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Remove MANUAL_BY_NODE liveliness API #1107

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May 12, 2020
Merged

Remove MANUAL_BY_NODE liveliness API #1107

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13 changes: 0 additions & 13 deletions rclcpp/include/rclcpp/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1124,19 +1124,6 @@ class Node : public std::enable_shared_from_this<Node>
const rclcpp::NodeOptions &
get_node_options() const;

/// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
/**
* If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator
* of this node may manually call `assert_liveliness` at some point in time to signal to the rest
* of the system that this Node is still alive.
*
* \return `true` if the liveliness was asserted successfully, otherwise `false`
*/
RCLCPP_PUBLIC
RCUTILS_WARN_UNUSED
bool
assert_liveliness() const;

protected:
/// Construct a sub-node, which will extend the namespace of all entities created with it.
/**
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5 changes: 0 additions & 5 deletions rclcpp/include/rclcpp/node_interfaces/node_base.hpp
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Expand Up @@ -91,11 +91,6 @@ class NodeBase : public NodeBaseInterface

RCLCPP_PUBLIC

bool
assert_liveliness() const override;

RCLCPP_PUBLIC

rclcpp::CallbackGroup::SharedPtr
create_callback_group(rclcpp::CallbackGroupType group_type) override;

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6 changes: 0 additions & 6 deletions rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
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Expand Up @@ -102,12 +102,6 @@ class NodeBaseInterface
std::shared_ptr<const rcl_node_t>
get_shared_rcl_node_handle() const = 0;

/// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
RCLCPP_PUBLIC
virtual
bool
assert_liveliness() const = 0;

/// Create and return a callback group.
RCLCPP_PUBLIC
virtual
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6 changes: 0 additions & 6 deletions rclcpp/src/rclcpp/node.cpp
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Expand Up @@ -499,9 +499,3 @@ Node::get_node_options() const
{
return this->node_options_;
}

bool
Node::assert_liveliness() const
{
return node_base_->assert_liveliness();
}
6 changes: 0 additions & 6 deletions rclcpp/src/rclcpp/node_interfaces/node_base.cpp
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Expand Up @@ -202,12 +202,6 @@ NodeBase::get_shared_rcl_node_handle() const
return node_handle_;
}

bool
NodeBase::assert_liveliness() const
{
return RCL_RET_OK == rcl_node_assert_liveliness(get_rcl_node_handle());
}

rclcpp::CallbackGroup::SharedPtr
NodeBase::create_callback_group(rclcpp::CallbackGroupType group_type)
{
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2 changes: 1 addition & 1 deletion rclcpp/test/test_node.cpp
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Expand Up @@ -2591,7 +2591,7 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
RMW_QOS_POLICY_DURABILITY_VOLATILE,
{15, 1678},
{29, 2345},
RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE,
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
{5, 23456},
false
};
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2 changes: 1 addition & 1 deletion rclcpp/test/test_qos.cpp
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Expand Up @@ -65,7 +65,7 @@ TEST(TestQoS, equality_liveliness) {
EXPECT_NE(a, b);
b.liveliness_lease_duration(duration);
EXPECT_EQ(a, b);
a.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE);
a.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
EXPECT_NE(a, b);
}

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