Merge pull request ros2#31 from mauropasse/mauro/pr-events-executor

rename local_event_queue -> execution_event_queue
mauropasse · Nov 20, 2020 · 6c55f0b · 6c55f0b
2 parents 5971b41 + 0a5f3f2
commit 6c55f0b
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Showing 19 changed files with 45 additions and 45 deletions.
diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
@@ -160,7 +160,7 @@ class ClientBase
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const;
+ rmw_listener_cb_t executor_callback) const;
 
  RCLCPP_PUBLIC
  void

diff --git a/rclcpp/include/rclcpp/executors/events_executor.hpp b/rclcpp/include/rclcpp/executors/events_executor.hpp
@@ -26,7 +26,7 @@
 #include "rclcpp/executors/timers_manager.hpp"
 #include "rclcpp/node.hpp"
 
-#include "rmw/executor_event_types.h"
+#include "rmw/listener_event_types.h"
 
 namespace rclcpp
 {
@@ -176,13 +176,13 @@ class EventsExecutor : public rclcpp::Executor
 
  // Event queue implementation is a deque only to
  // facilitate the removal of events from expired entities.
- using EventQueue = std::deque<ExecutorEvent>;
+ using EventQueue = std::deque<rmw_listener_event_t>;
 
  // 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.
  static void
- push_event(const void * executor_ptr, ExecutorEvent event)
+ push_event(const void * executor_ptr, rmw_listener_event_t event)
  {
  // Cast executor_ptr to this (need to remove constness)
  auto this_executor = const_cast<executors::EventsExecutor *>(
@@ -217,18 +217,18 @@ class EventsExecutor : public rclcpp::Executor
  event_queue_.erase(
  std::remove_if(
  event_queue_.begin(), event_queue_.end(),
- [&entity](ExecutorEvent event) {return event.entity == entity;}), event_queue_.end());
+ [&entity](rmw_listener_event_t event) {return event.entity == entity;}), event_queue_.end());
  }
 
  // Remove events associated with this entity from the local event queue
  {
  std::unique_lock<std::mutex> lock(execution_mutex_);
- local_event_queue_.erase(
+ execution_event_queue_.erase(
  std::remove_if(
- local_event_queue_.begin(), local_event_queue_.end(),
- [&entity](ExecutorEvent event) {
+ execution_event_queue_.begin(), execution_event_queue_.end(),
+ [&entity](rmw_listener_event_t event) {
  return event.entity == entity;
- }), local_event_queue_.end());
+ }), execution_event_queue_.end());
  }
  }
 
@@ -240,11 +240,11 @@ class EventsExecutor : public rclcpp::Executor
  // Execute a single event
  RCLCPP_PUBLIC
  void
- execute_event(const ExecutorEvent & event);
+ execute_event(const rmw_listener_event_t & event);
 
  // We use two instances of EventQueue to allow threads to push events while we execute them
  EventQueue event_queue_;
- EventQueue local_event_queue_;
+ EventQueue execution_event_queue_;
 
  EventsExecutorEntitiesCollector::SharedPtr entities_collector_;
  EventsExecutorNotifyWaitable::SharedPtr executor_notifier_;

diff --git a/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp b/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
@@ -64,10 +64,10 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const override
+ rmw_listener_cb_t executor_callback) const override
  {
  for (auto gc : notify_guard_conditions_) {
- rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+ rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
  executor,
  executor_callback,
  this,

diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
@@ -74,7 +74,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const override;
+ rmw_listener_cb_t executor_callback) const override;
 
 protected:
  std::recursive_mutex reentrant_mutex_;

diff --git a/rclcpp/include/rclcpp/qos_event.hpp b/rclcpp/include/rclcpp/qos_event.hpp
@@ -110,7 +110,7 @@ class QOSEventHandlerBase : public Waitable
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const override;
+ rmw_listener_cb_t executor_callback) const override;
 
 protected:
  rcl_event_t event_handle_;

diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
@@ -130,7 +130,7 @@ class ServiceBase
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const;
+ rmw_listener_cb_t executor_callback) const;
 
  RCLCPP_PUBLIC
  void

diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -273,7 +273,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const;
+ rmw_listener_cb_t executor_callback) const;
 
  RCLCPP_PUBLIC
  void

diff --git a/rclcpp/include/rclcpp/waitable.hpp b/rclcpp/include/rclcpp/waitable.hpp
@@ -176,7 +176,7 @@ class Waitable
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const;
+ rmw_listener_cb_t executor_callback) const;
 
  RCLCPP_PUBLIC
  void

diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
@@ -205,9 +205,9 @@ ClientBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 void
 ClientBase::set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const
+ rmw_listener_cb_t executor_callback) const
 {
- rcl_ret_t ret = rcl_client_set_events_executor_callback(
+ rcl_ret_t ret = rcl_client_set_listener_callback(
  executor,
  executor_callback,
  this,

diff --git a/rclcpp/src/rclcpp/executors/events_executor.cpp b/rclcpp/src/rclcpp/executors/events_executor.cpp
@@ -67,11 +67,11 @@ EventsExecutor::spin()
  event_queue_cv_.wait(push_lock, has_event_predicate);
  std::unique_lock<std::mutex> execution_lock(execution_mutex_);
  // We got an event! Swap queues while we hold both mutexes
- std::swap(local_event_queue_, event_queue_);
+ std::swap(execution_event_queue_, event_queue_);
  // After swapping the queues, we don't need the push lock anymore
  push_lock.unlock();
  // Consume events while under the execution lock only
- this->consume_all_events(local_event_queue_);
+ this->consume_all_events(execution_event_queue_);
  }
  timers_manager_->stop();
 }
@@ -108,9 +108,9 @@ EventsExecutor::spin_some(std::chrono::nanoseconds max_duration)
  std::unique_lock<std::mutex> push_lock(push_mutex_);
  event_queue_cv_.wait_for(push_lock, max_duration, has_event_predicate);
  std::unique_lock<std::mutex> execution_lock(execution_mutex_);
- std::swap(local_event_queue_, event_queue_);
+ std::swap(execution_event_queue_, event_queue_);
  push_lock.unlock();
- this->consume_all_events(local_event_queue_);
+ this->consume_all_events(execution_event_queue_);
  execution_lock.unlock();
 
  timers_manager_->execute_ready_timers();
@@ -154,18 +154,18 @@ EventsExecutor::spin_all(std::chrono::nanoseconds max_duration)
  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
  std::unique_lock<std::mutex> push_lock(push_mutex_);
  std::unique_lock<std::mutex> execution_lock(execution_mutex_);
- std::swap(local_event_queue_, event_queue_);
+ std::swap(execution_event_queue_, event_queue_);
  push_lock.unlock();
 
  bool ready_timer = timers_manager_->get_head_timeout() < 0ns;
- bool has_events = !local_event_queue_.empty();
+ bool has_events = !execution_event_queue_.empty();
  if (!ready_timer && !has_events) {
  // Exit as there is no more work to do
  break;
  }
  // Execute all ready work
 
- this->consume_all_events(local_event_queue_);
+ this->consume_all_events(execution_event_queue_);
  execution_lock.unlock();
 
  timers_manager_->execute_ready_timers();
@@ -189,7 +189,7 @@ EventsExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
  // When condition variable is notified, check this predicate to proceed
  auto has_event_predicate = [this]() {return !event_queue_.empty();};
 
- ExecutorEvent event;
+ rmw_listener_event_t event;
  bool has_event = false;
 
  {
@@ -255,15 +255,15 @@ void
 EventsExecutor::consume_all_events(EventQueue & event_queue)
 {
  while (!event_queue.empty()) {
- ExecutorEvent event = event_queue.front();
+ rmw_listener_event_t event = event_queue.front();
  event_queue.pop_front();
 
  this->execute_event(event);
  }
 }
 
 void
-EventsExecutor::execute_event(const ExecutorEvent & event)
+EventsExecutor::execute_event(const rmw_listener_event_t & event)
 {
  switch (event.type) {
  case SUBSCRIPTION_EVENT:

diff --git a/rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp b/rclcpp/src/rclcpp/executors/events_executor_entities_collector.cpp
@@ -484,7 +484,7 @@ void
 EventsExecutorEntitiesCollector::set_guard_condition_callback(
  const rcl_guard_condition_t * guard_condition)
 {
- rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+ rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
  associated_executor_,
  &EventsExecutor::push_event,
  this,
@@ -500,7 +500,7 @@ void
 EventsExecutorEntitiesCollector::unset_guard_condition_callback(
  const rcl_guard_condition_t * guard_condition)
 {
- rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+ rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
  nullptr,
  nullptr,
  nullptr,

diff --git a/rclcpp/src/rclcpp/qos_event.cpp b/rclcpp/src/rclcpp/qos_event.cpp
@@ -75,9 +75,9 @@ QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
 void
 QOSEventHandlerBase::set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const
+ rmw_listener_cb_t executor_callback) const
 {
- rcl_ret_t ret = rcl_event_set_events_executor_callback(
+ rcl_ret_t ret = rcl_event_set_listener_callback(
  executor,
  executor_callback,
  this,

diff --git a/rclcpp/src/rclcpp/service.cpp b/rclcpp/src/rclcpp/service.cpp
@@ -92,9 +92,9 @@ ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 void
 ServiceBase::set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const
+ rmw_listener_cb_t executor_callback) const
 {
- rcl_ret_t ret = rcl_service_set_events_executor_callback(
+ rcl_ret_t ret = rcl_service_set_listener_callback(
  executor,
  executor_callback,
  this,

diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -296,9 +296,9 @@ SubscriptionBase::exchange_in_use_by_wait_set_state(
 void
 SubscriptionBase::set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const
+ rmw_listener_cb_t executor_callback) const
 {
- rcl_ret_t ret = rcl_subscription_set_events_executor_callback(
+ rcl_ret_t ret = rcl_subscription_set_listener_callback(
  executor,
  executor_callback,
  this,

diff --git a/rclcpp/src/rclcpp/subscription_intra_process_base.cpp b/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
@@ -47,9 +47,9 @@ SubscriptionIntraProcessBase::get_actual_qos() const
 void
 SubscriptionIntraProcessBase::set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const
+ rmw_listener_cb_t executor_callback) const
 {
- rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+ rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
  executor,
  executor_callback,
  this,

diff --git a/rclcpp/src/rclcpp/waitable.cpp b/rclcpp/src/rclcpp/waitable.cpp
@@ -63,7 +63,7 @@ Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)
 void
 Waitable::set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const
+ rmw_listener_cb_t executor_callback) const
 {
  (void)executor;
  (void)executor_callback;

diff --git a/rclcpp/test/rclcpp/executors/test_events_executor.cpp b/rclcpp/test/rclcpp/executors/test_events_executor.cpp
@@ -54,7 +54,7 @@ TEST_F(TestEventsExecutor, notify_waitable)
 
  {
  auto mock = mocking_utils::patch_and_return(
- "lib:rclcpp", rcl_guard_condition_set_events_executor_callback, RCL_RET_ERROR);
+ "lib:rclcpp", rcl_guard_condition_set_listener_callback, RCL_RET_ERROR);
  EXPECT_THROW(std::make_shared<EventsExecutor>(), std::runtime_error);
  }
 }

diff --git a/rclcpp/test/rclcpp/executors/test_events_executor_entities_collector.cpp b/rclcpp/test/rclcpp/executors/test_events_executor_entities_collector.cpp
@@ -165,7 +165,7 @@ TEST_F(TestEventsExecutorEntitiesCollector, test_fancy_name)
 
  {
  auto mock = mocking_utils::patch_and_return(
- "lib:rclcpp", rcl_guard_condition_set_events_executor_callback, RCL_RET_ERROR);
+ "lib:rclcpp", rcl_guard_condition_set_listener_callback, RCL_RET_ERROR);
 
  EXPECT_THROW(
  entities_collector_->add_node(node2->get_node_base_interface()),

diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -467,9 +467,9 @@ class TestWaitable : public rclcpp::Waitable
  void
  set_events_executor_callback(
  const rclcpp::executors::EventsExecutor * executor,
- EventsExecutorCallback executor_callback) const override
+ rmw_listener_cb_t executor_callback) const override
  {
- rcl_ret_t ret = rcl_guard_condition_set_events_executor_callback(
+ rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
  executor,
  executor_callback,
  this,