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Remove MANUAL_BY_NODE liveliness API (#1107)

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
This commit is contained in:
Ivan Santiago Paunovic 2020-05-12 14:52:26 -03:00 • committed by GitHub
parent cac761373f
commit 803d7f27be
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 2 additions and 38 deletions
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13
rclcpp/include/rclcpp/node.hpp
View file

@ -1124,19 +1124,6 @@ public:
const rclcpp::NodeOptions &
get_node_options() const;
/// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
/**
* If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator
* of this node may manually call `assert_liveliness` at some point in time to signal to the rest
* of the system that this Node is still alive.
*
* \return `true` if the liveliness was asserted successfully, otherwise `false`
*/
RCLCPP_PUBLIC
RCUTILS_WARN_UNUSED
bool
assert_liveliness() const;
protected:
/// Construct a sub-node, which will extend the namespace of all entities created with it.
/**

5
rclcpp/include/rclcpp/node_interfaces/node_base.hpp
View file

@ -91,11 +91,6 @@ public:
RCLCPP_PUBLIC
bool
assert_liveliness() const override;
RCLCPP_PUBLIC
rclcpp::CallbackGroup::SharedPtr
create_callback_group(rclcpp::CallbackGroupType group_type) override;

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

@ -102,12 +102,6 @@ public:
std::shared_ptr<const rcl_node_t>
get_shared_rcl_node_handle() const = 0;
/// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
RCLCPP_PUBLIC
virtual
bool
assert_liveliness() const = 0;
/// Create and return a callback group.
RCLCPP_PUBLIC
virtual

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

@ -499,9 +499,3 @@ Node::get_node_options() const
{
return this->node_options_;
}
bool
Node::assert_liveliness() const
{
return node_base_->assert_liveliness();
}

6
rclcpp/src/rclcpp/node_interfaces/node_base.cpp
View file

@ -202,12 +202,6 @@ NodeBase::get_shared_rcl_node_handle() const
return node_handle_;
}
bool
NodeBase::assert_liveliness() const
{
return RCL_RET_OK == rcl_node_assert_liveliness(get_rcl_node_handle());
}
rclcpp::CallbackGroup::SharedPtr
NodeBase::create_callback_group(rclcpp::CallbackGroupType group_type)
{

2
rclcpp/test/test_node.cpp
View file

@ -2591,7 +2591,7 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
RMW_QOS_POLICY_DURABILITY_VOLATILE,
{15, 1678},
{29, 2345},
RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE,
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
{5, 23456},
false
};

2
rclcpp/test/test_qos.cpp
View file

@ -65,7 +65,7 @@ TEST(TestQoS, equality_liveliness) {
EXPECT_NE(a, b);
b.liveliness_lease_duration(duration);
EXPECT_EQ(a, b);
a.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE);
a.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
EXPECT_NE(a, b);
}