niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Remove namespaces and namespace escalation e.g. node:: (#416)

Browse source 
* Remove publisher:: namespace

* Remove subscription:: namespace

* Remove client:: namespace

* Remove service:: namespace

* Remove parameter_client:: namespace

* Remove parameter_service:: namespace

* Remove rate:: namespace

* Remove timer:: namespace

* Remove node:: namespace

* Remove any_service_callback:: namespace

* Remove any_subscription_callback:: namespace

* Remove event:: namespace

* Remove ContextSharedPtr escalation

Users can use the  directive themselves if they want

* Remove single_threaded_executor:: namespace

* Remove multi_threaded_executor:: namespace

* Remove context:: namespace

* node:: removal from new logger additions

* Fix linter issues that has been triggered with uncrustify

* Remove utilities:: namespace
This commit is contained in:
dhood 2017-12-05 15:02:00 -08:00 • committed by GitHub
parent 713ee8059c
commit 6129a12df5
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
83 changed files with 398 additions and 503 deletions
Download patch file Download diff file Expand all files Collapse all files

8
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -55,7 +55,7 @@ LifecycleNode::LifecycleNode(
LifecycleNode::LifecycleNode(
const std::string & node_name,
const std::string & namespace_,
rclcpp::context::Context::SharedPtr context,
rclcpp::Context::SharedPtr context,
bool use_intra_process_comms)
: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
@ -209,7 +209,7 @@ LifecycleNode::get_callback_groups() const
return node_base_->get_callback_groups();
}
rclcpp::event::Event::SharedPtr
rclcpp::Event::SharedPtr
LifecycleNode::get_graph_event()
{
return node_graph_->get_graph_event();
@ -217,7 +217,7 @@ LifecycleNode::get_graph_event()
void
LifecycleNode::wait_for_graph_change(
rclcpp::event::Event::SharedPtr event,
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout)
{
node_graph_->wait_for_graph_change(event, timeout);
@ -449,7 +449,7 @@ LifecycleNode::add_publisher_handle(
}
void
LifecycleNode::add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer)
LifecycleNode::add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer)
{
impl_->add_timer_handle(timer);
}

36
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
View file

@ -104,61 +104,61 @@ public:
{ // change_state
auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_change_state, this,
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
rclcpp::any_service_callback::AnyServiceCallback<ChangeStateSrv> any_cb;
rclcpp::AnyServiceCallback<ChangeStateSrv> any_cb;
any_cb.set(std::move(cb));
srv_change_state_ = std::make_shared<rclcpp::service::Service<ChangeStateSrv>>(
srv_change_state_ = std::make_shared<rclcpp::Service<ChangeStateSrv>>(
node_base_interface_->get_shared_rcl_node_handle(),
&state_machine_.com_interface.srv_change_state,
any_cb);
node_services_interface_->add_service(
std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_change_state_),
std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_change_state_),
nullptr);
}
{ // get_state
auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_get_state, this,
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
rclcpp::any_service_callback::AnyServiceCallback<GetStateSrv> any_cb;
rclcpp::AnyServiceCallback<GetStateSrv> any_cb;
any_cb.set(std::move(cb));
srv_get_state_ = std::make_shared<rclcpp::service::Service<GetStateSrv>>(
srv_get_state_ = std::make_shared<rclcpp::Service<GetStateSrv>>(
node_base_interface_->get_shared_rcl_node_handle(),
&state_machine_.com_interface.srv_get_state,
any_cb);
node_services_interface_->add_service(
std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_get_state_),
std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_get_state_),
nullptr);
}
{ // get_available_states
auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_get_available_states, this,
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
rclcpp::any_service_callback::AnyServiceCallback<GetAvailableStatesSrv> any_cb;
rclcpp::AnyServiceCallback<GetAvailableStatesSrv> any_cb;
any_cb.set(std::move(cb));
srv_get_available_states_ = std::make_shared<rclcpp::service::Service<GetAvailableStatesSrv>>(
srv_get_available_states_ = std::make_shared<rclcpp::Service<GetAvailableStatesSrv>>(
node_base_interface_->get_shared_rcl_node_handle(),
&state_machine_.com_interface.srv_get_available_states,
any_cb);
node_services_interface_->add_service(
std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_get_available_states_),
std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_get_available_states_),
nullptr);
}
{ // get_available_transitions
auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_get_available_transitions, this,
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
rclcpp::any_service_callback::AnyServiceCallback<GetAvailableTransitionsSrv> any_cb;
rclcpp::AnyServiceCallback<GetAvailableTransitionsSrv> any_cb;
any_cb.set(std::move(cb));
srv_get_available_transitions_ =
std::make_shared<rclcpp::service::Service<GetAvailableTransitionsSrv>>(
std::make_shared<rclcpp::Service<GetAvailableTransitionsSrv>>(
node_base_interface_->get_shared_rcl_node_handle(),
&state_machine_.com_interface.srv_get_available_transitions,
any_cb);
node_services_interface_->add_service(
std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_get_available_transitions_),
std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_get_available_transitions_),
nullptr);
}
}
@ -391,7 +391,7 @@ public:
}
void
add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer)
add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer)
{
weak_timers_.push_back(timer);
}
@ -404,12 +404,12 @@ public:
using NodeBasePtr = std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>;
using NodeServicesPtr = std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>;
using ChangeStateSrvPtr = std::shared_ptr<rclcpp::service::Service<ChangeStateSrv>>;
using GetStateSrvPtr = std::shared_ptr<rclcpp::service::Service<GetStateSrv>>;
using ChangeStateSrvPtr = std::shared_ptr<rclcpp::Service<ChangeStateSrv>>;
using GetStateSrvPtr = std::shared_ptr<rclcpp::Service<GetStateSrv>>;
using GetAvailableStatesSrvPtr =
std::shared_ptr<rclcpp::service::Service<GetAvailableStatesSrv>>;
std::shared_ptr<rclcpp::Service<GetAvailableStatesSrv>>;
using GetAvailableTransitionsSrvPtr =
std::shared_ptr<rclcpp::service::Service<GetAvailableTransitionsSrv>>;
std::shared_ptr<rclcpp::Service<GetAvailableTransitionsSrv>>;
NodeBasePtr node_base_interface_;
NodeServicesPtr node_services_interface_;
@ -420,7 +420,7 @@ public:
// to controllable things
std::vector<std::weak_ptr<rclcpp_lifecycle::LifecyclePublisherInterface>> weak_pubs_;
std::vector<std::weak_ptr<rclcpp::timer::TimerBase>> weak_timers_;
std::vector<std::weak_ptr<rclcpp::TimerBase>> weak_timers_;
};
} // namespace rclcpp_lifecycle