niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

deprecate redundant namespaces (#1083)

Browse source 
* deprecate redundant namespaces, move classes to own files, rename some classes

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

* fixup

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

* address review comments

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

* fix ups since rebase

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

* avoid deprecation warnings from deprecated functions

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

* more fixes

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

* another fixup, after another rebase

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2020-04-23 15:28:45 -07:00 • committed by GitHub
parent 52ae3e0337
commit df3c2ffa8a
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
74 changed files with 716 additions and 563 deletions
Download patch file Download diff file Expand all files Collapse all files

4
rclcpp_components/include/rclcpp_components/component_manager.hpp
View file

@ -62,7 +62,7 @@ public:
RCLCPP_COMPONENTS_PUBLIC
ComponentManager(
std::weak_ptr<rclcpp::executor::Executor> executor,
std::weak_ptr<rclcpp::Executor> executor,
std::string node_name = "ComponentManager",
const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
@ -103,7 +103,7 @@ protected:
std::shared_ptr<ListNodes::Response> response);
private:
std::weak_ptr<rclcpp::executor::Executor> executor_;
std::weak_ptr<rclcpp::Executor> executor_;
uint64_t unique_id_ {1};
std::map<std::string, std::unique_ptr<class_loader::ClassLoader>> loaders_;

2
rclcpp_components/src/component_manager.cpp
View file

@ -31,7 +31,7 @@ namespace rclcpp_components
{
ComponentManager::ComponentManager(
std::weak_ptr<rclcpp::executor::Executor> executor,
std::weak_ptr<rclcpp::Executor> executor,
std::string node_name,
const rclcpp::NodeOptions & node_options)
: Node(std::move(node_name), node_options),

20
rclcpp_components/test/test_component_manager_api.cpp
View file

@ -59,7 +59,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
@ -73,7 +73,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
EXPECT_EQ(result.get()->full_node_name, "/test_component_bar");
@ -89,7 +89,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
EXPECT_EQ(result.get()->full_node_name, "/test_component_baz");
@ -106,7 +106,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
EXPECT_EQ(result.get()->full_node_name, "/ns/test_component_bing");
@ -121,7 +121,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, false);
EXPECT_EQ(result.get()->error_message, "Failed to find class with the requested plugin name.");
EXPECT_EQ(result.get()->full_node_name, "");
@ -136,7 +136,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, false);
EXPECT_EQ(result.get()->error_message, "Could not find requested resource in ament index");
EXPECT_EQ(result.get()->full_node_name, "");
@ -166,7 +166,7 @@ TEST_F(TestComponentManager, components_api)
auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
auto node_names = result.get()->full_node_names;
auto unique_ids = result.get()->unique_ids;
@ -197,7 +197,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, true);
EXPECT_EQ(result.get()->error_message, "");
}
@ -208,7 +208,7 @@ TEST_F(TestComponentManager, components_api)
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(result.get()->success, false);
EXPECT_EQ(result.get()->error_message, "No node found with unique_id: 1");
}
@ -226,7 +226,7 @@ TEST_F(TestComponentManager, components_api)
auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
auto result = client->async_send_request(request);
auto ret = exec->spin_until_future_complete(result, 5s); // Wait for the result.
EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
auto node_names = result.get()->full_node_names;
auto unique_ids = result.get()->unique_ids;