Fixup utilities (#692)
* Fixed dependencies in the utility.hpp/cpp Signed-off-by: Dmitrij Dorezyuk <dmitrij.dorezyuk@hotmail.de> * Add missing documentation for exceptions in utility.hpp Signed-off-by: Dmitrij Dorezyuk <dmitrij.dorezyuk@hotmail.de> * Add rclcpp namespace to the utility.cpp Signed-off-by: Dmitrij Dorezyuk <dmitrij.dorezyuk@hotmail.de> * Add check for a non-negative nonros_argc value Signed-off-by: Dmitrij Dorezyuk <dmitrij.dorezyuk@hotmail.de> * Simplify syntax for the return_arguments Signed-off-by: Dmitrij Dorezyuk <dmitrij.dorezyuk@hotmail.de> * Incorporate Review Signed-off-by: Dmitrij Dorezyuk <dmitrij.dorezyuk@hotmail.de>
This commit is contained in:
Dima Dorezyuk
Shane Loretz
parent
ddcc1ec553
commit
ddf4d345b3
2 changed files with 43 additions and 39 deletions
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@ -18,17 +18,14 @@
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#include <chrono>
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#include <functional>
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#include <limits>
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#include <string>
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#include <vector>
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#include "rclcpp/context.hpp"
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#include "rclcpp/init_options.hpp"
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#include "rclcpp/visibility_control.hpp"
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#include "rmw/macros.h"
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#include "rmw/rmw.h"
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#ifdef ANDROID
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#include <string>
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#include <sstream>
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namespace std
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@ -104,6 +101,7 @@ uninstall_signal_handlers();
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*
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* \sa rclcpp::Context::init() for more details on arguments and possible exceptions
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* \returns Members of the argument vector that are not ROS arguments.
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* \throws anything remove_ros_arguments can throw
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*/
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RCLCPP_PUBLIC
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std::vector<std::string>
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@ -122,6 +120,8 @@ init_and_remove_ros_arguments(
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* \param[in] argc Number of arguments.
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* \param[in] argv Argument vector.
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* \returns Members of the argument vector that are not ROS arguments.
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* \throws anything throw_from_rcl_error can throw
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* \throws rclcpp::exceptions::RCLErrorBase if the parsing fails
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*/
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RCLCPP_PUBLIC
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std::vector<std::string>
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@ -24,45 +24,48 @@
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#include "rcl/error_handling.h"
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#include "rcl/rcl.h"
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void
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rclcpp::init(int argc, char const * const argv[], const rclcpp::InitOptions & init_options)
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namespace rclcpp
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{
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using rclcpp::contexts::default_context::get_global_default_context;
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void
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init(int argc, char const * const argv[], const InitOptions & init_options)
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{
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using contexts::default_context::get_global_default_context;
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get_global_default_context()->init(argc, argv, init_options);
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// Install the signal handlers.
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rclcpp::install_signal_handlers();
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install_signal_handlers();
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}
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bool
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rclcpp::install_signal_handlers()
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install_signal_handlers()
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{
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return rclcpp::SignalHandler::get_global_signal_handler().install();
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return SignalHandler::get_global_signal_handler().install();
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}
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bool
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rclcpp::signal_handlers_installed()
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signal_handlers_installed()
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{
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return rclcpp::SignalHandler::get_global_signal_handler().is_installed();
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return SignalHandler::get_global_signal_handler().is_installed();
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}
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bool
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rclcpp::uninstall_signal_handlers()
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uninstall_signal_handlers()
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{
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return rclcpp::SignalHandler::get_global_signal_handler().uninstall();
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return SignalHandler::get_global_signal_handler().uninstall();
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}
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std::vector<std::string>
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rclcpp::init_and_remove_ros_arguments(
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init_and_remove_ros_arguments(
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int argc,
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char const * const argv[],
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const rclcpp::InitOptions & init_options)
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const InitOptions & init_options)
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{
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rclcpp::init(argc, argv, init_options);
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return rclcpp::remove_ros_arguments(argc, argv);
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init(argc, argv, init_options);
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return remove_ros_arguments(argc, argv);
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}
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std::vector<std::string>
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rclcpp::remove_ros_arguments(int argc, char const * const argv[])
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remove_ros_arguments(int argc, char const * const argv[])
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{
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rcl_allocator_t alloc = rcl_get_default_allocator();
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rcl_arguments_t parsed_args = rcl_get_zero_initialized_arguments();
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@ -71,7 +74,7 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
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ret = rcl_parse_arguments(argc, argv, alloc, &parsed_args);
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if (RCL_RET_OK != ret) {
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rclcpp::exceptions::throw_from_rcl_error(ret, "failed to parse arguments");
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exceptions::throw_from_rcl_error(ret, "failed to parse arguments");
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}
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int nonros_argc = 0;
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@ -84,9 +87,9 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
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&nonros_argc,
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&nonros_argv);
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if (RCL_RET_OK != ret) {
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if (RCL_RET_OK != ret || nonros_argc < 0) {
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// Not using throw_from_rcl_error, because we may need to append deallocation failures.
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rclcpp::exceptions::RCLErrorBase base_exc(ret, rcl_get_error_state());
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exceptions::RCLErrorBase base_exc(ret, rcl_get_error_state());
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rcl_reset_error();
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if (NULL != nonros_argv) {
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alloc.deallocate(nonros_argv, alloc.state);
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@ -97,11 +100,10 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
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rcl_get_error_string().str;
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rcl_reset_error();
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}
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throw rclcpp::exceptions::RCLError(base_exc, "");
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throw exceptions::RCLError(base_exc, "");
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}
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std::vector<std::string> return_arguments;
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return_arguments.resize(nonros_argc);
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std::vector<std::string> return_arguments(nonros_argc);
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for (int ii = 0; ii < nonros_argc; ++ii) {
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return_arguments[ii] = std::string(nonros_argv[ii]);
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@ -113,7 +115,7 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
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ret = rcl_arguments_fini(&parsed_args);
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if (RCL_RET_OK != ret) {
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rclcpp::exceptions::throw_from_rcl_error(
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exceptions::throw_from_rcl_error(
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ret, "failed to cleanup parsed arguments, leaking memory");
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}
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@ -121,9 +123,9 @@ rclcpp::remove_ros_arguments(int argc, char const * const argv[])
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}
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bool
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rclcpp::ok(rclcpp::Context::SharedPtr context)
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ok(Context::SharedPtr context)
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{
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using rclcpp::contexts::default_context::get_global_default_context;
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using contexts::default_context::get_global_default_context;
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if (nullptr == context) {
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context = get_global_default_context();
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}
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@ -131,30 +133,30 @@ rclcpp::ok(rclcpp::Context::SharedPtr context)
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}
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bool
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rclcpp::is_initialized(rclcpp::Context::SharedPtr context)
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is_initialized(Context::SharedPtr context)
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{
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return rclcpp::ok(context);
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return ok(context);
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}
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bool
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rclcpp::shutdown(rclcpp::Context::SharedPtr context, const std::string & reason)
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shutdown(Context::SharedPtr context, const std::string & reason)
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{
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using rclcpp::contexts::default_context::get_global_default_context;
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using contexts::default_context::get_global_default_context;
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auto default_context = get_global_default_context();
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if (nullptr == context) {
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context = default_context;
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}
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bool ret = context->shutdown(reason);
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if (context == default_context) {
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rclcpp::uninstall_signal_handlers();
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uninstall_signal_handlers();
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}
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return ret;
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}
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void
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rclcpp::on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr context)
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on_shutdown(std::function<void()> callback, Context::SharedPtr context)
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{
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using rclcpp::contexts::default_context::get_global_default_context;
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using contexts::default_context::get_global_default_context;
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if (nullptr == context) {
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context = get_global_default_context();
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}
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@ -162,9 +164,9 @@ rclcpp::on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr c
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}
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bool
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rclcpp::sleep_for(const std::chrono::nanoseconds & nanoseconds, rclcpp::Context::SharedPtr context)
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sleep_for(const std::chrono::nanoseconds & nanoseconds, Context::SharedPtr context)
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{
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using rclcpp::contexts::default_context::get_global_default_context;
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using contexts::default_context::get_global_default_context;
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if (nullptr == context) {
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context = get_global_default_context();
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}
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@ -172,13 +174,15 @@ rclcpp::sleep_for(const std::chrono::nanoseconds & nanoseconds, rclcpp::Context:
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}
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const char *
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rclcpp::get_c_string(const char * string_in)
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get_c_string(const char * string_in)
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{
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return string_in;
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}
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const char *
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rclcpp::get_c_string(const std::string & string_in)
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get_c_string(const std::string & string_in)
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{
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return string_in.c_str();
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}
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} // namespace rclcpp
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