpp/utilities.hpp"
-#define RCLCPP_RCLCPP_UTILITIES_HPP_
 
-// TODO(wjwwood): remove
+#include <atomic>
-#include <iostream>
-
-#include <cerrno>
-#include <chrono>
 #include <condition_variable>
 #include <csignal>
+#include <cstdio>
 #include <cstring>
 #include <mutex>
-#include <string.h>
+#include <string>
-#include <thread>
 
-#include <rmw/error_handling.h>
+#include "rmw/error_handling.h"
-#include <rmw/macros.h>
+#include "rmw/rmw.h"
-#include <rmw/rmw.h>
 
 // Determine if sigaction is available
 #if __APPLE__ || _POSIX_C_SOURCE >= 1 || _XOPEN_SOURCE || _POSIX_SOURCE
 #define HAS_SIGACTION
 #endif
 
-namespace
-{
 /// Represent the status of the global interrupt signal.
-volatile sig_atomic_t g_signal_status = 0;
+static volatile sig_atomic_t g_signal_status = 0;
 /// Guard condition for interrupting the rmw implementation when the global interrupt signal fired.
-rmw_guard_condition_t * g_sigint_guard_cond_handle = \
+static rmw_guard_condition_t * g_sigint_guard_cond_handle = rmw_create_guard_condition();
-  rmw_create_guard_condition();
 /// Condition variable for timed sleep (see sleep_for).
-std::condition_variable g_interrupt_condition_variable;
+static std::condition_variable g_interrupt_condition_variable;
-std::atomic<bool> g_is_interrupted(false);
+static std::atomic<bool> g_is_interrupted(false);
 /// Mutex for protecting the global condition variable.
-std::mutex g_interrupt_mutex;
+static std::mutex g_interrupt_mutex;
 
 #ifdef HAS_SIGACTION
-struct sigaction old_action;
+static struct sigaction old_action;
 #else
-void (* old_signal_handler)(int) = 0;
+static void (* old_signal_handler)(int) = 0;
 #endif
 
-/// Handle the interrupt signal.
-/** When the interrupt signal fires, the signal handler notifies the condition variable to wake up
- * and triggers the interrupt guard condition, so that all global threads managed by rclcpp
- * are interrupted.
- */
 void
 #ifdef HAS_SIGACTION
 signal_handler(int signal_value, siginfo_t * siginfo, void * context)
@@ -67,8 +53,8 @@ signal_handler(int signal_value, siginfo_t * siginfo, void * context)
 signal_handler(int signal_value)
 #endif
 {
-  // TODO(wjwwood): remove
+  // TODO(wjwwood): remove? move to console logging at some point?
-  std::cout << "signal_handler(" << signal_value << ")" << std::endl;
+  printf("signal_handler(%d)\n", signal_value);
 #ifdef HAS_SIGACTION
   if (old_action.sa_flags & SA_SIGINFO) {
     if (old_action.sa_sigaction != NULL) {
@@ -99,23 +85,9 @@ signal_handler(int signal_value)
   g_is_interrupted.store(true);
   g_interrupt_condition_variable.notify_all();
 }
-} // namespace
 
-namespace rclcpp
-{
-
-RMW_THREAD_LOCAL size_t thread_id = 0;
-
-namespace utilities
-{
-
-/// Initialize communications via the rmw implementation and set up a global signal handler.
-/**
- * \param[in] argc Number of arguments.
- * \param[in] argv Argument vector. Will eventually be used for passing options to rclcpp.
- */
 void
-init(int argc, char * argv[])
+rclcpp::utilities::init(int argc, char * argv[])
 {
   (void)argc;
   (void)argv;
@@ -137,21 +109,15 @@ init(int argc, char * argv[])
   if (ret == -1)
 #else
   ::old_signal_handler = std::signal(SIGINT, ::signal_handler);
+  // NOLINTNEXTLINE(readability/braces)
   if (::old_signal_handler == SIG_ERR)
 #endif
   {
     const size_t error_length = 1024;
+    // NOLINTNEXTLINE(runtime/arrays)
     char error_string[error_length];
 #ifndef _WIN32
-    auto rc = strerror_r(errno, error_string, error_length);
+    strerror_r(errno, error_string, error_length);
-    if (rc) {
-      // *INDENT-OFF*
-      throw std::runtime_error(
-        "Failed to set SIGINT signal handler: (" + std::to_string(errno) +
-        ") unable to retrieve error string");
-      // *INDENT-ON*
-    }
-
 #else
     strerror_s(error_string, error_length, errno);
 #endif
@@ -163,17 +129,14 @@ init(int argc, char * argv[])
   }
 }
 
-/// Check rclcpp's status.
-// \return True if SIGINT hasn't fired yet, false otherwise.
 bool
-ok()
+rclcpp::utilities::ok()
 {
   return ::g_signal_status == 0;
 }
 
-/// Notify the signal handler and rmw that rclcpp is shutting down.
 void
-shutdown()
+rclcpp::utilities::shutdown()
 {
   g_signal_status = SIGINT;
   rmw_ret_t status = rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
@@ -185,23 +148,15 @@ shutdown()
   g_interrupt_condition_variable.notify_all();
 }
 
-
-/// Get a handle to the rmw guard condition that manages the signal handler.
 rmw_guard_condition_t *
-get_global_sigint_guard_condition()
+rclcpp::utilities::get_global_sigint_guard_condition()
 {
   return ::g_sigint_guard_cond_handle;
 }
 
-/// Use the global condition variable to block for the specified amount of time.
-/**
- * \param[in] nanoseconds A std::chrono::duration representing how long to sleep for.
- * \return True if the condition variable did not timeout.
- */
 bool
-sleep_for(const std::chrono::nanoseconds & nanoseconds)
+rclcpp::utilities::sleep_for(const std::chrono::nanoseconds & nanoseconds)
 {
-  // TODO: determine if posix's nanosleep(2) is more efficient here
   std::chrono::nanoseconds time_left = nanoseconds;
   {
     std::unique_lock<std::mutex> lock(::g_interrupt_mutex);
@@ -215,12 +170,3 @@ sleep_for(const std::chrono::nanoseconds & nanoseconds)
   // Return true if the timeout elapsed successfully, otherwise false.
   return !g_is_interrupted;
 }
-
-} /* namespace utilities */
-} /* namespace rclcpp */
-
-#ifdef HAS_SIGACTION
-#undef HAS_SIGACTION
-#endif
-
-#endif /* RCLCPP_RCLCPP_UTILITIES_HPP_ */

rclcpp/src/rclcpp/windows_helper.cpp

@@ -0,0 +1,17 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#if defined(WIN32)
+#include "rclcpp/type_support_def.hpp"
+#endif

rclcpp/test/test_intra_process_manager.cpp

@@ -118,11 +118,13 @@ public:
 // Prevent rclcpp/publisher.hpp and rclcpp/subscription.hpp from being imported.
 #define RCLCPP__PUBLISHER_HPP_
 #define RCLCPP__SUBSCRIPTION_HPP_
+#define RCLCPP_BUILDING_LIBRARY 1
 // Force ipm to use our mock publisher class.
 #define Publisher mock::Publisher
 #define PublisherBase mock::PublisherBase
 #define SubscriptionBase mock::SubscriptionBase
-#include <rclcpp/intra_process_manager.hpp>
+#include "../src/rclcpp/intra_process_manager.cpp"
+#include "../src/rclcpp/intra_process_manager_state.cpp"
 #undef SubscriptionBase
 #undef Publisher
 #undef PublisherBase

rclcpp/test/test_mapped_ring_buffer.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#define RCLCPP_BUILDING_LIBRARY 1  // Prevent including unavailable symbols
 #include <rclcpp/mapped_ring_buffer.hpp>
 
 /*