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break Node into several separate interfaces (#277)

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* add the NodeBaseInterface and impl NodeBase

* refactor rclcpp to use NodeBaseInterface

* triggering a guard condition is not const

* remove unnecessary pure virtual destructor

* remove unused private member, style

* create NodeTopics interface, refactor pub/sub

* add convenience functions to fix API breaks

* fix compilation errors from NodeTopics refactor

* move "Event" based exceptions to exceptions.hpp

* add the NodeGraphInterface and related API's

* update node and graph_listener to use NodeGraph API

* initialize node_topics_ and node_graph_ in Node

* remove methods from Node and reorganize the order

the removed methods are really low level and still
available via their respective Node*Interface class

* add the NodeServices API and implementation

* add the NodeParameters API and refactor Node

* mixups

* fixup NodeParameters constructor

* added NodeTimers API and refactor Node

* make new create_publisher and create_subscription free template functions

* fixup

* fixup

* fixup

* fixup share pointer to node in any_executable

* free env value before throwing on Windows

* uncrustify and cpplint

* address constness issues

* do not store the topic name as a std::string in subscription

* fixes to support const char * topic name

* fix incomplete type specification, which fails on Windows

* refactor after rebase from type support changes

* fixup Windows build

* fix template issues on Windows

* uncrustify

* remove the unnecessary callback group argument from the add_publisher func

* remove unnecessary using = directive

* do not store node name in C++

* fix client and service creation in Node constructor

* fix include orders
This commit is contained in:
William Woodall 2016-12-09 17:09:29 -08:00 • committed by GitHub
parent 2309e5e250
commit 734ac278db
53 changed files with 3106 additions and 1033 deletions
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8
rclcpp/test/test_find_weak_nodes.cpp
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@ -37,8 +37,8 @@ TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
auto existing_node = rclcpp::node::Node::make_shared("existing_node");
auto dead_node = rclcpp::node::Node::make_shared("dead_node");
rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
weak_nodes.push_back(existing_node);
weak_nodes.push_back(dead_node);
weak_nodes.push_back(existing_node->get_node_base_interface());
weak_nodes.push_back(dead_node->get_node_base_interface());
// AND
// Delete dead_node, creating a dangling pointer in weak_nodes
@ -62,8 +62,8 @@ TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
auto existing_node1 = rclcpp::node::Node::make_shared("existing_node1");
auto existing_node2 = rclcpp::node::Node::make_shared("existing_node2");
rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
weak_nodes.push_back(existing_node1);
weak_nodes.push_back(existing_node2);
weak_nodes.push_back(existing_node1->get_node_base_interface());
weak_nodes.push_back(existing_node2->get_node_base_interface());
ASSERT_FALSE(weak_nodes[0].expired());
ASSERT_FALSE(weak_nodes[1].expired());