Merge pull request #45 from mauropasse/mauro/exec-void-ptr

use void * to pass executor ptr
irobot-ros · Feb 17, 2021 · e6d6426 · e6d6426
2 parents b39ab21 + f13ffb2
commit e6d6426
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Showing 15 changed files with 16 additions and 18 deletions.
diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
@@ -159,7 +159,7 @@ class ClientBase
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 protected:

diff --git a/rclcpp/include/rclcpp/executors/events_executor.hpp b/rclcpp/include/rclcpp/executors/events_executor.hpp
@@ -185,16 +185,14 @@ class EventsExecutor : public rclcpp::Executor
   // 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, rmw_listener_event_t event)
+  push_event(void * executor_ptr, rmw_listener_event_t event)
   {
     // Check if the executor pointer is not valid
     if (!executor_ptr) {
       throw std::runtime_error("The executor pointer is not valid.");
     }
 
-    // Cast executor_ptr to this (need to remove constness)
-    auto this_executor = const_cast<executors::EventsExecutor *>(
-      static_cast<const executors::EventsExecutor *>(executor_ptr));
+    auto this_executor = static_cast<executors::EventsExecutor *>(executor_ptr);
 
     // Event queue mutex scope
     {

diff --git a/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp b/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
@@ -61,7 +61,7 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override
   {
     for (auto gc : notify_guard_conditions_) {

diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
@@ -77,7 +77,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override;
 
 protected:

diff --git a/rclcpp/include/rclcpp/qos_event.hpp b/rclcpp/include/rclcpp/qos_event.hpp
@@ -111,7 +111,7 @@ class QOSEventHandlerBase : public Waitable
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override;
 
 protected:

diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
@@ -129,7 +129,7 @@ class ServiceBase
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 protected:

diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -272,7 +272,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 protected:

diff --git a/rclcpp/include/rclcpp/waitable.hpp b/rclcpp/include/rclcpp/waitable.hpp
@@ -212,7 +212,7 @@ class Waitable
   virtual
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 private:

diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
@@ -201,7 +201,7 @@ ClientBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 
 void
 ClientBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_client_set_listener_callback(

diff --git a/rclcpp/src/rclcpp/qos_event.cpp b/rclcpp/src/rclcpp/qos_event.cpp
@@ -70,7 +70,7 @@ QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
 
 void
 QOSEventHandlerBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_event_set_listener_callback(

diff --git a/rclcpp/src/rclcpp/service.cpp b/rclcpp/src/rclcpp/service.cpp
@@ -87,7 +87,7 @@ ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 
 void
 ServiceBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_service_set_listener_callback(

diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -291,7 +291,7 @@ SubscriptionBase::exchange_in_use_by_wait_set_state(
 
 void
 SubscriptionBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_subscription_set_listener_callback(

diff --git a/rclcpp/src/rclcpp/subscription_intra_process_base.cpp b/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
@@ -39,7 +39,7 @@ SubscriptionIntraProcessBase::get_actual_qos() const
 
 void
 SubscriptionIntraProcessBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(

diff --git a/rclcpp/src/rclcpp/waitable.cpp b/rclcpp/src/rclcpp/waitable.cpp
@@ -62,7 +62,7 @@ Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)
 
 void
 Waitable::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   (void)executor;

diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -469,7 +469,7 @@ class TestWaitable : public rclcpp::Waitable
 
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override
   {
     rcl_ret_t ret = rcl_guard_condition_set_listener_callback(