EventsExecutor: Use rclcpp::GuardCondition

Signed-off-by: Mauro Passerino <[email protected]>

Author: Mauro Passerino

rclcpp/include/rclcpp/executors/events_executor.hpp

@@ -29,8 +29,6 @@
 #include "rclcpp/experimental/buffers/simple_events_queue.hpp"
 #include "rclcpp/node.hpp"
 
-#include "rmw/listener_callback_type.h"
-
 namespace rclcpp
 {
 namespace executors

rclcpp/include/rclcpp/executors/events_executor_entities_collector.hpp

@@ -209,10 +209,10 @@ class EventsExecutorEntitiesCollector final
   unset_callback_group_entities_callbacks(rclcpp::CallbackGroup::SharedPtr group);
 
   void
-  set_guard_condition_callback(const rcl_guard_condition_t * guard_condition);
+  set_guard_condition_callback(const rclcpp::GuardCondition * guard_condition);
 
   void
-  unset_guard_condition_callback(const rcl_guard_condition_t * guard_condition);
+  unset_guard_condition_callback(const rclcpp::GuardCondition * guard_condition);
 
   void
   remove_callback_data(void * entity_id, ExecutorEventType type);
@@ -249,7 +249,7 @@ class EventsExecutorEntitiesCollector final
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
 
   typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
+      const rclcpp::GuardCondition *,
       std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
     WeakNodesToGuardConditionsMap;
   WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;

rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp

@@ -53,7 +53,7 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
 
   RCLCPP_PUBLIC
   void
-  add_guard_condition(const rcl_guard_condition_t * guard_condition)
+  add_guard_condition(const rclcpp::GuardCondition * guard_condition)
   {
     notify_guard_conditions_.push_back(guard_condition);
   }
@@ -65,14 +65,7 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
     const void * user_data) const override
   {
     for (auto gc : notify_guard_conditions_) {
-      rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
-        gc,
-        callback,
-        user_data);
-
-      if (RCL_RET_OK != ret) {
-        throw std::runtime_error("Couldn't set guard condition events callback");
-      }
+      // gc->set_listener_callback();
     }
   }
 
@@ -85,7 +78,7 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
   }
 
 private:
-  std::list<const rcl_guard_condition_t *> notify_guard_conditions_;
+  std::list<const rclcpp::GuardCondition *> notify_guard_conditions_;
 };
 
 }  // namespace executors

rclcpp/src/rclcpp/executors/events_executor.cpp

@@ -47,7 +47,7 @@ EventsExecutor::EventsExecutor(
   // Setup the executor notifier to wake up the executor when some guard conditions are tiggered.
   // The added guard conditions are guaranteed to not go out of scope before the executor itself.
   executor_notifier_ = std::make_shared<EventsExecutorNotifyWaitable>();
-  executor_notifier_->add_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
+  executor_notifier_->add_guard_condition(shutdown_guard_condition_.get());
   executor_notifier_->add_guard_condition(&interrupt_guard_condition_);
 
   entities_collector_->add_waitable(executor_notifier_);

rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp

@@ -141,10 +141,10 @@ EventsExecutorEntitiesCollector::add_callback_group(
   if (is_new_node) {
     // Set an event callback for the node's notify guard condition, so if new entities are added
     // or removed to this node we will receive an event.
-    set_guard_condition_callback(node_ptr->get_notify_guard_condition());
+    set_guard_condition_callback(node_ptr->get_notify_rclcpp_guard_condition());
 
     // Store node's notify guard condition
-    weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_guard_condition();
+    weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_rclcpp_guard_condition();
   }
 
   // Add callback group to weak_groups_to_node
@@ -375,7 +375,7 @@ EventsExecutorEntitiesCollector::remove_callback_group_from_map(
     // Node doesn't have more callback groups associated to the executor.
     // Unset the event callback for the node's notify guard condition, to stop
     // receiving events if entities are added or removed to this node.
-    unset_guard_condition_callback(node_ptr->get_notify_guard_condition());
+    unset_guard_condition_callback(node_ptr->get_notify_rclcpp_guard_condition());
 
     // Remove guard condition from list
     rclcpp::node_interfaces::NodeBaseInterface::WeakPtr weak_node_ptr(node_ptr);
@@ -485,7 +485,7 @@ EventsExecutorEntitiesCollector::get_automatically_added_callback_groups_from_no
 
 void
 EventsExecutorEntitiesCollector::set_guard_condition_callback(
-  const rcl_guard_condition_t * guard_condition)
+  const rclcpp::GuardCondition * guard_condition)
 {
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
     guard_condition,
@@ -499,7 +499,7 @@ EventsExecutorEntitiesCollector::set_guard_condition_callback(
 
 void
 EventsExecutorEntitiesCollector::unset_guard_condition_callback(
-  const rcl_guard_condition_t * guard_condition)
+  const rclcpp::GuardCondition * guard_condition)
 {
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
     guard_condition, nullptr, nullptr);

rclcpp/test/rclcpp/executors/test_events_executor.cpp

@@ -52,12 +52,6 @@ TEST_F(TestEventsExecutor, notify_waitable)
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   EXPECT_THROW(notifier->add_to_wait_set(&wait_set), std::runtime_error);
   EXPECT_THROW(notifier->is_ready(&wait_set), std::runtime_error);
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_guard_condition_set_listener_callback, RCL_RET_ERROR);
-    EXPECT_THROW(std::make_shared<EventsExecutor>(), std::runtime_error);
-  }
 }
 
 TEST_F(TestEventsExecutor, run_clients_servers)

rclcpp/test/rclcpp/executors/test_events_executor_entities_collector.cpp

@@ -156,23 +156,3 @@ TEST_F(TestEventsExecutorEntitiesCollector, remove_node_opposite_order)
 
   EXPECT_NO_THROW(entities_collector_->remove_node(node2->get_node_base_interface()));
 }
-
-TEST_F(TestEventsExecutorEntitiesCollector, test_rcl_exception)
-{
-  auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
-  auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
-  entities_collector_->add_node(node1->get_node_base_interface());
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_guard_condition_set_listener_callback, RCL_RET_ERROR);
-
-    EXPECT_THROW(
-      entities_collector_->add_node(node2->get_node_base_interface()),
-      std::runtime_error);
-
-    EXPECT_THROW(
-      entities_collector_->remove_node(node1->get_node_base_interface()),
-      std::runtime_error);
-  }
-}