Merge pull request #37 from mauropasse/mauro/clean-events-executor

Reorder APIs arguments

Author: iRobot ROS

rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp

@@ -66,10 +66,10 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
   {
     for (auto gc : notify_guard_conditions_) {
       rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
-        executor,
+        gc,
         executor_callback,
+        executor,
         this,
-        gc,
         false);
 
       if (RCL_RET_OK != ret) {

rclcpp/include/rclcpp/time_source.hpp

@@ -32,6 +32,20 @@ namespace rclcpp
 {
 class Clock;
 
+/**
+ * Time source that will drive the attached clocks.
+ *
+ * If the attached node `use_sim_time` parameter is `true`, the attached clocks will
+ * be updated based on messages received.
+ *
+ * The subscription to the clock topic created by the time source can have it's qos reconfigured
+ * using parameter overrides, particularly the following ones are accepted:
+ *
+ * - qos_overrides./clock.depth
+ * - qos_overrides./clock.durability
+ * - qos_overrides./clock.history
+ * - qos_overrides./clock.reliability
+ */
 class TimeSource
 {
 public:

rclcpp/src/rclcpp/client.cpp

@@ -205,10 +205,10 @@ ClientBase::set_events_executor_callback(
   rmw_listener_cb_t executor_callback) const
 {
   rcl_ret_t ret = rcl_client_set_listener_callback(
-    executor,
+    client_handle_.get(),
     executor_callback,
-    this,
-    client_handle_.get());
+    executor,
+    this);
 
   if (RCL_RET_OK != ret) {
     throw std::runtime_error("Couldn't set the EventsExecutor's callback to client");

rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp

@@ -478,10 +478,10 @@ EventsExecutorEntitiesCollector::set_guard_condition_callback(
   const rcl_guard_condition_t * guard_condition)
 {
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
-    associated_executor_,
+    guard_condition,
     &EventsExecutor::push_event,
+    associated_executor_,
     this,
-    guard_condition,
     false /* Discard previous events */);
 
   if (ret != RCL_RET_OK) {
@@ -494,10 +494,10 @@ EventsExecutorEntitiesCollector::unset_guard_condition_callback(
   const rcl_guard_condition_t * guard_condition)
 {
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
+    guard_condition,
     nullptr,
     nullptr,
     nullptr,
-    guard_condition,
     false /* Discard previous events */);
 
   if (ret != RCL_RET_OK) {

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -323,8 +323,7 @@ StaticExecutorEntitiesCollector::add_callback_group(
     throw std::runtime_error("Callback group was already added to executor.");
   }
   if (is_new_node) {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_[node_weak_ptr] = node_ptr->get_notify_guard_condition();
+    weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_guard_condition();
     return true;
   }
   return false;

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -175,9 +175,10 @@ StaticSingleThreadedExecutor::execute_ready_executables()
   }
   // Execute all the ready waitables
   for (size_t i = 0; i < entities_collector_->get_number_of_waitables(); ++i) {
-    if (entities_collector_->get_waitable(i)->is_ready(&wait_set_)) {
-      std::shared_ptr<void> shared_ptr;
-      entities_collector_->get_waitable(i)->execute(shared_ptr);
+    auto waitable = entities_collector_->get_waitable(i);
+    if (waitable->is_ready(&wait_set_)) {
+      auto data = waitable->take_data();
+      waitable->execute(data);
     }
   }
 }

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -16,6 +16,8 @@
 
 #include <string>
 
+#include "tracetools/tracetools.h"
+
 using rclcpp::node_interfaces::NodeTimers;
 
 NodeTimers::NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base)
@@ -44,4 +46,8 @@ NodeTimers::add_timer(
             std::string("Failed to notify wait set on timer creation: ") +
             rmw_get_error_string().str);
   }
+  TRACEPOINT(
+    rclcpp_timer_link_node,
+    static_cast<const void *>(timer->get_timer_handle().get()),
+    static_cast<const void *>(node_base_->get_rcl_node_handle()));
 }

rclcpp/src/rclcpp/qos_event.cpp

@@ -74,10 +74,10 @@ QOSEventHandlerBase::set_events_executor_callback(
   rmw_listener_cb_t executor_callback) const
 {
   rcl_ret_t ret = rcl_event_set_listener_callback(
-    executor,
+    &event_handle_,
     executor_callback,
+    executor,
     this,
-    &event_handle_,
     false /* Discard previous events */);
 
   if (RCL_RET_OK != ret) {

rclcpp/src/rclcpp/service.cpp

@@ -91,10 +91,10 @@ ServiceBase::set_events_executor_callback(
   rmw_listener_cb_t executor_callback) const
 {
   rcl_ret_t ret = rcl_service_set_listener_callback(
-    executor,
+    service_handle_.get(),
     executor_callback,
-    this,
-    service_handle_.get());
+    executor,
+    this);
 
   if (RCL_RET_OK != ret) {
     throw std::runtime_error("Couldn't set the EventsExecutor's callback to service");

rclcpp/src/rclcpp/subscription_base.cpp

@@ -295,10 +295,10 @@ SubscriptionBase::set_events_executor_callback(
   rmw_listener_cb_t executor_callback) const
 {
   rcl_ret_t ret = rcl_subscription_set_listener_callback(
-    executor,
+    subscription_handle_.get(),
     executor_callback,
-    this,
-    subscription_handle_.get());
+    executor,
+    this);
 
   if (RCL_RET_OK != ret) {
     throw std::runtime_error("Couldn't set the EventsExecutor's callback to subscription");