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Specifically specify callback signature #3

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Specifically specify callback signature
Oct 3, 2022
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experimenting
Oct 4, 2022
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experimenting2
Oct 4, 2022
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Oct 5, 2022
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2 changes: 1 addition & 1 deletion irobot_events_executor/src/rclcpp/executors/events_executor/events_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ EventsExecutor::EventsExecutor(
EventsExecutor::~EventsExecutor()
{
spinning.store(false);
};
}

void
EventsExecutor::spin()
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9 changes: 6 additions & 3 deletions ...ents_executor/src/rclcpp/executors/events_executor/events_executor_entities_collector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,7 @@ EventsExecutorEntitiesCollector::set_callback_group_entities_callbacks(
// Set callbacks for all other entity types
group->find_subscription_ptrs_if(
[this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
assert(this != nullptr);
if (subscription) {
weak_subscriptions_map_.emplace(subscription.get(), subscription);

Expand Down Expand Up @@ -389,17 +390,19 @@ std::function<void(size_t)>
EventsExecutorEntitiesCollector::create_entity_callback(
void * exec_entity_id, ExecutorEventType event_type)
{
auto callback = [this, exec_entity_id, event_type](size_t num_events) {
assert(this != nullptr);
std::function<void(size_t)> callback = [this, exec_entity_id, event_type](size_t num_events) {
assert(this != nullptr);
ExecutorEvent event = {exec_entity_id, -1, event_type, num_events};
associated_executor_->events_queue_->enqueue(event);
this->associated_executor_->events_queue_->enqueue(event);
};
return callback;
}

std::function<void(size_t, int)>
EventsExecutorEntitiesCollector::create_waitable_callback(void * exec_entity_id)
{
auto callback = [this, exec_entity_id](size_t num_events, int gen_entity_id) {
std::function<void(size_t, int)> callback = [this, exec_entity_id](size_t num_events, int gen_entity_id) {
ExecutorEvent event =
{exec_entity_id, gen_entity_id, ExecutorEventType::WAITABLE_EVENT, num_events};
associated_executor_->events_queue_->enqueue(event);
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