Merge pull request #26 from alsora/asoragna/make-functions-private

Asoragna/make functions private

Author: iRobot ROS

rclcpp/include/rclcpp/executors/events_executor.hpp

@@ -123,6 +123,58 @@ class EventsExecutor : public rclcpp::Executor
   void
   remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
 
+  /// Add a callback group to an executor.
+  /**
+   * \sa rclcpp::Executor::add_callback_group
+   */
+  void
+  add_callback_group(
+    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+    bool notify = true) override;
+
+  /// Remove callback group from the executor
+  /**
+   * \sa rclcpp::Executor::remove_callback_group
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_callback_group(
+    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    bool notify = true) override;
+
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_all_callback_groups() override;
+
+  /// Get callback groups that belong to executor.
+  /**
+   * \sa rclcpp::Executor::get_manually_added_callback_groups()
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_manually_added_callback_groups() override;
+
+  /// Get callback groups that belong to executor.
+  /**
+   * \sa rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_automatically_added_callback_groups_from_nodes() override;
+
+protected:
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout) override;
+
+private:
+  RCLCPP_DISABLE_COPY(EventsExecutor)
+
+  // Event queue implementation is a deque only to
+  // facilitate the removal of events from expired entities.
+  using EventQueue = std::deque<ExecutorEvent>;
+
   // Executor callback: Push new events into the queue and trigger cv.
   // This function is called by the DDS entities when an event happened,
   // like a subscription receiving a message.
@@ -177,58 +229,6 @@ class EventsExecutor : public rclcpp::Executor
     }
   }
 
-  /// Add a callback group to an executor.
-  /**
-   * \sa rclcpp::Executor::add_callback_group
-   */
-  void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Remove callback group from the executor
-  /**
-   * \sa rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true) override;
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes() override;
-
-protected:
-  RCLCPP_PUBLIC
-  void
-  spin_once_impl(std::chrono::nanoseconds timeout) override;
-
-private:
-  RCLCPP_DISABLE_COPY(EventsExecutor)
-
-  // Event queue implementation is a deque only to
-  // facilitate the removal of events from expired entities.
-  using EventQueue = std::deque<ExecutorEvent>;
-
   /// Extract and execute events from the queue until it is empty
   RCLCPP_PUBLIC
   void

rclcpp/test/rclcpp/executors/test_events_executor.cpp

@@ -52,17 +52,10 @@ TEST_F(TestEventsExecutor, notify_waitable)
   EXPECT_THROW(notifier->add_to_wait_set(&wait_set), std::runtime_error);
   EXPECT_THROW(notifier->is_ready(&wait_set), std::runtime_error);
 
-  EventsExecutor executor;
-  rcl_guard_condition_t gc = rcl_get_zero_initialized_guard_condition();
-  notifier->add_guard_condition(&gc);
   {
     auto mock = mocking_utils::patch_and_return(
       "lib:rclcpp", rcl_guard_condition_set_events_executor_callback, RCL_RET_ERROR);
-    EXPECT_THROW(
-      notifier->set_events_executor_callback(
-        &executor,
-        &EventsExecutor::push_event),
-      std::runtime_error);
+    EXPECT_THROW(std::make_shared<EventsExecutor>(), std::runtime_error);
   }
 }