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New IntraProcessManager capable of storing shared_ptr<const T> (#690)

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* Changed mapped_ring_buffer class to store both shared_ptr or unique_ptr

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

* Changed the IPM store and take methods

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

* Changed publish methods to take advantage of the new IPM

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

* Change how subscriptions handle intraprocess messages

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

* Modified publish method signatures

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

* Renamed 'publisher.cpp' and 'subscription.cpp' to 'publisher_base.cpp' and 'subscription_base.cpp'

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

* Updated lifecycle_publisher publish methods

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
This commit is contained in:
ivanpauno 2019-04-30 16:05:53 -03:00 • committed by GitHub
parent d34fa607a2
commit 98f610c114
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GPG key ID: 4AEE18F83AFDEB23
18 changed files with 1115 additions and 787 deletions
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42
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
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@ -97,7 +97,7 @@ public:
* to the actual rclcpp Publisher base class
*/
virtual void
publish(const std::shared_ptr<MessageT> & msg)
publish(const std::shared_ptr<const MessageT> & msg)
{
if (!enabled_) {
RCLCPP_WARN(logger_,
@ -106,26 +106,7 @@ public:
return;
}
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
/// LifecyclePublisher publish function
/**
* The publish function checks whether the communication
* was enabled or disabled and forwards the message
* to the actual rclcpp Publisher base class
*/
virtual void
publish(std::shared_ptr<const MessageT> msg)
{
if (!enabled_) {
RCLCPP_WARN(logger_,
"Trying to publish message on the topic '%s', but the publisher is not activated",
this->get_topic_name());
return;
}
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
rclcpp::Publisher<MessageT, Alloc>::publish(*msg);
}
/// LifecyclePublisher publish function
@ -156,25 +137,6 @@ public:
this->publish(*msg);
}
/// LifecyclePublisher publish function
/**
* The publish function checks whether the communication
* was enabled or disabled and forwards the message
* to the actual rclcpp Publisher base class
*/
virtual void
publish(std::shared_ptr<const MessageT> & msg)
{
if (!enabled_) {
RCLCPP_WARN(logger_,
"Trying to publish message on the topic '%s', but the publisher is not activated",
this->get_topic_name());
return;
}
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
}
virtual void
on_activate()
{