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Deprecate shared ptr publish (#709)

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* Deprecate publish methods with shared_ptr signature

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Corrected with PR comments. Deprecated similar methods in lifecycle publisher

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Removed reference in unique_ptr publish call

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Corrected with PR comments. Corrected warning problem in lifecycle_publisher

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Deprecate publish call taking a raw ptr. Stop deprecating publish methods in LifecyclePublisher.

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Pleased linter

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Corrected mac warning

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Corrected serialized publish methods

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Avoid windows warning

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

* Not deprecate on windows

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
This commit is contained in:
ivanpauno 2019-05-06 17:32:50 -03:00 • committed by William Woodall
parent d399fef9c6
commit 385cccc2cc
3 changed files with 88 additions and 37 deletions
Download patch file Download diff file Expand all files Collapse all files

58
rclcpp/include/rclcpp/publisher.hpp
View file

@ -97,11 +97,10 @@ public:
* \param[in] msg A shared pointer to the message to send.
*/
virtual void
publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
publish(std::unique_ptr<MessageT, MessageDeleter> msg)
{
if (!intra_process_is_enabled_) {
this->do_inter_process_publish(msg.get());
msg.reset();
return;
}
// If an interprocess subscription exist, then the unique_ptr is promoted
@ -128,6 +127,12 @@ public:
}
}
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
#if !defined(_WIN32)
[[deprecated(
"publishing an unique_ptr is prefered when using intra process communication."
" If using a shared_ptr, use publish(*msg).")]]
#endif
virtual void
publish(const std::shared_ptr<const MessageT> & msg)
{
@ -148,9 +153,14 @@ public:
auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
MessageAllocTraits::construct(*message_allocator_.get(), ptr, msg);
MessageUniquePtr unique_msg(ptr, message_deleter_);
this->publish(unique_msg);
this->publish(std::move(unique_msg));
}
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
#if !defined(_WIN32)
[[deprecated(
"Use publish(*msg). Check against nullptr before calling if necessary.")]]
#endif
virtual void
publish(const MessageT * msg)
{
@ -161,22 +171,31 @@ public:
}
void
publish(const rcl_serialized_message_t * serialized_msg)
publish(const rcl_serialized_message_t & serialized_msg)
{
if (intra_process_is_enabled_) {
// TODO(Karsten1987): support serialized message passed by intraprocess
throw std::runtime_error("storing serialized messages in intra process is not supported yet");
}
auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg, nullptr);
if (RCL_RET_OK != status) {
rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
}
return this->do_serialized_publish(&serialized_msg);
}
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
#if !defined(_WIN32)
[[deprecated(
"Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
#endif
void
publish(const rcl_serialized_message_t * serialized_msg)
{
return this->do_serialized_publish(serialized_msg);
}
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
#if !defined(_WIN32)
[[deprecated(
"Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
#endif
void
publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
{
return this->publish(serialized_msg.get());
return this->do_serialized_publish(serialized_msg.get());
}
std::shared_ptr<MessageAlloc> get_allocator() const
@ -204,6 +223,19 @@ protected:
}
}
void
do_serialized_publish(const rcl_serialized_message_t * serialized_msg)
{
if (intra_process_is_enabled_) {
// TODO(Karsten1987): support serialized message passed by intraprocess
throw std::runtime_error("storing serialized messages in intra process is not supported yet");
}
auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg, nullptr);
if (RCL_RET_OK != status) {
rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
}
}
void
do_intra_process_publish(uint64_t message_seq)
{

6
rclcpp/test/test_time_source.cpp
View file

@ -136,9 +136,9 @@ void trigger_clock_changes(
if (!rclcpp::ok()) {
break; // Break for ctrl-c
}
auto msg = std::make_shared<rosgraph_msgs::msg::Clock>();
msg->clock.sec = i;
msg->clock.nanosec = 1000;
rosgraph_msgs::msg::Clock msg;
msg.clock.sec = i;
msg.clock.nanosec = 1000;
clock_pub->publish(msg);
// workaround. Long-term, there can be a more elegant fix where we hook a future up

61
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
View file

@ -17,6 +17,7 @@
#include <memory>
#include <string>
#include <utility>
#include "rclcpp/publisher.hpp"
@ -79,7 +80,7 @@ public:
* to the actual rclcpp Publisher base class
*/
virtual void
publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
publish(std::unique_ptr<MessageT, MessageDeleter> msg)
{
if (!enabled_) {
RCLCPP_WARN(logger_,
@ -88,26 +89,7 @@ public:
return;
}
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
/// LifecyclePublisher publish function
/**
* The publish function checks whether the communication
* was enabled or disabled and forwards the message
* to the actual rclcpp Publisher base class
*/
virtual void
publish(const std::shared_ptr<const MessageT> & msg)
{
if (!enabled_) {
RCLCPP_WARN(logger_,
"Trying to publish message on the topic '%s', but the publisher is not activated",
this->get_topic_name());
return;
}
rclcpp::Publisher<MessageT, Alloc>::publish(*msg);
rclcpp::Publisher<MessageT, Alloc>::publish(std::move(msg));
}
/// LifecyclePublisher publish function
@ -129,6 +111,39 @@ public:
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
/// LifecyclePublisher publish function
/**
* The publish function checks whether the communication
* was enabled or disabled and forwards the message
* to the actual rclcpp Publisher base class
*/
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
#if !defined(_WIN32)
// Avoid raising a deprecated warning in template specialization in linux.
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
[[deprecated(
"publishing an unique_ptr is prefered when using intra process communication."
" If using a shared_ptr, use publish(*msg).")]]
#endif
virtual void
publish(const std::shared_ptr<const MessageT> & msg)
{
if (!enabled_) {
RCLCPP_WARN(logger_,
"Trying to publish message on the topic '%s', but the publisher is not activated",
this->get_topic_name());
return;
}
rclcpp::Publisher<MessageT, Alloc>::publish(*msg);
}
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
#if !defined(_WIN32)
[[deprecated(
"Use publish(*msg). Check against nullptr before calling if necessary.")]]
#endif
virtual void
publish(const MessageT * msg)
{
@ -138,6 +153,10 @@ public:
this->publish(*msg);
}
#if !defined(_WIN32)
# pragma GCC diagnostic pop
#endif
virtual void
on_activate()
{