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change API to encourage users to specify history depth always (#713)

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* improve interoperability with rclcpp::Duration and std::chrono

Signed-off-by: William Woodall <william@osrfoundation.org>

* add to_rmw_time to Duration

Signed-off-by: William Woodall <william@osrfoundation.org>

* add new QoS class to rclcpp

Signed-off-by: William Woodall <william@osrfoundation.org>

* changes to NodeBase, NodeTopics, etc in preparation for changes to pub/sub

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor publisher creation to use new QoS class

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor subscription creation to use new QoS class

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixing fallout from changes to pub/sub creation

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixed Windows error: no appropriate default constructor available

why? who knows

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixed Windows error: could not deduce template argument for 'PublisherT'

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix missing vftable linker error on Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix more cases of no suitable default constructor errors...

Signed-off-by: William Woodall <william@osrfoundation.org>

* prevent msvc from trying to interpret some cases as functions

Signed-off-by: William Woodall <william@osrfoundation.org>

* uncrustify

Signed-off-by: William Woodall <william@osrfoundation.org>

* cpplint

Signed-off-by: William Woodall <william@osrfoundation.org>

* add C++ version of default action qos

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixing lifecycle subscription signatures

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix allocators (we actually use this already in the pub/sub factory)

Signed-off-by: William Woodall <william@osrfoundation.org>

* suppress cppcheck on false positive syntax error

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix more cppcheck syntax error false positives

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix case where sub-type of QoS is used

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup get_node_topics_interface.hpp according to reviews and tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* additional fixes based on local testing and CI

Signed-off-by: William Woodall <william@osrfoundation.org>

* another trick to avoid 'no appropriate default constructor available'

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix compiler error with clang on macOS

Signed-off-by: William Woodall <william@osrfoundation.org>

* disable build failure tests until we can get Jenkins to ignore their output

Signed-off-by: William Woodall <william@osrfoundation.org>

* suppress more cppcheck false positives

Signed-off-by: William Woodall <william@osrfoundation.org>

* add missing visibility macros to default QoS profile classes

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix another case of 'no appropriate default constructor available'

Signed-off-by: William Woodall <william@osrfoundation.org>

* unfortunately this actaully fixes a build error on Windows...

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix typos

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2019-05-08 14:24:40 -07:00 • committed by GitHub
parent 385cccc2cc
commit c769b1b030
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GPG key ID: 4AEE18F83AFDEB23
53 changed files with 1908 additions and 454 deletions
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17
rclcpp_action/test/test_server.cpp
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@ -367,7 +367,8 @@ TEST_F(TestServer, publish_status_accepted)
// Subscribe to status messages
std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
"fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
"fibonacci/_action/status", 10,
[&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
{
received_msgs.push_back(list);
});
@ -428,7 +429,8 @@ TEST_F(TestServer, publish_status_canceling)
// Subscribe to status messages
std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
"fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
"fibonacci/_action/status", 10,
[&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
{
received_msgs.push_back(list);
});
@ -483,7 +485,8 @@ TEST_F(TestServer, publish_status_canceled)
// Subscribe to status messages
std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
"fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
"fibonacci/_action/status", 10,
[&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
{
received_msgs.push_back(list);
});
@ -540,7 +543,8 @@ TEST_F(TestServer, publish_status_succeeded)
// Subscribe to status messages
std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
"fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
"fibonacci/_action/status", 10,
[&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
{
received_msgs.push_back(list);
});
@ -595,7 +599,8 @@ TEST_F(TestServer, publish_status_aborted)
// Subscribe to status messages
std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
"fibonacci/_action/status", [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
"fibonacci/_action/status", 10,
[&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
{
received_msgs.push_back(list);
});
@ -651,7 +656,7 @@ TEST_F(TestServer, publish_feedback)
using FeedbackT = Fibonacci::Impl::FeedbackMessage;
std::vector<FeedbackT::SharedPtr> received_msgs;
auto subscriber = node->create_subscription<FeedbackT>(
"fibonacci/_action/feedback", [&received_msgs](FeedbackT::SharedPtr msg)
"fibonacci/_action/feedback", 10, [&received_msgs](FeedbackT::SharedPtr msg)
{
received_msgs.push_back(msg);
});