niklas/ros2_tracing
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Fix linting errors

Browse source
This commit is contained in:
Christophe Bedard 2019-06-05 15:35:46 +02:00
parent 6cce113f04
commit 33f227b772
27 changed files with 668 additions and 563 deletions
Download patch file Download diff file Expand all files Collapse all files

92
tracetools_test/src/test_service_ping.cpp
View file

@ -6,63 +6,63 @@
using namespace std::chrono_literals;
class PingNode : public rclcpp::Node
{
public:
PingNode(rclcpp::NodeOptions options) : Node("ping_node", options)
{
srv_ = this->create_service<std_srvs::srv::Empty>(
"pong",
std::bind(&PingNode::service_callback,
this,
std::placeholders::_1,
std::placeholders::_2,
std::placeholders::_3));
client_ = this->create_client<std_srvs::srv::Empty>(
"ping");
timer_ = this->create_wall_timer(
500ms,
std::bind(&PingNode::timer_callback, this));
}
explicit PingNode(rclcpp::NodeOptions options)
: Node("ping_node", options)
{
srv_ = this->create_service<std_srvs::srv::Empty>(
"pong",
std::bind(
&PingNode::service_callback,
this,
std::placeholders::_1,
std::placeholders::_2,
std::placeholders::_3));
client_ = this->create_client<std_srvs::srv::Empty>(
"ping");
timer_ = this->create_wall_timer(
500ms,
std::bind(&PingNode::timer_callback, this));
}
private:
void service_callback(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> request,
const std::shared_ptr<std_srvs::srv::Empty::Response> response)
{
(void)request_header;
(void)request;
(void)response;
RCLCPP_INFO(this->get_logger(), "got request");
rclcpp::shutdown();
}
void service_callback(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> request,
const std::shared_ptr<std_srvs::srv::Empty::Response> response)
{
(void)request_header;
(void)request;
(void)response;
RCLCPP_INFO(this->get_logger(), "got request");
rclcpp::shutdown();
}
void timer_callback()
{
auto req = std::make_shared<std_srvs::srv::Empty::Request>();
client_->async_send_request(req);
}
void timer_callback()
{
auto req = std::make_shared<std_srvs::srv::Empty::Request>();
client_->async_send_request(req);
}
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char* argv[])
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor exec;
auto ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions());
exec.add_node(ping_node);
rclcpp::executors::SingleThreadedExecutor exec;
auto ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions());
exec.add_node(ping_node);
printf("spinning\n");
exec.spin();
printf("spinning\n");
exec.spin();
// Will actually be called inside the node's service callback
rclcpp::shutdown();
return 0;
// Will actually be called inside the node's service callback
rclcpp::shutdown();
return 0;
}