Revert "[rclcpp] add WaitSet class and modify entities to work withou…

…t executor (ros2#1047)"

This reverts commit aaf8b38.

Signed-off-by: Dan Rose <dan@digilabs.io>

rclcpp/CMakeLists.txt

@@ -49,13 +49,11 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
   src/rclcpp/graph_listener.cpp
-  src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp
   src/rclcpp/intra_process_manager.cpp
   src/rclcpp/logger.cpp
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
-  src/rclcpp/message_info.cpp
   src/rclcpp/node.cpp
   src/rclcpp/node_options.cpp
   src/rclcpp/node_interfaces/node_base.cpp
@@ -86,7 +84,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/timer.cpp
   src/rclcpp/type_support.cpp
   src/rclcpp/utilities.cpp
-  src/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.cpp
   src/rclcpp/waitable.cpp
 )
 
@@ -522,19 +519,6 @@ if(BUILD_TESTING)
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(test_guard_condition test/test_guard_condition.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_guard_condition)
-    target_link_libraries(test_guard_condition ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_wait_set test/test_wait_set.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_wait_set)
-    ament_target_dependencies(test_wait_set "test_msgs")
-    target_link_libraries(test_wait_set ${PROJECT_NAME})
-  endif()
-
   # Install test resources
   install(
     DIRECTORY test/resources

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -25,7 +25,6 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/function_traits.hpp"
-#include "rclcpp/message_info.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "tracetools/tracetools.h"
 #include "tracetools/utils.hpp"
@@ -44,13 +43,13 @@ class AnySubscriptionCallback
 
   using SharedPtrCallback = std::function<void (const std::shared_ptr<MessageT>)>;
   using SharedPtrWithInfoCallback =
-    std::function<void (const std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
+    std::function<void (const std::shared_ptr<MessageT>, const rmw_message_info_t &)>;
   using ConstSharedPtrCallback = std::function<void (const std::shared_ptr<const MessageT>)>;
   using ConstSharedPtrWithInfoCallback =
-    std::function<void (const std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
+    std::function<void (const std::shared_ptr<const MessageT>, const rmw_message_info_t &)>;
   using UniquePtrCallback = std::function<void (MessageUniquePtr)>;
   using UniquePtrWithInfoCallback =
-    std::function<void (MessageUniquePtr, const rclcpp::MessageInfo &)>;
+    std::function<void (MessageUniquePtr, const rmw_message_info_t &)>;
 
   SharedPtrCallback shared_ptr_callback_;
   SharedPtrWithInfoCallback shared_ptr_with_info_callback_;
@@ -156,7 +155,7 @@ class AnySubscriptionCallback
   }
 
   void dispatch(
-    std::shared_ptr<MessageT> message, const rclcpp::MessageInfo & message_info)
+    std::shared_ptr<MessageT> message, const rmw_message_info_t & message_info)
   {
     TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_) {
@@ -182,7 +181,7 @@ class AnySubscriptionCallback
   }
 
   void dispatch_intra_process(
-    ConstMessageSharedPtr message, const rclcpp::MessageInfo & message_info)
+    ConstMessageSharedPtr message, const rmw_message_info_t & message_info)
   {
     TRACEPOINT(callback_start, (const void *)this, true);
     if (const_shared_ptr_callback_) {
@@ -205,7 +204,7 @@ class AnySubscriptionCallback
   }
 
   void dispatch_intra_process(
-    MessageUniquePtr message, const rclcpp::MessageInfo & message_info)
+    MessageUniquePtr message, const rmw_message_info_t & message_info)
   {
     TRACEPOINT(callback_start, (const void *)this, true);
     if (shared_ptr_callback_) {

rclcpp/include/rclcpp/client.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__CLIENT_HPP_
 #define RCLCPP__CLIENT_HPP_
 
-#include <atomic>
 #include <future>
 #include <map>
 #include <memory>
@@ -63,27 +62,6 @@ class ClientBase
   RCLCPP_PUBLIC
   virtual ~ClientBase();
 
-  /// Take the next response for this client as a type erased pointer.
-  /**
-   * The type erased pointer allows for this method to be used in a type
-   * agnostic way along with ClientBase::create_response(),
-   * ClientBase::create_request_header(), and ClientBase::handle_response().
-   * The typed version of this can be used if the Service type is known,
-   * \sa Client::take_response().
-   *
-   * \param[out] response_out The type erased pointer to a Service Response into
-   *   which the middleware will copy the response being taken.
-   * \param[out] request_header_out The request header to be filled by the
-   *   middleware when taking, and which can be used to associte the response
-   *   to a specific request.
-   * \returns true if the response was taken, otherwise false.
-   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
-   *   rcl function fail.
-   */
-  RCLCPP_PUBLIC
-  bool
-  take_type_erased_response(void * response_out, rmw_request_id_t & request_header_out);
-
   RCLCPP_PUBLIC
   const char *
   get_service_name() const;
@@ -115,20 +93,6 @@ class ClientBase
   virtual void handle_response(
     std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
 
-  /// Exchange the "in use by wait set" state for this client.
-  /**
-   * This is used to ensure this client is not used by multiple
-   * wait sets at the same time.
-   *
-   * \param[in] in_use_state the new state to exchange into the state, true
-   *   indicates it is now in use by a wait set, and false is that it is no
-   *   longer in use by a wait set.
-   * \returns the previous state.
-   */
-  RCLCPP_PUBLIC
-  bool
-  exchange_in_use_by_wait_set_state(bool in_use_state);
-
 protected:
   RCLCPP_DISABLE_COPY(ClientBase)
 
@@ -149,8 +113,6 @@ class ClientBase
   std::shared_ptr<rclcpp::Context> context_;
 
   std::shared_ptr<rcl_client_t> client_handle_;
-
-  std::atomic<bool> in_use_by_wait_set_{false};
 };
 
 template<typename ServiceT>
@@ -209,25 +171,6 @@ class Client : public ClientBase
   {
   }
 
-  /// Take the next response for this client.
-  /**
-   * \sa ClientBase::take_type_erased_response().
-   *
-   * \param[out] response_out The reference to a Service Response into
-   *   which the middleware will copy the response being taken.
-   * \param[out] request_header_out The request header to be filled by the
-   *   middleware when taking, and which can be used to associte the response
-   *   to a specific request.
-   * \returns true if the response was taken, otherwise false.
-   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
-   *   rcl function fail.
-   */
-  bool
-  take_response(typename ServiceT::Response & response_out, rmw_request_id_t & request_header_out)
-  {
-    return this->take_type_erased_response(&response_out, request_header_out);
-  }
-
   std::shared_ptr<void>
   create_response() override
   {

rclcpp/include/rclcpp/context.hpp

@@ -159,7 +159,7 @@ class Context : public std::enable_shared_from_this<Context>
    *
    * \param[in] reason the description of why shutdown happened
    * \return true if shutdown was successful, false if context was already shutdown
-   * \throw various exceptions derived from rclcpp::exceptions::RCLError, if rcl_shutdown fails
+   * \throw various exceptions derived from RCLErrorBase, if rcl_shutdown fails
    */
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/rclcpp.hpp

@@ -143,7 +143,6 @@
 #include <memory>
 
 #include "rclcpp/executors.hpp"
-#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
@@ -153,7 +152,6 @@
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/wait_set.hpp"
 #include "rclcpp/waitable.hpp"
 
 #endif  // RCLCPP__RCLCPP_HPP_