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Cleanup msg_ variable in RT publisher #423

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Cleanup msg_ variable in RT publisher #423

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e9a8d94
Cleanup deprecations
christophfroehlich Jul 26, 2025
9e26e41
Make msg_ variable private
christophfroehlich Oct 3, 2025
c039a20
Remove get_msg method
christophfroehlich Oct 5, 2025
01d7422
Merge branch 'master' into cleanup/rtpub/msg
christophfroehlich Oct 7, 2025
1b40ad4
Merge branch 'master' into cleanup/rtpub/msg
christophfroehlich Oct 27, 2025
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62 changes: 2 additions & 60 deletions realtime_tools/include/realtime_tools/realtime_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,10 +63,6 @@ class RealtimePublisher

RCLCPP_SMART_PTR_DEFINITIONS(RealtimePublisher<MessageT>)

[[deprecated(
"This variable is deprecated, it is recommended to use the try_publish() method instead.")]]
MessageT msg_;

/**
* \brief Constructor for the realtime publisher
*
Expand All @@ -76,13 +72,6 @@ class RealtimePublisher
*
* \param publisher the ROS publisher to wrap
*/
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
explicit RealtimePublisher(PublisherSharedPtr publisher)
: publisher_(publisher), is_running_(false), keep_running_(true), turn_(State::LOOP_NOT_STARTED)
{
Expand Down Expand Up @@ -111,11 +100,6 @@ class RealtimePublisher
thread_.join();
}
}
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif

/**
* \brief Stop the realtime publisher
Expand Down Expand Up @@ -158,19 +142,7 @@ class RealtimePublisher
if (can_publish(lock)) {
{
std::unique_lock<std::mutex> scoped_lock(std::move(lock));
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
msg_ = msg;
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
turn_.store(State::NON_REALTIME, std::memory_order_release);
}
updated_cond_.notify_one(); // Notify the publishing thread
Expand All @@ -193,26 +165,6 @@ class RealtimePublisher
*/
const std::thread & get_thread() const { return thread_; }

[[deprecated(
"This getter method will be removed. It is recommended to use the try_publish() instead of "
"accessing the msg_ variable.")]]
const MessageT & get_msg() const
{
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
return msg_;
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
}

/**
* \brief Get the mutex protecting the stored message.
*/
Expand Down Expand Up @@ -263,19 +215,7 @@ class RealtimePublisher
// Locks msg_ and copies it to outgoing
std::unique_lock<std::mutex> lock_(msg_mutex_);
updated_cond_.wait(lock_, [&] { return turn_ == State::NON_REALTIME || !keep_running_; });
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
outgoing = msg_;
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
}

// Sends the outgoing message
Expand All @@ -292,6 +232,8 @@ class RealtimePublisher

std::thread thread_;

MessageT msg_;

mutable std::mutex msg_mutex_; // Protects msg_
std::condition_variable updated_cond_;

Expand Down