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

10
rclcpp/include/rclcpp/any_executable.hpp
View file

@ -42,11 +42,11 @@ struct AnyExecutable
virtual ~AnyExecutable();
// 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;
rclcpp::SubscriptionBase::SharedPtr subscription;
rclcpp::SubscriptionBase::SharedPtr subscription_intra_process;
rclcpp::TimerBase::SharedPtr timer;
rclcpp::ServiceBase::SharedPtr service;
rclcpp::ClientBase::SharedPtr client;
// These are used to keep the scope on the containing items
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;

4
rclcpp/include/rclcpp/any_service_callback.hpp
View file

@ -27,9 +27,6 @@
namespace rclcpp
{
namespace any_service_callback
{
template<typename ServiceT>
class AnyServiceCallback
{
@ -100,7 +97,6 @@ public:
}
};
} // namespace any_service_callback
} // namespace rclcpp
#endif // RCLCPP__ANY_SERVICE_CALLBACK_HPP_

4
rclcpp/include/rclcpp/any_subscription_callback.hpp
View file

@ -30,9 +30,6 @@
namespace rclcpp
{
namespace any_subscription_callback
{
template<typename MessageT, typename Alloc>
class AnySubscriptionCallback
{
@ -209,7 +206,6 @@ private:
MessageDeleter message_deleter_;
};
} // namespace any_subscription_callback
} // namespace rclcpp
#endif // RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_

24
rclcpp/include/rclcpp/callback_group.hpp
View file

@ -59,19 +59,19 @@ public:
explicit CallbackGroup(CallbackGroupType group_type);
RCLCPP_PUBLIC
const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
get_subscription_ptrs() const;
RCLCPP_PUBLIC
const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
const std::vector<rclcpp::TimerBase::WeakPtr> &
get_timer_ptrs() const;
RCLCPP_PUBLIC
const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
const std::vector<rclcpp::ServiceBase::WeakPtr> &
get_service_ptrs() const;
RCLCPP_PUBLIC
const std::vector<rclcpp::client::ClientBase::WeakPtr> &
const std::vector<rclcpp::ClientBase::WeakPtr> &
get_client_ptrs() const;
RCLCPP_PUBLIC
@ -87,27 +87,27 @@ protected:
RCLCPP_PUBLIC
void
add_subscription(const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr);
add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
RCLCPP_PUBLIC
void
add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr);
add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr);
RCLCPP_PUBLIC
void
add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr);
add_service(const rclcpp::ServiceBase::SharedPtr service_ptr);
RCLCPP_PUBLIC
void
add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr);
add_client(const rclcpp::ClientBase::SharedPtr client_ptr);
CallbackGroupType type_;
// Mutex to protect the subsequent vectors of pointers.
mutable std::mutex mutex_;
std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
std::vector<rclcpp::timer::TimerBase::WeakPtr> timer_ptrs_;
std::vector<rclcpp::service::ServiceBase::WeakPtr> service_ptrs_;
std::vector<rclcpp::client::ClientBase::WeakPtr> client_ptrs_;
std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
std::atomic_bool can_be_taken_from_;
};

4
rclcpp/include/rclcpp/client.hpp
View file

@ -47,9 +47,6 @@ namespace node_interfaces
class NodeBaseInterface;
} // namespace node_interfaces
namespace client
{
class ClientBase
{
public:
@ -282,7 +279,6 @@ private:
std::mutex pending_requests_mutex_;
};
} // namespace client
} // namespace rclcpp
#endif // RCLCPP__CLIENT_HPP_

4
rclcpp/include/rclcpp/context.hpp
View file

@ -30,9 +30,6 @@
namespace rclcpp
{
namespace context
{
class Context
{
public:
@ -72,7 +69,6 @@ private:
std::mutex mutex_;
};
} // namespace context
} // namespace rclcpp
#endif // RCLCPP__CONTEXT_HPP_

2
rclcpp/include/rclcpp/contexts/default_context.hpp
View file

@ -25,7 +25,7 @@ namespace contexts
namespace default_context
{
class DefaultContext : public rclcpp::context::Context
class DefaultContext : public rclcpp::Context
{
public:
RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext)

2
rclcpp/include/rclcpp/create_subscription.hpp
View file

@ -27,7 +27,7 @@ namespace rclcpp
{
template<typename MessageT, typename CallbackT, typename AllocatorT, typename SubscriptionT>
typename rclcpp::subscription::Subscription<MessageT, AllocatorT>::SharedPtr
typename rclcpp::Subscription<MessageT, AllocatorT>::SharedPtr
create_subscription(
rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
const std::string & topic_name,

3
rclcpp/include/rclcpp/event.hpp
View file

@ -23,8 +23,6 @@
namespace rclcpp
{
namespace event
{
class Event
{
@ -52,7 +50,6 @@ private:
std::atomic_bool state_;
};
} // namespace event
} // namespace rclcpp
#endif // RCLCPP__EVENT_HPP_

25
rclcpp/include/rclcpp/executor.hpp
View file

@ -38,10 +38,7 @@ namespace rclcpp
{
// Forward declaration is used in convenience method signature.
namespace node
{
class Node;
} // namespace node
namespace executor
{
@ -124,7 +121,7 @@ public:
/// Convenience function which takes Node and forwards NodeBaseInterface.
RCLCPP_PUBLIC
virtual void
add_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify = true);
add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
/// Remove a node from the executor.
/**
@ -140,7 +137,7 @@ public:
/// Convenience function which takes Node and forwards NodeBaseInterface.
RCLCPP_PUBLIC
virtual void
remove_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify = true);
remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
/// Add a node to executor, execute the next available unit of work, and remove the node.
/**
@ -162,7 +159,7 @@ public:
}
/// Convenience function which takes Node and forwards NodeBaseInterface.
template<typename NodeT = rclcpp::node::Node, typename T = std::milli>
template<typename NodeT = rclcpp::Node, typename T = std::milli>
void
spin_node_once(
std::shared_ptr<NodeT> node,
@ -185,7 +182,7 @@ public:
/// Convenience function which takes Node and forwards NodeBaseInterface.
RCLCPP_PUBLIC
void
spin_node_some(std::shared_ptr<rclcpp::node::Node> node);
spin_node_some(std::shared_ptr<rclcpp::Node> node);
/// Complete all available queued work without blocking.
/**
@ -236,7 +233,7 @@ public:
}
std::chrono::nanoseconds timeout_left = timeout_ns;
while (rclcpp::utilities::ok()) {
while (rclcpp::ok()) {
// Do one item of work.
spin_once(timeout_left);
// Check if the future is set, return SUCCESS if it is.
@ -295,24 +292,24 @@ protected:
RCLCPP_PUBLIC
static void
execute_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription);
rclcpp::SubscriptionBase::SharedPtr subscription);
RCLCPP_PUBLIC
static void
execute_intra_process_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription);
rclcpp::SubscriptionBase::SharedPtr subscription);
RCLCPP_PUBLIC
static void
execute_timer(rclcpp::timer::TimerBase::SharedPtr timer);
execute_timer(rclcpp::TimerBase::SharedPtr timer);
RCLCPP_PUBLIC
static void
execute_service(rclcpp::service::ServiceBase::SharedPtr service);
execute_service(rclcpp::ServiceBase::SharedPtr service);
RCLCPP_PUBLIC
static void
execute_client(rclcpp::client::ClientBase::SharedPtr client);
execute_client(rclcpp::ClientBase::SharedPtr client);
RCLCPP_PUBLIC
void
@ -324,7 +321,7 @@ protected:
RCLCPP_PUBLIC
rclcpp::callback_group::CallbackGroup::SharedPtr
get_group_by_timer(rclcpp::timer::TimerBase::SharedPtr timer);
get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
RCLCPP_PUBLIC
void

12
rclcpp/include/rclcpp/executors.hpp
View file

@ -35,7 +35,7 @@ spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
RCLCPP_PUBLIC
void
spin_some(rclcpp::node::Node::SharedPtr node_ptr);
spin_some(rclcpp::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. */
@ -45,13 +45,13 @@ spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
RCLCPP_PUBLIC
void
spin(rclcpp::node::Node::SharedPtr node_ptr);
spin(rclcpp::Node::SharedPtr node_ptr);
namespace executors
{
using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
using rclcpp::executors::MultiThreadedExecutor;
using rclcpp::executors::SingleThreadedExecutor;
/// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
/**
@ -81,7 +81,7 @@ spin_node_until_future_complete(
return retcode;
}
template<typename NodeT = rclcpp::node::Node, typename ResponseT, typename TimeT = std::milli>
template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeT = std::milli>
rclcpp::executor::FutureReturnCode
spin_node_until_future_complete(
rclcpp::executor::Executor & executor,
@ -109,7 +109,7 @@ spin_until_future_complete(
return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
}
template<typename NodeT = rclcpp::node::Node, typename FutureT, typename TimeT = std::milli>
template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeT = std::milli>
rclcpp::executor::FutureReturnCode
spin_until_future_complete(
std::shared_ptr<NodeT> node_ptr,

3
rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
View file

@ -28,8 +28,6 @@ namespace rclcpp
{
namespace executors
{
namespace multi_threaded_executor
{
class MultiThreadedExecutor : public executor::Executor
{
@ -63,7 +61,6 @@ private:
size_t number_of_threads_;
};
} // namespace multi_threaded_executor
} // namespace executors
} // namespace rclcpp

3
rclcpp/include/rclcpp/executors/single_threaded_executor.hpp
View file

@ -34,8 +34,6 @@ namespace rclcpp
{
namespace executors
{
namespace single_threaded_executor
{
/// Single-threaded executor implementation
// This is the default executor created by rclcpp::spin.
@ -64,7 +62,6 @@ private:
RCLCPP_DISABLE_COPY(SingleThreadedExecutor)
};
} // namespace single_threaded_executor
} // namespace executors
} // namespace rclcpp

6
rclcpp/include/rclcpp/intra_process_manager.hpp
View file

@ -149,7 +149,7 @@ public:
*/
RCLCPP_PUBLIC
uint64_t
add_subscription(subscription::SubscriptionBase::SharedPtr subscription);
add_subscription(SubscriptionBase::SharedPtr subscription);
/// Unregister a subscription using the subscription's unique id.
/**
@ -187,14 +187,14 @@ public:
template<typename MessageT, typename Alloc>
uint64_t
add_publisher(
typename publisher::Publisher<MessageT, Alloc>::SharedPtr publisher,
typename 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
typename Publisher<MessageT, Alloc>::MessageAlloc
>::make_shared(size, publisher->get_allocator());
impl_->add_publisher(id, publisher, mrb, size);
return id;

14
rclcpp/include/rclcpp/intra_process_manager_impl.hpp
View file

@ -48,14 +48,14 @@ public:
~IntraProcessManagerImplBase() = default;
virtual void
add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription) = 0;
add_subscription(uint64_t id, 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,
PublisherBase::WeakPtr publisher,
mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
size_t size) = 0;
@ -92,7 +92,7 @@ public:
~IntraProcessManagerImpl() = default;
void
add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription)
add_subscription(uint64_t id, SubscriptionBase::SharedPtr subscription)
{
subscriptions_[id] = subscription;
// subscription->get_topic_name() -> const char * can be used as the key,
@ -118,7 +118,7 @@ public:
void add_publisher(
uint64_t id,
publisher::PublisherBase::WeakPtr publisher,
PublisherBase::WeakPtr publisher,
mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
size_t size)
{
@ -258,9 +258,9 @@ private:
using AllocSet = std::set<uint64_t, std::less<uint64_t>, RebindAlloc<uint64_t>>;
using SubscriptionMap = std::unordered_map<
uint64_t, subscription::SubscriptionBase::WeakPtr,
uint64_t, SubscriptionBase::WeakPtr,
std::hash<uint64_t>, std::equal_to<uint64_t>,
RebindAlloc<std::pair<const uint64_t, subscription::SubscriptionBase::WeakPtr>>>;
RebindAlloc<std::pair<const uint64_t, SubscriptionBase::WeakPtr>>>;
struct strcmp_wrapper : public std::binary_function<const char *, const char *, bool>
{
@ -286,7 +286,7 @@ private:
PublisherInfo() = default;
publisher::PublisherBase::WeakPtr publisher;
PublisherBase::WeakPtr publisher;
std::atomic<uint64_t> sequence_number;
mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer;

12
rclcpp/include/rclcpp/memory_strategy.hpp
View file

@ -81,15 +81,15 @@ public:
virtual rcl_allocator_t
get_allocator() = 0;
static rclcpp::subscription::SubscriptionBase::SharedPtr
static rclcpp::SubscriptionBase::SharedPtr
get_subscription_by_handle(
const rcl_subscription_t * subscriber_handle,
const WeakNodeVector & weak_nodes);
static rclcpp::service::ServiceBase::SharedPtr
static rclcpp::ServiceBase::SharedPtr
get_service_by_handle(const rcl_service_t * service_handle, const WeakNodeVector & weak_nodes);
static rclcpp::client::ClientBase::SharedPtr
static rclcpp::ClientBase::SharedPtr
get_client_by_handle(const rcl_client_t * client_handle, const WeakNodeVector & weak_nodes);
static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
@ -99,17 +99,17 @@ public:
static rclcpp::callback_group::CallbackGroup::SharedPtr
get_group_by_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
rclcpp::SubscriptionBase::SharedPtr subscription,
const WeakNodeVector & weak_nodes);
static rclcpp::callback_group::CallbackGroup::SharedPtr
get_group_by_service(
rclcpp::service::ServiceBase::SharedPtr service,
rclcpp::ServiceBase::SharedPtr service,
const WeakNodeVector & weak_nodes);
static rclcpp::callback_group::CallbackGroup::SharedPtr
get_group_by_client(
rclcpp::client::ClientBase::SharedPtr client,
rclcpp::ClientBase::SharedPtr client,
const WeakNodeVector & weak_nodes);
};

26
rclcpp/include/rclcpp/node.hpp
View file

@ -60,9 +60,6 @@
namespace rclcpp
{
namespace node
{
/// Node is the single point of entry for creating publishers and subscribers.
class Node : public std::enable_shared_from_this<Node>
{
@ -82,7 +79,7 @@ public:
const std::string & namespace_ = "",
bool use_intra_process_comms = false);
/// Create a node based on the node name and a rclcpp::context::Context.
/// Create a node based on the node name and a rclcpp::Context.
/**
* \param[in] node_name Name of the node.
* \param[in] namespace_ Namespace of the node.
@ -94,7 +91,7 @@ public:
Node(
const std::string & node_name,
const std::string & namespace_,
rclcpp::context::Context::SharedPtr context,
rclcpp::Context::SharedPtr context,
bool use_intra_process_comms = false);
RCLCPP_PUBLIC
@ -137,7 +134,7 @@ public:
*/
template<
typename MessageT, typename Alloc = std::allocator<void>,
typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
std::shared_ptr<PublisherT>
create_publisher(
const std::string & topic_name, size_t qos_history_depth,
@ -152,7 +149,7 @@ public:
*/
template<
typename MessageT, typename Alloc = std::allocator<void>,
typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
std::shared_ptr<PublisherT>
create_publisher(
const std::string & topic_name,
@ -178,7 +175,7 @@ public:
typename MessageT,
typename CallbackT,
typename Alloc = std::allocator<void>,
typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
std::shared_ptr<SubscriptionT>
create_subscription(
const std::string & topic_name,
@ -209,7 +206,7 @@ public:
typename MessageT,
typename CallbackT,
typename Alloc = std::allocator<void>,
typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
std::shared_ptr<SubscriptionT>
create_subscription(
const std::string & topic_name,
@ -228,7 +225,7 @@ public:
* \param[in] group Callback group to execute this timer's callback in.
*/
template<typename DurationT = std::milli, typename CallbackT>
typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
typename rclcpp::WallTimer<CallbackT>::SharedPtr
create_wall_timer(
std::chrono::duration<int64_t, DurationT> period,
CallbackT callback,
@ -236,7 +233,7 @@ public:
/* Create and return a Client. */
template<typename ServiceT>
typename rclcpp::client::Client<ServiceT>::SharedPtr
typename rclcpp::Client<ServiceT>::SharedPtr
create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
@ -244,7 +241,7 @@ public:
/* Create and return a Service. */
template<typename ServiceT, typename CallbackT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
typename rclcpp::Service<ServiceT>::SharedPtr
create_service(
const std::string & service_name,
CallbackT && callback,
@ -353,7 +350,7 @@ public:
* out of scope.
*/
RCLCPP_PUBLIC
rclcpp::event::Event::SharedPtr
rclcpp::Event::SharedPtr
get_graph_event();
/// Wait for a graph event to occur by waiting on an Event to become set.
@ -367,7 +364,7 @@ public:
RCLCPP_PUBLIC
void
wait_for_graph_change(
rclcpp::event::Event::SharedPtr event,
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout);
RCLCPP_PUBLIC
@ -432,7 +429,6 @@ private:
bool use_intra_process_comms_;
};
} // namespace node
} // namespace rclcpp
#ifndef RCLCPP__NODE_IMPL_HPP_

25
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -49,8 +49,6 @@
namespace rclcpp
{
namespace node
{
template<typename MessageT, typename Alloc, typename PublisherT>
std::shared_ptr<PublisherT>
@ -141,13 +139,13 @@ Node::create_subscription(
}
template<typename DurationT, typename CallbackT>
typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
typename rclcpp::WallTimer<CallbackT>::SharedPtr
Node::create_wall_timer(
std::chrono::duration<int64_t, DurationT> period,
CallbackT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
auto timer = rclcpp::timer::WallTimer<CallbackT>::make_shared(
auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
std::chrono::duration_cast<std::chrono::nanoseconds>(period),
std::move(callback));
node_timers_->add_timer(timer, group);
@ -155,7 +153,7 @@ Node::create_wall_timer(
}
template<typename ServiceT>
typename client::Client<ServiceT>::SharedPtr
typename Client<ServiceT>::SharedPtr
Node::create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile,
@ -164,8 +162,8 @@ Node::create_client(
rcl_client_options_t options = rcl_client_get_default_options();
options.qos = qos_profile;
using rclcpp::client::Client;
using rclcpp::client::ClientBase;
using rclcpp::Client;
using rclcpp::ClientBase;
auto cli = Client<ServiceT>::make_shared(
node_base_.get(),
@ -179,23 +177,23 @@ Node::create_client(
}
template<typename ServiceT, typename CallbackT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
typename rclcpp::Service<ServiceT>::SharedPtr
Node::create_service(
const std::string & service_name,
CallbackT && callback,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
rclcpp::AnyServiceCallback<ServiceT> any_service_callback;
any_service_callback.set(std::forward<CallbackT>(callback));
rcl_service_options_t service_options = rcl_service_get_default_options();
service_options.qos = qos_profile;
auto serv = service::Service<ServiceT>::make_shared(
auto serv = Service<ServiceT>::make_shared(
node_base_->get_shared_rcl_node_handle(),
service_name, any_service_callback, service_options);
auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
auto serv_base_ptr = std::dynamic_pointer_cast<ServiceBase>(serv);
node_services_->add_service(serv_base_ptr, group);
return serv;
}
@ -216,8 +214,8 @@ Node::set_parameter_if_not_set(
rclcpp::parameter::ParameterVariant parameter_variant;
if (!this->get_parameter(name, parameter_variant)) {
this->set_parameters({
rclcpp::parameter::ParameterVariant(name, value),
});
rclcpp::parameter::ParameterVariant(name, value),
});
}
}
@ -248,7 +246,6 @@ Node::get_parameter_or(
return got_parameter;
}
} // namespace node
} // namespace rclcpp
#endif // RCLCPP__NODE_IMPL_HPP_

6
rclcpp/include/rclcpp/node_interfaces/node_base.hpp
View file

@ -39,7 +39,7 @@ public:
NodeBase(
const std::string & node_name,
const std::string & namespace_,
rclcpp::context::Context::SharedPtr context);
rclcpp::Context::SharedPtr context);
RCLCPP_PUBLIC
virtual
@ -57,7 +57,7 @@ public:
RCLCPP_PUBLIC
virtual
rclcpp::context::Context::SharedPtr
rclcpp::Context::SharedPtr
get_context();
RCLCPP_PUBLIC
@ -118,7 +118,7 @@ public:
private:
RCLCPP_DISABLE_COPY(NodeBase)
rclcpp::context::Context::SharedPtr context_;
rclcpp::Context::SharedPtr context_;
std::shared_ptr<rcl_node_t> node_handle_;

2
rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
View file

@ -56,7 +56,7 @@ public:
/** \return SharedPtr to the node's context. */
RCLCPP_PUBLIC
virtual
rclcpp::context::Context::SharedPtr
rclcpp::Context::SharedPtr
get_context() = 0;
/// Return the rcl_node_t node handle (non-const version).

6
rclcpp/include/rclcpp/node_interfaces/node_graph.hpp
View file

@ -96,14 +96,14 @@ public:
RCLCPP_PUBLIC
virtual
rclcpp::event::Event::SharedPtr
rclcpp::Event::SharedPtr
get_graph_event();
RCLCPP_PUBLIC
virtual
void
wait_for_graph_change(
rclcpp::event::Event::SharedPtr event,
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout);
RCLCPP_PUBLIC
@ -127,7 +127,7 @@ private:
/// For notifying waiting threads (wait_for_graph_change()) on changes (notify_graph_change()).
std::condition_variable graph_cv_;
/// Weak references to graph events out on loan.
std::vector<rclcpp::event::Event::WeakPtr> graph_events_;
std::vector<rclcpp::Event::WeakPtr> graph_events_;
/// Number of graph events out on loan, used to determine if the graph should be monitored.
/** graph_users_count_ is atomic so that it can be accessed without acquiring the graph_mutex_ */
std::atomic_size_t graph_users_count_;

4
rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp
View file

@ -113,7 +113,7 @@ public:
*/
RCLCPP_PUBLIC
virtual
rclcpp::event::Event::SharedPtr
rclcpp::Event::SharedPtr
get_graph_event() = 0;
/// Wait for a graph event to occur by waiting on an Event to become set.
@ -128,7 +128,7 @@ public:
virtual
void
wait_for_graph_change(
rclcpp::event::Event::SharedPtr event,
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout) = 0;
/// Return the number of on loan graph events, see get_graph_event().

2
rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
View file

@ -113,7 +113,7 @@ private:
std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
};
} // namespace node_interfaces

4
rclcpp/include/rclcpp/node_interfaces/node_services.hpp
View file

@ -45,14 +45,14 @@ public:
virtual
void
add_client(
rclcpp::client::ClientBase::SharedPtr client_base_ptr,
rclcpp::ClientBase::SharedPtr client_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group);
RCLCPP_PUBLIC
virtual
void
add_service(
rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
rclcpp::ServiceBase::SharedPtr service_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group);
private:

4
rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp
View file

@ -36,14 +36,14 @@ public:
virtual
void
add_client(
rclcpp::client::ClientBase::SharedPtr client_base_ptr,
rclcpp::ClientBase::SharedPtr client_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
RCLCPP_PUBLIC
virtual
void
add_service(
rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
rclcpp::ServiceBase::SharedPtr service_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
};

2
rclcpp/include/rclcpp/node_interfaces/node_timers.hpp
View file

@ -45,7 +45,7 @@ public:
virtual
void
add_timer(
rclcpp::timer::TimerBase::SharedPtr timer,
rclcpp::TimerBase::SharedPtr timer,
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
private:

2
rclcpp/include/rclcpp/node_interfaces/node_timers_interface.hpp
View file

@ -36,7 +36,7 @@ public:
virtual
void
add_timer(
rclcpp::timer::TimerBase::SharedPtr timer,
rclcpp::TimerBase::SharedPtr timer,
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
};

8
rclcpp/include/rclcpp/node_interfaces/node_topics.hpp
View file

@ -47,7 +47,7 @@ public:
RCLCPP_PUBLIC
virtual
rclcpp::publisher::PublisherBase::SharedPtr
rclcpp::PublisherBase::SharedPtr
create_publisher(
const std::string & topic_name,
const rclcpp::PublisherFactory & publisher_factory,
@ -58,11 +58,11 @@ public:
virtual
void
add_publisher(
rclcpp::publisher::PublisherBase::SharedPtr publisher);
rclcpp::PublisherBase::SharedPtr publisher);
RCLCPP_PUBLIC
virtual
rclcpp::subscription::SubscriptionBase::SharedPtr
rclcpp::SubscriptionBase::SharedPtr
create_subscription(
const std::string & topic_name,
const rclcpp::SubscriptionFactory & subscription_factory,
@ -73,7 +73,7 @@ public:
virtual
void
add_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
rclcpp::SubscriptionBase::SharedPtr subscription,
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
private:

8
rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp
View file

@ -42,7 +42,7 @@ public:
RCLCPP_PUBLIC
virtual
rclcpp::publisher::PublisherBase::SharedPtr
rclcpp::PublisherBase::SharedPtr
create_publisher(
const std::string & topic_name,
const rclcpp::PublisherFactory & publisher_factory,
@ -53,11 +53,11 @@ public:
virtual
void
add_publisher(
rclcpp::publisher::PublisherBase::SharedPtr publisher) = 0;
rclcpp::PublisherBase::SharedPtr publisher) = 0;
RCLCPP_PUBLIC
virtual
rclcpp::subscription::SubscriptionBase::SharedPtr
rclcpp::SubscriptionBase::SharedPtr
create_subscription(
const std::string & topic_name,
const rclcpp::SubscriptionFactory & subscription_factory,
@ -68,7 +68,7 @@ public:
virtual
void
add_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
rclcpp::SubscriptionBase::SharedPtr subscription,
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
};

31
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -40,8 +40,6 @@
namespace rclcpp
{
namespace parameter_client
{
class AsyncParametersClient
{
@ -59,13 +57,13 @@ public:
RCLCPP_PUBLIC
AsyncParametersClient(
const rclcpp::node::Node::SharedPtr node,
const rclcpp::Node::SharedPtr node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
AsyncParametersClient(
rclcpp::node::Node * node,
rclcpp::Node * node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
@ -114,8 +112,8 @@ public:
typename CallbackT,
typename Alloc = std::allocator<void>,
typename SubscriptionT =
rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent, Alloc>>
typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent, Alloc>>
typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
on_parameter_event(CallbackT && callback)
{
using rclcpp::message_memory_strategy::MessageMemoryStrategy;
@ -156,14 +154,14 @@ protected:
private:
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
rclcpp::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
rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_client_;
rclcpp::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
rclcpp::Client<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_client_;
rclcpp::Client<rcl_interfaces::srv::DescribeParameters>::SharedPtr
describe_parameters_client_;
std::string remote_node_name_;
};
@ -175,14 +173,14 @@ public:
RCLCPP_PUBLIC
explicit SyncParametersClient(
rclcpp::node::Node::SharedPtr node,
rclcpp::Node::SharedPtr node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
rclcpp::node::Node::SharedPtr node,
rclcpp::Node::SharedPtr node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
@ -246,7 +244,7 @@ public:
uint64_t depth);
template<typename CallbackT>
typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
on_parameter_event(CallbackT && callback)
{
return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
@ -269,11 +267,10 @@ public:
private:
rclcpp::executor::Executor::SharedPtr executor_;
rclcpp::node::Node::SharedPtr node_;
rclcpp::Node::SharedPtr node_;
AsyncParametersClient::SharedPtr async_parameters_client_;
};
} // namespace parameter_client
} // namespace rclcpp
#endif // RCLCPP__PARAMETER_CLIENT_HPP_

19
rclcpp/include/rclcpp/parameter_service.hpp
View file

@ -32,8 +32,6 @@
namespace rclcpp
{
namespace parameter_service
{
class ParameterService
{
@ -42,23 +40,22 @@ public:
RCLCPP_PUBLIC
explicit ParameterService(
const rclcpp::node::Node::SharedPtr node,
const rclcpp::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
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
const rclcpp::Node::SharedPtr node_;
rclcpp::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
rclcpp::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
rclcpp::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
rclcpp::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
set_parameters_atomically_service_;
rclcpp::service::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
rclcpp::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
describe_parameters_service_;
rclcpp::service::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
rclcpp::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
};
} // namespace parameter_service
} // namespace rclcpp
#endif // RCLCPP__PARAMETER_SERVICE_HPP_

5
rclcpp/include/rclcpp/publisher.hpp
View file

@ -45,9 +45,6 @@ namespace node_interfaces
class NodeTopicsInterface;
}
namespace publisher
{
class PublisherBase
{
friend ::rclcpp::node_interfaces::NodeTopicsInterface;
@ -305,8 +302,6 @@ protected:
MessageDeleter message_deleter_;
};
} // namespace publisher
} // namespace rclcpp
#endif // RCLCPP__PUBLISHER_HPP_

12
rclcpp/include/rclcpp/publisher_factory.hpp
View file

@ -46,7 +46,7 @@ struct PublisherFactory
{
// Creates a PublisherT<MessageT, ...> publisher object and returns it as a PublisherBase.
using PublisherFactoryFunction = std::function<
rclcpp::publisher::PublisherBase::SharedPtr(
rclcpp::PublisherBase::SharedPtr(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const std::string & topic_name,
rcl_publisher_options_t & publisher_options)>;
@ -58,7 +58,7 @@ struct PublisherFactory
using AddPublisherToIntraProcessManagerFunction = std::function<
uint64_t(
rclcpp::intra_process_manager::IntraProcessManager * ipm,
rclcpp::publisher::PublisherBase::SharedPtr publisher)>;
rclcpp::PublisherBase::SharedPtr publisher)>;
AddPublisherToIntraProcessManagerFunction add_publisher_to_intra_process_manager;
@ -66,7 +66,7 @@ struct PublisherFactory
// PublisherT::publish() and which handles the intra process transmission of
// the message being published.
using SharedPublishCallbackFactoryFunction = std::function<
rclcpp::publisher::PublisherBase::StoreMessageCallbackT(
rclcpp::PublisherBase::StoreMessageCallbackT(
rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm)>;
SharedPublishCallbackFactoryFunction create_shared_publish_callback;
@ -96,13 +96,13 @@ create_publisher_factory(std::shared_ptr<Alloc> allocator)
factory.add_publisher_to_intra_process_manager =
[](
rclcpp::intra_process_manager::IntraProcessManager * ipm,
rclcpp::publisher::PublisherBase::SharedPtr publisher) -> uint64_t
rclcpp::PublisherBase::SharedPtr publisher) -> uint64_t
{
return ipm->add_publisher<MessageT, Alloc>(std::dynamic_pointer_cast<PublisherT>(publisher));
};
// function to create a shared publish callback std::function
using StoreMessageCallbackT = rclcpp::publisher::PublisherBase::StoreMessageCallbackT;
using StoreMessageCallbackT = rclcpp::PublisherBase::StoreMessageCallbackT;
factory.create_shared_publish_callback =
[](rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm) -> StoreMessageCallbackT
{
@ -129,7 +129,7 @@ create_publisher_factory(std::shared_ptr<Alloc> allocator)
"' 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;
using MessageDeleter = typename 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);

5
rclcpp/include/rclcpp/rate.hpp
View file

@ -25,8 +25,6 @@
namespace rclcpp
{
namespace rate
{
class RateBase
{
@ -84,7 +82,7 @@ public:
return false;
}
// Sleep (will get interrupted by ctrl-c, may not sleep full time)
rclcpp::utilities::sleep_for(time_to_sleep);
rclcpp::sleep_for(time_to_sleep);
return true;
}
@ -116,7 +114,6 @@ private:
using Rate = GenericRate<std::chrono::system_clock>;
using WallRate = GenericRate<std::chrono::steady_clock>;
} // namespace rate
} // namespace rclcpp
#endif // RCLCPP__RATE_HPP_

106
rclcpp/include/rclcpp/rclcpp.hpp
View file

@ -18,46 +18,46 @@
* It consists of these main components:
*
* - Node
* - rclcpp::node::Node
* - rclcpp::Node
* - rclcpp/node.hpp
* - Publisher
* - rclcpp::node::Node::create_publisher()
* - rclcpp::publisher::Publisher
* - rclcpp::publisher::Publisher::publish()
* - rclcpp::Node::create_publisher()
* - rclcpp::Publisher
* - rclcpp::Publisher::publish()
* - rclcpp/publisher.hpp
* - Subscription
* - rclcpp::node::Node::create_subscription()
* - rclcpp::subscription::Subscription
* - rclcpp::Node::create_subscription()
* - rclcpp::Subscription
* - rclcpp/subscription.hpp
* - Service Client
* - rclcpp::node::Node::create_client()
* - rclcpp::client::Client
* - rclcpp::Node::create_client()
* - rclcpp::Client
* - rclcpp/client.hpp
* - Service Server
* - rclcpp::node::Node::create_service()
* - rclcpp::service::Service
* - rclcpp::Node::create_service()
* - rclcpp::Service
* - rclcpp/service.hpp
* - Timer
* - rclcpp::node::Node::create_wall_timer()
* - rclcpp::timer::WallTimer
* - rclcpp::timer::TimerBase
* - rclcpp::Node::create_wall_timer()
* - rclcpp::WallTimer
* - rclcpp::TimerBase
* - rclcpp/timer.hpp
* - Parameters:
* - rclcpp::node::Node::set_parameters()
* - rclcpp::node::Node::get_parameters()
* - rclcpp::node::Node::get_parameter()
* - rclcpp::node::Node::describe_parameters()
* - rclcpp::node::Node::list_parameters()
* - rclcpp::node::Node::register_param_change_callback()
* - rclcpp::Node::set_parameters()
* - rclcpp::Node::get_parameters()
* - rclcpp::Node::get_parameter()
* - rclcpp::Node::describe_parameters()
* - rclcpp::Node::list_parameters()
* - rclcpp::Node::register_param_change_callback()
* - rclcpp::parameter::ParameterVariant
* - rclcpp::parameter_client::AsyncParametersClient
* - rclcpp::parameter_client::SyncParametersClient
* - rclcpp::AsyncParametersClient
* - rclcpp::SyncParametersClient
* - rclcpp/parameter.hpp
* - rclcpp/parameter_client.hpp
* - rclcpp/parameter_service.hpp
* - Rate:
* - rclcpp::rate::Rate
* - rclcpp::rate::WallRate
* - rclcpp::Rate
* - rclcpp::WallRate
* - rclcpp/rate.hpp
*
* There are also some components which help control the execution of callbacks:
@ -66,32 +66,32 @@
* - rclcpp::spin()
* - rclcpp::spin_some()
* - rclcpp::spin_until_future_complete()
* - rclcpp::executors::single_threaded_executor::SingleThreadedExecutor
* - rclcpp::executors::single_threaded_executor::SingleThreadedExecutor::add_node()
* - rclcpp::executors::single_threaded_executor::SingleThreadedExecutor::spin()
* - rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor
* - rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor::add_node()
* - rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor::spin()
* - rclcpp::executors::SingleThreadedExecutor
* - rclcpp::executors::SingleThreadedExecutor::add_node()
* - rclcpp::executors::SingleThreadedExecutor::spin()
* - rclcpp::executors::MultiThreadedExecutor
* - rclcpp::executors::MultiThreadedExecutor::add_node()
* - rclcpp::executors::MultiThreadedExecutor::spin()
* - rclcpp/executor.hpp
* - rclcpp/executors.hpp
* - rclcpp/executors/single_threaded_executor.hpp
* - rclcpp/executors/multi_threaded_executor.hpp
* - CallbackGroups (mechanism for enforcing concurrency rules for callbacks):
* - rclcpp::node::Node::create_callback_group()
* - rclcpp::Node::create_callback_group()
* - rclcpp::callback_group::CallbackGroup
* - rclcpp/callback_group.hpp
*
* Additionally, there are some methods for introspecting the ROS graph:
*
* - Graph Events (a waitable event object that wakes up when the graph changes):
* - rclcpp::node::Node::get_graph_event()
* - rclcpp::node::Node::wait_for_graph_change()
* - rclcpp::event::Event
* - rclcpp::Node::get_graph_event()
* - rclcpp::Node::wait_for_graph_change()
* - rclcpp::Event
* - List topic names and types:
* - rclcpp::node::Node::get_topic_names_and_types()
* - rclcpp::Node::get_topic_names_and_types()
* - Get the number of publishers or subscribers on a topic:
* - rclcpp::node::Node::count_publishers()
* - rclcpp::node::Node::count_subscribers()
* - rclcpp::Node::count_publishers()
* - rclcpp::Node::count_subscribers()
*
* And components related to logging:
*
@ -105,7 +105,7 @@
* - Logger:
* - rclcpp::Logger
* - rclcpp/logger.hpp
* - rclcpp::node::Node::get_logger()
* - rclcpp::Node::get_logger()
*
* Finally, there are many internal API's and utilities:
*
@ -121,7 +121,7 @@
* - rclcpp/strategies/allocator_memory_strategy.hpp
* - rclcpp/strategies/message_pool_memory_strategy.hpp
* - Context object which is shared amongst multiple Nodes:
* - rclcpp::context::Context
* - rclcpp::Context
* - rclcpp/context.hpp
* - rclcpp/contexts/default_context.hpp
* - Various utilities:
@ -150,34 +150,4 @@
#include "rclcpp/utilities.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
// Namespace escalations.
// For example, this next line escalates type "rclcpp:node::Node" to "rclcpp::Node"
using rclcpp::node::Node;
using rclcpp::publisher::Publisher;
using rclcpp::publisher::PublisherBase;
using rclcpp::subscription::Subscription;
using rclcpp::subscription::SubscriptionBase;
using rclcpp::client::Client;
using rclcpp::client::ClientBase;
using rclcpp::service::Service;
using rclcpp::service::ServiceBase;
using rclcpp::parameter_client::AsyncParametersClient;
using rclcpp::parameter_client::SyncParametersClient;
using rclcpp::parameter_service::ParameterService;
using rclcpp::rate::GenericRate;
using rclcpp::rate::WallRate;
using rclcpp::timer::GenericTimer;
using rclcpp::timer::TimerBase;
using rclcpp::timer::WallTimer;
using ContextSharedPtr = rclcpp::context::Context::SharedPtr;
using rclcpp::utilities::ok;
using rclcpp::utilities::shutdown;
using rclcpp::utilities::init;
using rclcpp::utilities::sleep_for;
} // namespace rclcpp
#endif // RCLCPP__RCLCPP_HPP_

5
rclcpp/include/rclcpp/service.hpp
View file

@ -35,8 +35,6 @@
namespace rclcpp
{
namespace service
{
class ServiceBase
{
@ -91,8 +89,6 @@ protected:
bool owns_rcl_handle_ = true;
};
using any_service_callback::AnyServiceCallback;
template<typename ServiceT>
class Service : public ServiceBase
{
@ -223,7 +219,6 @@ private:
AnyServiceCallback<ServiceT> any_callback_;
};
} // namespace service
} // namespace rclcpp
#endif // RCLCPP__SERVICE_HPP_

6
rclcpp/include/rclcpp/subscription.hpp
View file

@ -45,9 +45,6 @@ namespace node_interfaces
class NodeTopicsInterface;
} // namespace node_interfaces
namespace subscription
{
/// Virtual base class for subscriptions. This pattern allows us to iterate over different template
/// specializations of Subscription, among other things.
class SubscriptionBase
@ -121,8 +118,6 @@ private:
RCLCPP_DISABLE_COPY(SubscriptionBase)
};
using any_subscription_callback::AnySubscriptionCallback;
/// Subscription implementation, templated on the type of message this subscription receives.
template<typename MessageT, typename Alloc = std::allocator<void>>
class Subscription : public SubscriptionBase
@ -292,7 +287,6 @@ private:
uint64_t intra_process_subscription_id_;
};
} // namespace subscription
} // namespace rclcpp
#endif // RCLCPP__SUBSCRIPTION_HPP_

18
rclcpp/include/rclcpp/subscription_factory.hpp
View file

@ -47,7 +47,7 @@ struct SubscriptionFactory
{
// Creates a Subscription<MessageT> object and returns it as a SubscriptionBase.
using SubscriptionFactoryFunction = std::function<
rclcpp::subscription::SubscriptionBase::SharedPtr(
rclcpp::SubscriptionBase::SharedPtr(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const std::string & topic_name,
rcl_subscription_options_t & subscription_options)>;
@ -58,7 +58,7 @@ struct SubscriptionFactory
using SetupIntraProcessFunction = std::function<
void(
rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
rclcpp::SubscriptionBase::SharedPtr subscription,
const rcl_subscription_options_t & subscription_options)>;
SetupIntraProcessFunction setup_intra_process;
@ -75,12 +75,12 @@ create_subscription_factory(
{
SubscriptionFactory factory;
using rclcpp::subscription::AnySubscriptionCallback;
using rclcpp::AnySubscriptionCallback;
AnySubscriptionCallback<MessageT, Alloc> any_subscription_callback(allocator);
any_subscription_callback.set(std::forward<CallbackT>(callback));
auto message_alloc =
std::make_shared<typename subscription::Subscription<MessageT, Alloc>::MessageAlloc>();
std::make_shared<typename Subscription<MessageT, Alloc>::MessageAlloc>();
// factory function that creates a MessageT specific SubscriptionT
factory.create_typed_subscription =
@ -88,13 +88,13 @@ create_subscription_factory(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const std::string & topic_name,
rcl_subscription_options_t & subscription_options
) -> rclcpp::subscription::SubscriptionBase::SharedPtr
) -> rclcpp::SubscriptionBase::SharedPtr
{
subscription_options.allocator =
rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
using rclcpp::subscription::Subscription;
using rclcpp::subscription::SubscriptionBase;
using rclcpp::Subscription;
using rclcpp::SubscriptionBase;
auto sub = Subscription<MessageT, Alloc>::make_shared(
node_base->get_shared_rcl_node_handle(),
@ -110,7 +110,7 @@ create_subscription_factory(
factory.setup_intra_process =
[message_alloc](
rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
rclcpp::SubscriptionBase::SharedPtr subscription,
const rcl_subscription_options_t & subscription_options)
{
rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = ipm;
@ -128,7 +128,7 @@ create_subscription_factory(
uint64_t publisher_id,
uint64_t message_sequence,
uint64_t subscription_id,
typename rclcpp::subscription::Subscription<MessageT, Alloc>::MessageUniquePtr & message)
typename rclcpp::Subscription<MessageT, Alloc>::MessageUniquePtr & message)
{
auto ipm = weak_ipm.lock();
if (!ipm) {

10
rclcpp/include/rclcpp/time_source.hpp
View file

@ -36,13 +36,13 @@ class TimeSource
{
public:
RCLCPP_PUBLIC
explicit TimeSource(rclcpp::node::Node::SharedPtr node);
explicit TimeSource(rclcpp::Node::SharedPtr node);
RCLCPP_PUBLIC
TimeSource();
RCLCPP_PUBLIC
void attachNode(rclcpp::node::Node::SharedPtr node);
void attachNode(rclcpp::Node::SharedPtr node);
RCLCPP_PUBLIC
void attachNode(
@ -77,18 +77,18 @@ private:
// The subscription for the clock callback
using MessageT = builtin_interfaces::msg::Time;
using Alloc = std::allocator<void>;
using SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>;
using SubscriptionT = rclcpp::Subscription<MessageT, Alloc>;
std::shared_ptr<SubscriptionT> clock_subscription_;
// The clock callback itself
void clock_cb(const builtin_interfaces::msg::Time::SharedPtr msg);
// Parameter Client pointer
std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameter_client_;
std::shared_ptr<rclcpp::AsyncParametersClient> parameter_client_;
// Parameter Event subscription
using ParamMessageT = rcl_interfaces::msg::ParameterEvent;
using ParamSubscriptionT = rclcpp::subscription::Subscription<ParamMessageT, Alloc>;
using ParamSubscriptionT = rclcpp::Subscription<ParamMessageT, Alloc>;
std::shared_ptr<ParamSubscriptionT> parameter_subscription_;
// Callback for parameter updates

3
rclcpp/include/rclcpp/timer.hpp
View file

@ -37,8 +37,6 @@
namespace rclcpp
{
namespace timer
{
class TimerBase
{
@ -182,7 +180,6 @@ protected:
template<typename CallbackType>
using WallTimer = GenericTimer<CallbackType, std::chrono::steady_clock>;
} // namespace timer
} // namespace rclcpp
#endif // RCLCPP__TIMER_HPP_

3
rclcpp/include/rclcpp/utilities.hpp
View file

@ -44,8 +44,6 @@ std::string to_string(T value)
namespace rclcpp
{
namespace utilities
{
/// Initialize communications via the rmw implementation and set up a global signal handler.
/**
@ -111,7 +109,6 @@ RCLCPP_PUBLIC
bool
sleep_for(const std::chrono::nanoseconds & nanoseconds);
} // namespace utilities
} // namespace rclcpp
#endif // RCLCPP__UTILITIES_HPP_

16
rclcpp/src/rclcpp/callback_group.cpp
View file

@ -23,28 +23,28 @@ CallbackGroup::CallbackGroup(CallbackGroupType group_type)
: type_(group_type), can_be_taken_from_(true)
{}
const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
CallbackGroup::get_subscription_ptrs() const
{
std::lock_guard<std::mutex> lock(mutex_);
return subscription_ptrs_;
}
const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
const std::vector<rclcpp::TimerBase::WeakPtr> &
CallbackGroup::get_timer_ptrs() const
{
std::lock_guard<std::mutex> lock(mutex_);
return timer_ptrs_;
}
const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
const std::vector<rclcpp::ServiceBase::WeakPtr> &
CallbackGroup::get_service_ptrs() const
{
std::lock_guard<std::mutex> lock(mutex_);
return service_ptrs_;
}
const std::vector<rclcpp::client::ClientBase::WeakPtr> &
const std::vector<rclcpp::ClientBase::WeakPtr> &
CallbackGroup::get_client_ptrs() const
{
std::lock_guard<std::mutex> lock(mutex_);
@ -65,28 +65,28 @@ CallbackGroup::type() const
void
CallbackGroup::add_subscription(
const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr)
const rclcpp::SubscriptionBase::SharedPtr subscription_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
subscription_ptrs_.push_back(subscription_ptr);
}
void
CallbackGroup::add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr)
CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
timer_ptrs_.push_back(timer_ptr);
}
void
CallbackGroup::add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr)
CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr service_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
service_ptrs_.push_back(service_ptr);
}
void
CallbackGroup::add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr)
CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr client_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
client_ptrs_.push_back(client_ptr);

4
rclcpp/src/rclcpp/client.cpp
View file

@ -27,7 +27,7 @@
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/utilities.hpp"
using rclcpp::client::ClientBase;
using rclcpp::ClientBase;
using rclcpp::exceptions::InvalidNodeError;
using rclcpp::exceptions::throw_from_rcl_error;
@ -100,7 +100,7 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
}
// continue forever if timeout is negative, otherwise continue until out of time_to_wait
do {
if (!rclcpp::utilities::ok()) {
if (!rclcpp::ok()) {
return false;
}
node_ptr->wait_for_graph_change(event, time_to_wait);

2
rclcpp/src/rclcpp/context.cpp
View file

@ -14,6 +14,6 @@
#include "rclcpp/context.hpp"
using rclcpp::context::Context;
using rclcpp::Context;
Context::Context() {}

3
rclcpp/src/rclcpp/event.cpp
View file

@ -16,8 +16,6 @@
namespace rclcpp
{
namespace event
{
Event::Event()
: state_(false) {}
@ -40,5 +38,4 @@ Event::check_and_clear()
return state_.exchange(false);
}
} // namespace event
} // namespace rclcpp

24
rclcpp/src/rclcpp/executor.cpp
View file

@ -50,7 +50,7 @@ Executor::Executor(const ExecutorArgs & args)
// and one for the executor's guard cond (interrupt_guard_condition_)
// Put the global ctrl-c guard condition in
memory_strategy_->add_guard_condition(rclcpp::utilities::get_sigint_guard_condition(&wait_set_));
memory_strategy_->add_guard_condition(rclcpp::get_sigint_guard_condition(&wait_set_));
// Put the executor's guard condition in
memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
@ -97,8 +97,8 @@ Executor::~Executor()
}
// Remove and release the sigint guard condition
memory_strategy_->remove_guard_condition(
rclcpp::utilities::get_sigint_guard_condition(&wait_set_));
rclcpp::utilities::release_sigint_guard_condition(&wait_set_);
rclcpp::get_sigint_guard_condition(&wait_set_));
rclcpp::release_sigint_guard_condition(&wait_set_);
}
void
@ -129,7 +129,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
}
void
Executor::add_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify)
Executor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
{
this->add_node(node_ptr->get_node_base_interface(), notify);
}
@ -163,7 +163,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
}
void
Executor::remove_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify)
Executor::remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
{
this->remove_node(node_ptr->get_node_base_interface(), notify);
}
@ -188,7 +188,7 @@ Executor::spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr n
}
void
Executor::spin_node_some(std::shared_ptr<rclcpp::node::Node> node)
Executor::spin_node_some(std::shared_ptr<rclcpp::Node> node)
{
this->spin_node_some(node->get_node_base_interface());
}
@ -269,7 +269,7 @@ Executor::execute_any_executable(AnyExecutable::SharedPtr any_exec)
void
Executor::execute_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
rclcpp::SubscriptionBase::SharedPtr subscription)
{
std::shared_ptr<void> message = subscription->create_message();
rmw_message_info_t message_info;
@ -290,7 +290,7 @@ Executor::execute_subscription(
void
Executor::execute_intra_process_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
rclcpp::SubscriptionBase::SharedPtr subscription)
{
rcl_interfaces::msg::IntraProcessMessage ipm;
rmw_message_info_t message_info;
@ -312,14 +312,14 @@ Executor::execute_intra_process_subscription(
void
Executor::execute_timer(
rclcpp::timer::TimerBase::SharedPtr timer)
rclcpp::TimerBase::SharedPtr timer)
{
timer->execute_callback();
}
void
Executor::execute_service(
rclcpp::service::ServiceBase::SharedPtr service)
rclcpp::ServiceBase::SharedPtr service)
{
auto request_header = service->create_request_header();
std::shared_ptr<void> request = service->create_request();
@ -339,7 +339,7 @@ Executor::execute_service(
void
Executor::execute_client(
rclcpp::client::ClientBase::SharedPtr client)
rclcpp::ClientBase::SharedPtr client)
{
auto request_header = client->create_request_header();
std::shared_ptr<void> response = client->create_response();
@ -471,7 +471,7 @@ Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr gro
}
rclcpp::callback_group::CallbackGroup::SharedPtr
Executor::get_group_by_timer(rclcpp::timer::TimerBase::SharedPtr timer)
Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
{
for (auto & weak_node : weak_nodes_) {
auto node = weak_node.lock();

4
rclcpp/src/rclcpp/executors.cpp
View file

@ -22,7 +22,7 @@ rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr
}
void
rclcpp::spin_some(rclcpp::node::Node::SharedPtr node_ptr)
rclcpp::spin_some(rclcpp::Node::SharedPtr node_ptr)
{
rclcpp::spin_some(node_ptr->get_node_base_interface());
}
@ -37,7 +37,7 @@ rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
}
void
rclcpp::spin(rclcpp::node::Node::SharedPtr node_ptr)
rclcpp::spin(rclcpp::Node::SharedPtr node_ptr)
{
rclcpp::spin(node_ptr->get_node_base_interface());
}

6
rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
View file

@ -21,7 +21,7 @@
#include "rclcpp/utilities.hpp"
#include "rclcpp/scope_exit.hpp"
using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
using rclcpp::executors::MultiThreadedExecutor;
MultiThreadedExecutor::MultiThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
: executor::Executor(args)
@ -66,11 +66,11 @@ MultiThreadedExecutor::get_number_of_threads()
void
MultiThreadedExecutor::run(size_t)
{
while (rclcpp::utilities::ok() && spinning.load()) {
while (rclcpp::ok() && spinning.load()) {
executor::AnyExecutable::SharedPtr any_exec;
{
std::lock_guard<std::mutex> wait_lock(wait_mutex_);
if (!rclcpp::utilities::ok() || !spinning.load()) {
if (!rclcpp::ok() || !spinning.load()) {
return;
}
any_exec = get_next_executable();

4
rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
View file

@ -15,7 +15,7 @@
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp/scope_exit.hpp"
using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
using rclcpp::executors::SingleThreadedExecutor;
SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
: executor::Executor(args) {}
@ -29,7 +29,7 @@ SingleThreadedExecutor::spin()
throw std::runtime_error("spin() called while already spinning");
}
RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
while (rclcpp::utilities::ok() && spinning.load()) {
while (rclcpp::ok() && spinning.load()) {
auto any_exec = get_next_executable();
execute_any_executable(any_exec);
}

6
rclcpp/src/rclcpp/graph_listener.cpp
View file

@ -43,7 +43,7 @@ GraphListener::GraphListener()
throw_from_rcl_error(ret, "failed to create interrupt guard condition");
}
shutdown_guard_condition_ = rclcpp::utilities::get_sigint_guard_condition(&wait_set_);
shutdown_guard_condition_ = rclcpp::get_sigint_guard_condition(&wait_set_);
}
GraphListener::~GraphListener()
@ -75,7 +75,7 @@ GraphListener::start_if_not_started()
// This is important to ensure that the wait set is finalized before
// destruction of static objects occurs.
std::weak_ptr<GraphListener> weak_this = shared_from_this();
rclcpp::utilities::on_shutdown(
rclcpp::on_shutdown(
[weak_this]() {
auto shared_this = weak_this.lock();
if (shared_this) {
@ -335,7 +335,7 @@ GraphListener::shutdown()
throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
}
if (shutdown_guard_condition_) {
rclcpp::utilities::release_sigint_guard_condition(&wait_set_);
rclcpp::release_sigint_guard_condition(&wait_set_);
shutdown_guard_condition_ = nullptr;
}
if (is_started_) {

2
rclcpp/src/rclcpp/intra_process_manager.cpp
View file

@ -31,7 +31,7 @@ IntraProcessManager::~IntraProcessManager()
uint64_t
IntraProcessManager::add_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
rclcpp::SubscriptionBase::SharedPtr subscription)
{
auto id = IntraProcessManager::get_next_unique_id();
impl_->add_subscription(id, subscription);

12
rclcpp/src/rclcpp/memory_strategy.cpp
View file

@ -16,7 +16,7 @@
using rclcpp::memory_strategy::MemoryStrategy;
rclcpp::subscription::SubscriptionBase::SharedPtr
rclcpp::SubscriptionBase::SharedPtr
MemoryStrategy::get_subscription_by_handle(
const rcl_subscription_t * subscriber_handle, const WeakNodeVector & weak_nodes)
{
@ -46,7 +46,7 @@ MemoryStrategy::get_subscription_by_handle(
return nullptr;
}
rclcpp::service::ServiceBase::SharedPtr
rclcpp::ServiceBase::SharedPtr
MemoryStrategy::get_service_by_handle(
const rcl_service_t * service_handle,
const WeakNodeVector & weak_nodes)
@ -72,7 +72,7 @@ MemoryStrategy::get_service_by_handle(
return nullptr;
}
rclcpp::client::ClientBase::SharedPtr
rclcpp::ClientBase::SharedPtr
MemoryStrategy::get_client_by_handle(
const rcl_client_t * client_handle,
const WeakNodeVector & weak_nodes)
@ -123,7 +123,7 @@ MemoryStrategy::get_node_by_group(
rclcpp::callback_group::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
rclcpp::SubscriptionBase::SharedPtr subscription,
const WeakNodeVector & weak_nodes)
{
for (auto & weak_node : weak_nodes) {
@ -149,7 +149,7 @@ MemoryStrategy::get_group_by_subscription(
rclcpp::callback_group::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_service(
rclcpp::service::ServiceBase::SharedPtr service,
rclcpp::ServiceBase::SharedPtr service,
const WeakNodeVector & weak_nodes)
{
for (auto & weak_node : weak_nodes) {
@ -175,7 +175,7 @@ MemoryStrategy::get_group_by_service(
rclcpp::callback_group::CallbackGroup::SharedPtr
MemoryStrategy::get_group_by_client(
rclcpp::client::ClientBase::SharedPtr client,
rclcpp::ClientBase::SharedPtr client,
const WeakNodeVector & weak_nodes)
{
for (auto & weak_node : weak_nodes) {

8
rclcpp/src/rclcpp/node.cpp
View file

@ -32,7 +32,7 @@
#include "rclcpp/node_interfaces/node_timers.hpp"
#include "rclcpp/node_interfaces/node_topics.hpp"
using rclcpp::node::Node;
using rclcpp::Node;
using rclcpp::exceptions::throw_from_rcl_error;
Node::Node(
@ -49,7 +49,7 @@ Node::Node(
Node::Node(
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())),
@ -190,7 +190,7 @@ Node::get_callback_groups() const
return node_base_->get_callback_groups();
}
rclcpp::event::Event::SharedPtr
rclcpp::Event::SharedPtr
Node::get_graph_event()
{
return node_graph_->get_graph_event();
@ -198,7 +198,7 @@ Node::get_graph_event()
void
Node::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);

4
rclcpp/src/rclcpp/node_interfaces/node_base.cpp
View file

@ -30,7 +30,7 @@ using rclcpp::node_interfaces::NodeBase;
NodeBase::NodeBase(
const std::string & node_name,
const std::string & namespace_,
rclcpp::context::Context::SharedPtr context)
rclcpp::Context::SharedPtr context)
: context_(context),
node_handle_(nullptr),
default_callback_group_(nullptr),
@ -176,7 +176,7 @@ NodeBase::get_namespace() const
return rcl_node_get_namespace(node_handle_.get());
}
rclcpp::context::Context::SharedPtr
rclcpp::Context::SharedPtr
NodeBase::get_context()
{
return context_;

10
rclcpp/src/rclcpp/node_interfaces/node_graph.cpp
View file

@ -233,7 +233,7 @@ NodeGraph::notify_graph_change()
std::remove_if(
graph_events_.begin(),
graph_events_.end(),
[](const rclcpp::event::Event::WeakPtr & wptr) {
[](const rclcpp::Event::WeakPtr & wptr) {
return wptr.expired();
}),
graph_events_.end());
@ -258,10 +258,10 @@ NodeGraph::notify_shutdown()
graph_cv_.notify_all();
}
rclcpp::event::Event::SharedPtr
rclcpp::Event::SharedPtr
NodeGraph::get_graph_event()
{
auto event = rclcpp::event::Event::make_shared();
auto event = rclcpp::Event::make_shared();
std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
graph_events_.push_back(event);
graph_users_count_++;
@ -275,7 +275,7 @@ NodeGraph::get_graph_event()
void
NodeGraph::wait_for_graph_change(
rclcpp::event::Event::SharedPtr event,
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout)
{
using rclcpp::exceptions::InvalidEventError;
@ -297,7 +297,7 @@ NodeGraph::wait_for_graph_change(
}
}
auto pred = [&event]() {
return event->check() || !rclcpp::utilities::ok();
return event->check() || !rclcpp::ok();
};
std::unique_lock<std::mutex> graph_lock(graph_mutex_);
if (!pred()) {

2
rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
View file

@ -33,7 +33,7 @@ NodeParameters::NodeParameters(
: node_topics_(node_topics)
{
using MessageT = rcl_interfaces::msg::ParameterEvent;
using PublisherT = rclcpp::publisher::Publisher<MessageT>;
using PublisherT = rclcpp::Publisher<MessageT>;
using AllocatorT = std::allocator<void>;
// TODO(wjwwood): expose this allocator through the Parameter interface.
auto allocator = std::make_shared<AllocatorT>();

4
rclcpp/src/rclcpp/node_interfaces/node_services.cpp
View file

@ -27,7 +27,7 @@ NodeServices::~NodeServices()
void
NodeServices::add_service(
rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
rclcpp::ServiceBase::SharedPtr service_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
if (group) {
@ -54,7 +54,7 @@ NodeServices::add_service(
void
NodeServices::add_client(
rclcpp::client::ClientBase::SharedPtr client_base_ptr,
rclcpp::ClientBase::SharedPtr client_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
if (group) {

2
rclcpp/src/rclcpp/node_interfaces/node_timers.cpp
View file

@ -27,7 +27,7 @@ NodeTimers::~NodeTimers()
void
NodeTimers::add_timer(
rclcpp::timer::TimerBase::SharedPtr timer,
rclcpp::TimerBase::SharedPtr timer,
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
{
if (callback_group) {

8
rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
View file

@ -30,7 +30,7 @@ NodeTopics::NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base)
NodeTopics::~NodeTopics()
{}
rclcpp::publisher::PublisherBase::SharedPtr
rclcpp::PublisherBase::SharedPtr
NodeTopics::create_publisher(
const std::string & topic_name,
const rclcpp::PublisherFactory & publisher_factory,
@ -63,7 +63,7 @@ NodeTopics::create_publisher(
void
NodeTopics::add_publisher(
rclcpp::publisher::PublisherBase::SharedPtr publisher)
rclcpp::PublisherBase::SharedPtr publisher)
{
// The publisher is not added to a callback group or anthing like that for now.
// It may be stored within the NodeTopics class or the NodeBase class in the future.
@ -79,7 +79,7 @@ NodeTopics::add_publisher(
}
}
rclcpp::subscription::SubscriptionBase::SharedPtr
rclcpp::SubscriptionBase::SharedPtr
NodeTopics::create_subscription(
const std::string & topic_name,
const rclcpp::SubscriptionFactory & subscription_factory,
@ -104,7 +104,7 @@ NodeTopics::create_subscription(
void
NodeTopics::add_subscription(
rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
rclcpp::SubscriptionBase::SharedPtr subscription,
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
{
// Assign to a group.

28
rclcpp/src/rclcpp/parameter_client.cpp
View file

@ -21,8 +21,8 @@
#include "./parameter_service_names.hpp"
using rclcpp::parameter_client::AsyncParametersClient;
using rclcpp::parameter_client::SyncParametersClient;
using rclcpp::AsyncParametersClient;
using rclcpp::SyncParametersClient;
AsyncParametersClient::AsyncParametersClient(
const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
@ -42,8 +42,8 @@ AsyncParametersClient::AsyncParametersClient(
rcl_client_options_t options = rcl_client_get_default_options();
options.qos = qos_profile;
using rclcpp::client::Client;
using rclcpp::client::ClientBase;
using rclcpp::Client;
using rclcpp::ClientBase;
get_parameters_client_ = Client<rcl_interfaces::srv::GetParameters>::make_shared(
node_base_interface.get(),
@ -89,7 +89,7 @@ AsyncParametersClient::AsyncParametersClient(
}
AsyncParametersClient::AsyncParametersClient(
const rclcpp::node::Node::SharedPtr node,
const rclcpp::Node::SharedPtr node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: AsyncParametersClient(
@ -102,7 +102,7 @@ AsyncParametersClient::AsyncParametersClient(
{}
AsyncParametersClient::AsyncParametersClient(
rclcpp::node::Node * node,
rclcpp::Node * node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: AsyncParametersClient(
@ -131,7 +131,7 @@ AsyncParametersClient::get_parameters(
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<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f)
{
std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
auto & pvalues = cb_f.get()->values;
@ -172,7 +172,7 @@ AsyncParametersClient::get_parameter_types(
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<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f)
{
std::vector<rclcpp::parameter::ParameterType> types;
auto & pts = cb_f.get()->types;
@ -211,7 +211,7 @@ AsyncParametersClient::set_parameters(
set_parameters_client_->async_send_request(
request,
[promise_result, future_result, callback](
rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f)
rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f)
{
promise_result->set_value(cb_f.get()->results);
if (callback != nullptr) {
@ -245,7 +245,7 @@ AsyncParametersClient::set_parameters_atomically(
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<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f)
{
promise_result->set_value(cb_f.get()->result);
if (callback != nullptr) {
@ -276,7 +276,7 @@ AsyncParametersClient::list_parameters(
list_parameters_client_->async_send_request(
request,
[promise_result, future_result, callback](
rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f)
rclcpp::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f)
{
promise_result->set_value(cb_f.get()->result);
if (callback != nullptr) {
@ -302,7 +302,7 @@ AsyncParametersClient::service_is_ready() const
bool
AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
{
const std::vector<std::shared_ptr<rclcpp::client::ClientBase>> clients = {
const std::vector<std::shared_ptr<rclcpp::ClientBase>> clients = {
get_parameters_client_,
get_parameter_types_client_,
set_parameters_client_,
@ -326,7 +326,7 @@ AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds tim
}
SyncParametersClient::SyncParametersClient(
rclcpp::node::Node::SharedPtr node,
rclcpp::Node::SharedPtr node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: SyncParametersClient(
@ -338,7 +338,7 @@ SyncParametersClient::SyncParametersClient(
SyncParametersClient::SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
rclcpp::node::Node::SharedPtr node,
rclcpp::Node::SharedPtr node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: executor_(executor), node_(node)

6
rclcpp/src/rclcpp/parameter_service.cpp
View file

@ -21,14 +21,14 @@
#include "./parameter_service_names.hpp"
using rclcpp::parameter_service::ParameterService;
using rclcpp::ParameterService;
ParameterService::ParameterService(
const rclcpp::node::Node::SharedPtr node,
const rclcpp::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile)
: node_(node)
{
std::weak_ptr<rclcpp::node::Node> captured_node = node_;
std::weak_ptr<rclcpp::Node> captured_node = node_;
get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
std::string(node_->get_name()) + "/" + parameter_service_names::get_parameters,
[captured_node](

2
rclcpp/src/rclcpp/publisher.cpp
View file

@ -33,7 +33,7 @@
#include "rclcpp/node.hpp"
#include "rclcpp/expand_topic_or_service_name.hpp"
using rclcpp::publisher::PublisherBase;
using rclcpp::PublisherBase;
PublisherBase::PublisherBase(
rclcpp::node_interfaces::NodeBaseInterface * node_base,

2
rclcpp/src/rclcpp/service.cpp
View file

@ -25,7 +25,7 @@
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
using rclcpp::service::ServiceBase;
using rclcpp::ServiceBase;
ServiceBase::ServiceBase(
std::shared_ptr<rcl_node_t> node_handle,

2
rclcpp/src/rclcpp/subscription.cpp
View file

@ -25,7 +25,7 @@
#include "rmw/rmw.h"
using rclcpp::subscription::SubscriptionBase;
using rclcpp::SubscriptionBase;
SubscriptionBase::SubscriptionBase(
std::shared_ptr<rcl_node_t> node_handle,

6
rclcpp/src/rclcpp/time_source.cpp
View file

@ -33,7 +33,7 @@
namespace rclcpp
{
TimeSource::TimeSource(std::shared_ptr<rclcpp::node::Node> node)
TimeSource::TimeSource(std::shared_ptr<rclcpp::Node> node)
: ros_time_active_(false)
{
this->attachNode(node);
@ -44,7 +44,7 @@ TimeSource::TimeSource()
{
}
void TimeSource::attachNode(rclcpp::node::Node::SharedPtr node)
void TimeSource::attachNode(rclcpp::Node::SharedPtr node)
{
attachNode(
node->get_node_base_interface(),
@ -85,7 +85,7 @@ void TimeSource::attachNode(
msg_mem_strat,
allocator);
parameter_client_ = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(
parameter_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
node_base_,
node_topics_,
node_graph_,

2
rclcpp/src/rclcpp/timer.cpp
View file

@ -17,7 +17,7 @@
#include <chrono>
#include <string>
using rclcpp::timer::TimerBase;
using rclcpp::TimerBase;
TimerBase::TimerBase(std::chrono::nanoseconds period)
{

18
rclcpp/src/rclcpp/utilities.cpp
View file

@ -157,7 +157,7 @@ signal_handler(int signal_value)
}
void
rclcpp::utilities::init(int argc, char * argv[])
rclcpp::init(int argc, char * argv[])
{
g_is_interrupted.store(false);
if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
@ -174,14 +174,14 @@ rclcpp::utilities::init(int argc, char * argv[])
action.sa_flags = SA_SIGINFO;
::old_action = set_sigaction(SIGINT, action);
// Register an on_shutdown hook to restore the old action.
rclcpp::utilities::on_shutdown(
rclcpp::on_shutdown(
[]() {
set_sigaction(SIGINT, ::old_action);
});
#else
::old_signal_handler = set_signal_handler(SIGINT, ::signal_handler);
// Register an on_shutdown hook to restore the old signal handler.
rclcpp::utilities::on_shutdown(
rclcpp::on_shutdown(
[]() {
set_signal_handler(SIGINT, ::old_signal_handler);
});
@ -189,7 +189,7 @@ rclcpp::utilities::init(int argc, char * argv[])
}
bool
rclcpp::utilities::ok()
rclcpp::ok()
{
return ::g_signal_status == 0;
}
@ -198,7 +198,7 @@ static std::mutex on_shutdown_mutex_;
static std::vector<std::function<void(void)>> on_shutdown_callbacks_;
void
rclcpp::utilities::shutdown()
rclcpp::shutdown()
{
trigger_interrupt_guard_condition(SIGINT);
@ -211,14 +211,14 @@ rclcpp::utilities::shutdown()
}
void
rclcpp::utilities::on_shutdown(std::function<void(void)> callback)
rclcpp::on_shutdown(std::function<void(void)> callback)
{
std::lock_guard<std::mutex> lock(on_shutdown_mutex_);
on_shutdown_callbacks_.push_back(callback);
}
rcl_guard_condition_t *
rclcpp::utilities::get_sigint_guard_condition(rcl_wait_set_t * wait_set)
rclcpp::get_sigint_guard_condition(rcl_wait_set_t * wait_set)
{
std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
auto kv = g_sigint_guard_cond_handles.find(wait_set);
@ -240,7 +240,7 @@ rclcpp::utilities::get_sigint_guard_condition(rcl_wait_set_t * wait_set)
}
void
rclcpp::utilities::release_sigint_guard_condition(rcl_wait_set_t * wait_set)
rclcpp::release_sigint_guard_condition(rcl_wait_set_t * wait_set)
{
std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
auto kv = g_sigint_guard_cond_handles.find(wait_set);
@ -262,7 +262,7 @@ rclcpp::utilities::release_sigint_guard_condition(rcl_wait_set_t * wait_set)
}
bool
rclcpp::utilities::sleep_for(const std::chrono::nanoseconds & nanoseconds)
rclcpp::sleep_for(const std::chrono::nanoseconds & nanoseconds)
{
std::chrono::nanoseconds time_left = nanoseconds;
{

4
rclcpp/test/test_client.cpp
View file

@ -32,7 +32,7 @@ protected:
void SetUp()
{
node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
node = std::make_shared<rclcpp::Node>("my_node", "/ns");
}
void TearDown()
@ -40,7 +40,7 @@ protected:
node.reset();
}
rclcpp::node::Node::SharedPtr node;
rclcpp::Node::SharedPtr node;
};
/*

4
rclcpp/test/test_executor.cpp
View file

@ -38,7 +38,7 @@ protected:
void SetUp()
{
node = std::make_shared<rclcpp::node::Node>("my_node");
node = std::make_shared<rclcpp::Node>("my_node");
}
void TearDown()
@ -46,7 +46,7 @@ protected:
node.reset();
}
rclcpp::node::Node::SharedPtr node;
rclcpp::Node::SharedPtr node;
};
// Make sure that executors detach from nodes when destructing

20
rclcpp/test/test_externally_defined_services.cpp
View file

@ -43,7 +43,7 @@ callback(
{}
TEST_F(TestExternallyDefinedServices, default_behavior) {
auto node_handle = rclcpp::node::Node::make_shared("base_node");
auto node_handle = rclcpp::Node::make_shared("base_node");
try {
auto srv = node_handle->create_service<rclcpp::srv::Mock>("test",
@ -57,17 +57,17 @@ TEST_F(TestExternallyDefinedServices, default_behavior) {
TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
auto node_handle = rclcpp::node::Node::make_shared("base_node");
auto node_handle = rclcpp::Node::make_shared("base_node");
// mock for externally defined service
rcl_service_t service_handle = rcl_get_zero_initialized_service();
rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
// don't initialize the service
// expect fail
try {
rclcpp::service::Service<rclcpp::srv::Mock>(
rclcpp::Service<rclcpp::srv::Mock>(
node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
&service_handle, cb);
} catch (const std::runtime_error &) {
@ -79,7 +79,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
}
TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
auto node_handle = rclcpp::node::Node::make_shared("base_node");
auto node_handle = rclcpp::Node::make_shared("base_node");
// mock for externally defined service
rcl_service_t service_handle = rcl_get_zero_initialized_service();
@ -95,10 +95,10 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
return;
}
rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
try {
rclcpp::service::Service<rclcpp::srv::Mock>(
rclcpp::Service<rclcpp::srv::Mock>(
node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
&service_handle, cb);
} catch (const std::runtime_error &) {
@ -110,7 +110,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
}
TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
auto node_handle = rclcpp::node::Node::make_shared("base_node");
auto node_handle = rclcpp::Node::make_shared("base_node");
// mock for externally defined service
rcl_service_t service_handle = rcl_get_zero_initialized_service();
@ -125,11 +125,11 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
FAIL();
return;
}
rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
{
// Call constructor
rclcpp::service::Service<rclcpp::srv::Mock> srv_cpp(
rclcpp::Service<rclcpp::srv::Mock> srv_cpp(
node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
&service_handle, cb);
// Call destructor

8
rclcpp/test/test_find_weak_nodes.cpp
View file

@ -34,8 +34,8 @@ TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
// A vector of weak pointers to nodes
auto memory_strategy = std::make_shared<
rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
auto existing_node = rclcpp::node::Node::make_shared("existing_node");
auto dead_node = rclcpp::node::Node::make_shared("dead_node");
auto existing_node = rclcpp::Node::make_shared("existing_node");
auto dead_node = rclcpp::Node::make_shared("dead_node");
rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
weak_nodes.push_back(existing_node->get_node_base_interface());
weak_nodes.push_back(dead_node->get_node_base_interface());
@ -59,8 +59,8 @@ TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
// A vector of weak pointers to nodes, all valid
auto memory_strategy = std::make_shared<
rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
auto existing_node1 = rclcpp::node::Node::make_shared("existing_node1");
auto existing_node2 = rclcpp::node::Node::make_shared("existing_node2");
auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
weak_nodes.push_back(existing_node1->get_node_base_interface());
weak_nodes.push_back(existing_node2->get_node_base_interface());

66
rclcpp/test/test_intra_process_manager.cpp
View file

@ -23,8 +23,6 @@
// Mock up publisher and subscription base to avoid needing an rmw impl.
namespace rclcpp
{
namespace publisher
{
namespace mock
{
@ -80,13 +78,10 @@ public:
};
} // namespace mock
} // namespace publisher
} // namespace rclcpp
namespace rclcpp
{
namespace subscription
{
namespace mock
{
@ -112,7 +107,6 @@ public:
};
} // namespace mock
} // namespace subscription
} // namespace rclcpp
// Prevent rclcpp/publisher.hpp and rclcpp/subscription.hpp from being imported.
@ -146,18 +140,18 @@ TEST(TestIntraProcessManager, nominal) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 2;
auto p2 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p2->mock_topic_name = "nominal2";
p2->mock_queue_size = 10;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
@ -237,12 +231,12 @@ TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 10;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
@ -279,20 +273,20 @@ TEST(TestIntraProcessManager, removed_subscription_affects_take) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 10;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
auto s2 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s2 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s2->mock_topic_name = "nominal1";
s2->mock_queue_size = 10;
auto s3 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s3 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s3->mock_topic_name = "nominal1";
s3->mock_queue_size = 10;
@ -350,20 +344,20 @@ TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 10;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
auto s2 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s2 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s2->mock_topic_name = "nominal1";
s2->mock_queue_size = 10;
auto s3 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s3 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s3->mock_topic_name = "nominal1";
s3->mock_queue_size = 10;
@ -422,24 +416,24 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 10;
auto p2 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p2->mock_topic_name = "nominal1";
p2->mock_queue_size = 10;
auto p3 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p3->mock_topic_name = "nominal1";
p3->mock_queue_size = 10;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
@ -522,32 +516,32 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 10;
auto p2 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p2->mock_topic_name = "nominal1";
p2->mock_queue_size = 10;
auto p3 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p3->mock_topic_name = "nominal1";
p3->mock_queue_size = 10;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
auto s2 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s2 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s2->mock_topic_name = "nominal1";
s2->mock_queue_size = 10;
auto s3 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s3 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s3->mock_topic_name = "nominal1";
s3->mock_queue_size = 10;
@ -689,12 +683,12 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 2;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
@ -760,7 +754,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 2;
@ -778,7 +772,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
ASSERT_EQ(nullptr, unique_msg);
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
@ -799,7 +793,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
rclcpp::intra_process_manager::IntraProcessManager ipm;
auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
s1->mock_topic_name = "nominal1";
s1->mock_queue_size = 10;
@ -809,7 +803,7 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
uint64_t p1_m1_id;
{
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 2;
@ -848,7 +842,7 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_store) {
uint64_t p1_id;
{
auto p1 = std::make_shared<
rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
>();
p1->mock_topic_name = "nominal1";
p1->mock_queue_size = 2;

22
rclcpp/test/test_node.cpp
View file

@ -35,40 +35,40 @@ protected:
*/
TEST_F(TestNode, construction_and_destruction) {
{
auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
}
{
ASSERT_THROW({
auto node = std::make_shared<rclcpp::node::Node>("invalid_node?", "/ns");
auto node = std::make_shared<rclcpp::Node>("invalid_node?", "/ns");
}, rclcpp::exceptions::InvalidNodeNameError);
}
{
ASSERT_THROW({
auto node = std::make_shared<rclcpp::node::Node>("my_node", "/invalid_ns?");
auto node = std::make_shared<rclcpp::Node>("my_node", "/invalid_ns?");
}, rclcpp::exceptions::InvalidNamespaceError);
}
}
TEST_F(TestNode, get_name_and_namespace) {
{
auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/ns", node->get_namespace());
}
{
auto node = std::make_shared<rclcpp::node::Node>("my_node", "ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/ns", node->get_namespace());
}
{
auto node = std::make_shared<rclcpp::node::Node>("my_node", "/my/ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "/my/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/my/ns", node->get_namespace());
}
{
auto node = std::make_shared<rclcpp::node::Node>("my_node", "my/ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "my/ns");
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/my/ns", node->get_namespace());
}
@ -77,24 +77,24 @@ TEST_F(TestNode, get_name_and_namespace) {
TEST_F(TestNode, get_logger) {
// Currently the namespace is not taken into account with the node logger name
{
auto node = std::make_shared<rclcpp::node::Node>("my_node");
auto node = std::make_shared<rclcpp::Node>("my_node");
EXPECT_STREQ("my_node", node->get_logger().get_name());
}
{
auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
EXPECT_STREQ("my_node", node->get_logger().get_name());
}
}
TEST_F(TestNode, get_clock) {
auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto ros_clock = node->get_clock();
EXPECT_TRUE(ros_clock != nullptr);
EXPECT_EQ(ros_clock->get_clock_type(), RCL_ROS_TIME);
}
TEST_F(TestNode, now) {
auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
auto clock = node->get_clock();
auto now_builtin = node->now().nanoseconds();
auto now_external = clock->now().nanoseconds();

4
rclcpp/test/test_publisher.cpp
View file

@ -32,7 +32,7 @@ protected:
void SetUp()
{
node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
node = std::make_shared<rclcpp::Node>("my_node", "/ns");
}
void TearDown()
@ -40,7 +40,7 @@ protected:
node.reset();
}
rclcpp::node::Node::SharedPtr node;
rclcpp::Node::SharedPtr node;
};
/*

16
rclcpp/test/test_rate.cpp
View file

@ -28,7 +28,7 @@ TEST(TestRate, rate_basics) {
double overrun_ratio = 1.5;
auto start = std::chrono::system_clock::now();
rclcpp::rate::Rate r(period);
rclcpp::Rate r(period);
ASSERT_FALSE(r.is_steady());
ASSERT_TRUE(r.sleep());
auto one = std::chrono::system_clock::now();
@ -36,14 +36,14 @@ TEST(TestRate, rate_basics) {
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
rclcpp::sleep_for(offset);
ASSERT_TRUE(r.sleep());
auto two = std::chrono::system_clock::now();
delta = two - start;
ASSERT_TRUE(2 * period < delta);
ASSERT_TRUE(2 * period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
rclcpp::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now();
r.reset();
ASSERT_TRUE(r.sleep());
@ -52,7 +52,7 @@ TEST(TestRate, rate_basics) {
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset + period);
rclcpp::sleep_for(offset + period);
auto four = std::chrono::system_clock::now();
ASSERT_FALSE(r.sleep());
auto five = std::chrono::system_clock::now();
@ -67,7 +67,7 @@ TEST(TestRate, wall_rate_basics) {
double overrun_ratio = 1.5;
auto start = std::chrono::steady_clock::now();
rclcpp::rate::WallRate r(period);
rclcpp::WallRate r(period);
ASSERT_TRUE(r.is_steady());
ASSERT_TRUE(r.sleep());
auto one = std::chrono::steady_clock::now();
@ -75,14 +75,14 @@ TEST(TestRate, wall_rate_basics) {
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
rclcpp::sleep_for(offset);
ASSERT_TRUE(r.sleep());
auto two = std::chrono::steady_clock::now();
delta = two - start;
ASSERT_TRUE(2 * period < delta + epsilon);
ASSERT_TRUE(2 * period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
rclcpp::sleep_for(offset);
auto two_offset = std::chrono::steady_clock::now();
r.reset();
ASSERT_TRUE(r.sleep());
@ -91,7 +91,7 @@ TEST(TestRate, wall_rate_basics) {
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset + period);
rclcpp::sleep_for(offset + period);
auto four = std::chrono::steady_clock::now();
ASSERT_FALSE(r.sleep());
auto five = std::chrono::steady_clock::now();

4
rclcpp/test/test_service.cpp
View file

@ -32,7 +32,7 @@ protected:
void SetUp()
{
node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
node = std::make_shared<rclcpp::Node>("my_node", "/ns");
}
void TearDown()
@ -40,7 +40,7 @@ protected:
node.reset();
}
rclcpp::node::Node::SharedPtr node;
rclcpp::Node::SharedPtr node;
};
/*

4
rclcpp/test/test_subscription.cpp
View file

@ -32,7 +32,7 @@ protected:
void SetUp()
{
node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
node = std::make_shared<rclcpp::Node>("my_node", "/ns");
}
void TearDown()
@ -40,7 +40,7 @@ protected:
node.reset();
}
rclcpp::node::Node::SharedPtr node;
rclcpp::Node::SharedPtr node;
};
/*

10
rclcpp/test/test_time_source.cpp
View file

@ -39,7 +39,7 @@ protected:
void SetUp()
{
node = std::make_shared<rclcpp::node::Node>("my_node");
node = std::make_shared<rclcpp::Node>("my_node");
}
void TearDown()
@ -47,7 +47,7 @@ protected:
node.reset();
}
rclcpp::node::Node::SharedPtr node;
rclcpp::Node::SharedPtr node;
};
@ -228,7 +228,7 @@ TEST_F(TestTimeSource, callbacks) {
}
void trigger_clock_changes(
rclcpp::node::Node::SharedPtr node)
rclcpp::Node::SharedPtr node)
{
auto clock_pub = node->create_publisher<builtin_interfaces::msg::Time>("clock",
rmw_qos_profile_default);
@ -334,8 +334,8 @@ TEST_F(TestTimeSource, parameter_activation) {
ts.attachClock(ros_clock);
EXPECT_FALSE(ros_clock->ros_time_is_active());
auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
using namespace std::chrono_literals;
EXPECT_TRUE(parameters_client->wait_for_service(2s));

20
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -83,7 +83,7 @@ public:
const std::string & namespace_ = "",
bool use_intra_process_comms = false);
/// Create a node based on the node name and a rclcpp::context::Context.
/// Create a node based on the node name and a rclcpp::Context.
/**
* \param[in] node_name Name of the node.
* \param[in] node_name Namespace of the node.
@ -95,7 +95,7 @@ public:
LifecycleNode(
const std::string & node_name,
const std::string & namespace_,
rclcpp::context::Context::SharedPtr context,
rclcpp::Context::SharedPtr context,
bool use_intra_process_comms = false);
RCLCPP_LIFECYCLE_PUBLIC
@ -172,7 +172,7 @@ public:
typename MessageT,
typename CallbackT,
typename Alloc = std::allocator<void>,
typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
std::shared_ptr<SubscriptionT>
create_subscription(
const std::string & topic_name,
@ -202,7 +202,7 @@ public:
typename MessageT,
typename CallbackT,
typename Alloc = std::allocator<void>,
typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
std::shared_ptr<SubscriptionT>
create_subscription(
const std::string & topic_name,
@ -221,7 +221,7 @@ public:
* \param[in] group Callback group to execute this timer's callback in.
*/
template<typename DurationT = std::milli, typename CallbackT>
typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
typename rclcpp::WallTimer<CallbackT>::SharedPtr
create_wall_timer(
std::chrono::duration<int64_t, DurationT> period,
CallbackT callback,
@ -229,7 +229,7 @@ public:
/* Create and return a Client. */
template<typename ServiceT>
typename rclcpp::client::Client<ServiceT>::SharedPtr
typename rclcpp::Client<ServiceT>::SharedPtr
create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
@ -237,7 +237,7 @@ public:
/* Create and return a Service. */
template<typename ServiceT, typename CallbackT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
typename rclcpp::Service<ServiceT>::SharedPtr
create_service(
const std::string & service_name,
CallbackT && callback,
@ -313,7 +313,7 @@ public:
* out of scope.
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::event::Event::SharedPtr
rclcpp::Event::SharedPtr
get_graph_event();
/// Wait for a graph event to occur by waiting on an Event to become set.
@ -326,7 +326,7 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
void
wait_for_graph_change(
rclcpp::event::Event::SharedPtr event,
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout);
RCLCPP_LIFECYCLE_PUBLIC
@ -480,7 +480,7 @@ protected:
RCLCPP_LIFECYCLE_PUBLIC
void
add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer);
add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer);
private:
RCLCPP_DISABLE_COPY(LifecycleNode)

20
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
View file

@ -90,7 +90,7 @@ LifecycleNode::create_subscription(
return rclcpp::create_subscription<
MessageT, CallbackT, Alloc,
rclcpp::subscription::Subscription<MessageT, Alloc>>(
rclcpp::Subscription<MessageT, Alloc>>(
this->node_topics_.get(),
topic_name,
std::forward<CallbackT>(callback),
@ -131,13 +131,13 @@ LifecycleNode::create_subscription(
}
template<typename DurationT, typename CallbackT>
typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
typename rclcpp::WallTimer<CallbackT>::SharedPtr
LifecycleNode::create_wall_timer(
std::chrono::duration<int64_t, DurationT> period,
CallbackT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
auto timer = rclcpp::timer::WallTimer<CallbackT>::make_shared(
auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
std::chrono::duration_cast<std::chrono::nanoseconds>(period),
std::move(callback));
node_timers_->add_timer(timer, group);
@ -145,7 +145,7 @@ LifecycleNode::create_wall_timer(
}
template<typename ServiceT>
typename rclcpp::client::Client<ServiceT>::SharedPtr
typename rclcpp::Client<ServiceT>::SharedPtr
LifecycleNode::create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile,
@ -154,8 +154,8 @@ LifecycleNode::create_client(
rcl_client_options_t options = rcl_client_get_default_options();
options.qos = qos_profile;
using rclcpp::client::Client;
using rclcpp::client::ClientBase;
using rclcpp::Client;
using rclcpp::ClientBase;
auto cli = Client<ServiceT>::make_shared(
node_base_.get(),
@ -169,23 +169,23 @@ LifecycleNode::create_client(
}
template<typename ServiceT, typename CallbackT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
typename rclcpp::Service<ServiceT>::SharedPtr
LifecycleNode::create_service(
const std::string & service_name,
CallbackT && callback,
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
rclcpp::AnyServiceCallback<ServiceT> any_service_callback;
any_service_callback.set(std::forward<CallbackT>(callback));
rcl_service_options_t service_options = rcl_service_get_default_options();
service_options.qos = qos_profile;
auto serv = rclcpp::service::Service<ServiceT>::make_shared(
auto serv = rclcpp::Service<ServiceT>::make_shared(
node_base_->get_shared_rcl_node_handle(),
service_name, any_service_callback, service_options);
auto serv_base_ptr = std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(serv);
auto serv_base_ptr = std::dynamic_pointer_cast<rclcpp::ServiceBase>(serv);
node_services_->add_service(serv_base_ptr, group);
return serv;
}

14
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
View file

@ -45,7 +45,7 @@ public:
*/
template<typename MessageT, typename Alloc = std::allocator<void>>
class LifecyclePublisher : public LifecyclePublisherInterface,
public rclcpp::publisher::Publisher<MessageT, Alloc>
public rclcpp::Publisher<MessageT, Alloc>
{
public:
using MessageAllocTraits = rclcpp::allocator::AllocRebind<MessageT, Alloc>;
@ -58,7 +58,7 @@ public:
const std::string & topic,
const rcl_publisher_options_t & publisher_options,
std::shared_ptr<MessageAlloc> allocator)
: rclcpp::publisher::Publisher<MessageT, Alloc>(
: rclcpp::Publisher<MessageT, Alloc>(
node_base, topic, publisher_options, allocator),
enabled_(false)
{}
@ -77,7 +77,7 @@ public:
if (!enabled_) {
return;
}
rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
/// LifecyclePublisher publish function
@ -92,7 +92,7 @@ public:
if (!enabled_) {
return;
}
rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
/// LifecyclePublisher publish function
@ -107,7 +107,7 @@ public:
if (!enabled_) {
return;
}
rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
/// LifecyclePublisher publish function
@ -122,7 +122,7 @@ public:
if (!enabled_) {
return;
}
rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
virtual void
@ -146,7 +146,7 @@ public:
if (!enabled_) {
return;
}
rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
virtual void

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