Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Remove the set_deprecated signatures in any_subscription_callback. #2431

Merged
merged 1 commit into from
Feb 23, 2024
Merged

Remove the set_deprecated signatures in any_subscription_callback. #2431

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
49 changes: 1 addition & 48 deletions rclcpp/include/rclcpp/any_subscription_callback.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@
#include "rclcpp/serialized_message.hpp"
#include "rclcpp/type_adapter.hpp"


namespace rclcpp
{

Expand Down Expand Up @@ -394,58 +393,12 @@ class AnySubscriptionCallback
// converted to one another, e.g. shared_ptr and unique_ptr.
using scbth = detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT>;

// Determine if the given CallbackT is a deprecated signature or not.
constexpr auto is_deprecated =
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<MessageT>)>
>::value
||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
>::value;

// Use the discovered type to force the type of callback when assigning
// into the variant.
if constexpr (is_deprecated) {
// If deprecated, call sub-routine that is deprecated.
set_deprecated(static_cast<typename scbth::callback_type>(callback));
} else {
// Otherwise just assign it.
callback_variant_ = static_cast<typename scbth::callback_type>(callback);
}
callback_variant_ = static_cast<typename scbth::callback_type>(callback);

// Return copy of self for easier testing, normally will be compiled out.
return *this;
}

/// Function for shared_ptr to non-const MessageT, which is deprecated.
template<typename SetT>
#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
// suppress deprecation warnings in `test_any_subscription_callback.cpp`
[[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
#endif
void
set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
{
callback_variant_ = callback;
}

/// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
template<typename SetT>
#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
// suppress deprecation warnings in `test_any_subscription_callback.cpp`
[[deprecated(
"use 'void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
)]]
#endif
void
set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
{
callback_variant_ = callback;
}

std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
create_ros_unique_ptr_from_ros_shared_ptr_message(
const std::shared_ptr<const ROSMessageType> & message)
Expand Down
2 changes: 0 additions & 2 deletions rclcpp/test/rclcpp/test_any_subscription_callback.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,6 @@
#include <string>
#include <utility>

// TODO(aprotyas): Figure out better way to suppress deprecation warnings.
#define RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS 1
#include "rclcpp/any_subscription_callback.hpp"
#include "test_msgs/msg/empty.hpp"
#include "test_msgs/msg/empty.h"
Expand Down