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avoid new deprecations #426

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Apr 23, 2020
Merged

avoid new deprecations #426

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aff0a56
avoid new deprecations
wjwwood Apr 22, 2020
7ad189e
avoid more deprecations
wjwwood Apr 23, 2020
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2 changes: 1 addition & 1 deletion test_communication/test/test_action_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ send_goals(
auto goal_handle_future =
action_client->async_send_goal(goal_tests[test_index].goal, send_goal_options);

using rclcpp::executor::FutureReturnCode;
using rclcpp::FutureReturnCode;
// wait for the sent goal to be accepted
auto status = rclcpp::spin_until_future_complete(node, goal_handle_future, 1000s);
if (status != FutureReturnCode::SUCCESS) {
Expand Down
4 changes: 2 additions & 2 deletions test_rclcpp/test/test_client_scope_client.cpp
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Expand Up @@ -51,7 +51,7 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test
auto result1 = client1->async_send_request(request1);
if (
rclcpp::spin_until_future_complete(node, result1) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
FAIL();
}
Expand All @@ -78,7 +78,7 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_regression_test
std::cout.flush();
auto result2 = client2->async_send_request(request2);
if (rclcpp::spin_until_future_complete(node, result2) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
FAIL();
}
Expand Down
10 changes: 5 additions & 5 deletions test_rclcpp/test/test_client_scope_consistency_client.cpp
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Expand Up @@ -40,7 +40,7 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_reg

// Replicate the settings that caused https://github.com/ros2/system_tests/issues/153
rmw_qos_profile_t rmw_qos_profile = rmw_qos_profile_default;
rclcpp::executor::FutureReturnCode ret1;
rclcpp::FutureReturnCode ret1;

// Extra scope so the first client will be deleted afterwards
{
Expand All @@ -60,7 +60,7 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_reg
auto result1 = client1->async_send_request(request1);

ret1 = rclcpp::spin_until_future_complete(node, result1, 5s);
if (ret1 == rclcpp::executor::FutureReturnCode::SUCCESS) {
if (ret1 == rclcpp::FutureReturnCode::SUCCESS) {
printf("received first result\n");
std::cout.flush();
if (3 == result1.get()->sum) {
Expand All @@ -71,7 +71,7 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_reg
std::cout.flush();
}
} else {
printf("first result not received: %s\n", rclcpp::executor::to_string(ret1).c_str());
printf("first result not received: %s\n", rclcpp::to_string(ret1).c_str());
std::cout.flush();
}

Expand All @@ -96,7 +96,7 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_reg
auto result2 = client2->async_send_request(request2);

auto ret2 = rclcpp::spin_until_future_complete(node, result2, 5s);
if (ret2 == rclcpp::executor::FutureReturnCode::SUCCESS) {
if (ret2 == rclcpp::FutureReturnCode::SUCCESS) {
printf("received second result\n");
std::cout.flush();
if (5 == result2.get()->sum) {
Expand All @@ -107,7 +107,7 @@ TEST(CLASSNAME(service_client, RMW_IMPLEMENTATION), client_scope_consistency_reg
std::cout.flush();
}
} else {
printf("second result not received: %s\n", rclcpp::executor::to_string(ret2).c_str());
printf("second result not received: %s\n", rclcpp::to_string(ret2).c_str());
std::cout.flush();
}

Expand Down
10 changes: 5 additions & 5 deletions test_rclcpp/test/test_multithreaded.cpp
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Expand Up @@ -51,7 +51,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
auto node = rclcpp::Node::make_shared(
node_topic_name, rclcpp::NodeOptions().use_intra_process_comms(intra_process));
auto callback_group = node->create_callback_group(
rclcpp::callback_group::CallbackGroupType::Reentrant);
rclcpp::CallbackGroupType::Reentrant);
const size_t num_messages = std::min<size_t>(executor.get_number_of_threads(), 16);
auto pub = node->create_publisher<test_rclcpp::msg::UInt32>(node_topic_name, 5 * num_messages);

Expand Down Expand Up @@ -169,7 +169,7 @@ TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients)
rmw_qos_profile_t qos_profile = rmw_qos_profile_services_default;
qos_profile.depth = std::min<size_t>(executor.get_number_of_threads(), 16) * 2;
auto callback_group = node->create_callback_group(
rclcpp::callback_group::CallbackGroupType::Reentrant);
rclcpp::CallbackGroupType::Reentrant);
auto service = node->create_service<test_rclcpp::srv::AddTwoInts>(
"multi_consumer_clients", callback, qos_profile, callback_group);

Expand Down Expand Up @@ -210,7 +210,7 @@ TEST(CLASSNAME(test_multithreaded, RMW_IMPLEMENTATION), multi_consumer_clients)
// Wait on each future
for (uint32_t i = 0; i < results.size(); ++i) {
auto result = executor.spin_until_future_complete(results[i]);
ASSERT_EQ(rclcpp::executor::FutureReturnCode::SUCCESS, result);
ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, result);
}

// Check the status of all futures
Expand Down Expand Up @@ -269,9 +269,9 @@ static inline void multi_access_publisher(bool intra_process)

auto node = rclcpp::Node::make_shared(node_topic_name, options);
auto timer_callback_group = node->create_callback_group(
rclcpp::callback_group::CallbackGroupType::Reentrant);
rclcpp::CallbackGroupType::Reentrant);
auto sub_callback_group = node->create_callback_group(
rclcpp::callback_group::CallbackGroupType::Reentrant);
rclcpp::CallbackGroupType::Reentrant);

rclcpp::executors::MultiThreadedExecutor executor;

Expand Down
6 changes: 3 additions & 3 deletions test_rclcpp/test/test_services_client.cpp
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Expand Up @@ -47,7 +47,7 @@ TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_noreqid) {
auto result = client->async_send_request(request);

auto ret = rclcpp::spin_until_future_complete(node, result, 5s); // Wait for the result.
ASSERT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);

EXPECT_EQ(3, result.get()->sum);
}
Expand All @@ -68,7 +68,7 @@ TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_add_reqid) {
auto result = client->async_send_request(request);

auto ret = rclcpp::spin_until_future_complete(node, result, 5s); // Wait for the result.
ASSERT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);

EXPECT_EQ(9, result.get()->sum);
}
Expand Down Expand Up @@ -96,5 +96,5 @@ TEST(CLASSNAME(test_services_client, RMW_IMPLEMENTATION), test_return_request) {
});

auto ret = rclcpp::spin_until_future_complete(node, result, 5s); // Wait for the result.
ASSERT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
}
10 changes: 5 additions & 5 deletions test_rclcpp/test/test_spin.cpp
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Expand Up @@ -38,7 +38,7 @@ using namespace std::chrono_literals;
*/
TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), test_spin_until_future_complete_timeout) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
using rclcpp::executor::FutureReturnCode;
using rclcpp::FutureReturnCode;
rclcpp::executors::SingleThreadedExecutor executor;

// Try passing an already complete future, it should succeed.
Expand Down Expand Up @@ -143,7 +143,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete) {
executor.add_node(node);
ASSERT_EQ(
executor.spin_until_future_complete(future),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);
EXPECT_EQ(future.get(), true);
}

Expand All @@ -163,12 +163,12 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_timeou

ASSERT_EQ(
rclcpp::spin_until_future_complete(node, future, std::chrono::milliseconds(25)),
rclcpp::executor::FutureReturnCode::TIMEOUT);
rclcpp::FutureReturnCode::TIMEOUT);

// If we wait a little longer, we should complete the future
ASSERT_EQ(
rclcpp::spin_until_future_complete(node, future, std::chrono::milliseconds(50)),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);

EXPECT_EQ(future.get(), true);
}
Expand All @@ -195,7 +195,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), spin_until_future_complete_interr

ASSERT_EQ(
rclcpp::spin_until_future_complete(node, future, std::chrono::milliseconds(50)),
rclcpp::executor::FutureReturnCode::INTERRUPTED);
rclcpp::FutureReturnCode::INTERRUPTED);
}

TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), cancel) {
Expand Down
8 changes: 4 additions & 4 deletions test_rclcpp/test/test_subscription.cpp
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Expand Up @@ -40,12 +40,12 @@ using namespace std::chrono_literals;

template<typename DurationT>
void wait_for_future(
rclcpp::executor::Executor & executor,
rclcpp::Executor & executor,
std::shared_future<void> & future,
const DurationT & timeout)
{
using rclcpp::executor::FutureReturnCode;
rclcpp::executor::FutureReturnCode future_ret;
using rclcpp::FutureReturnCode;
rclcpp::FutureReturnCode future_ret;
auto start_time = std::chrono::steady_clock::now();
future_ret = executor.spin_until_future_complete(future, timeout);
auto elapsed_time = std::chrono::steady_clock::now() - start_time;
Expand Down Expand Up @@ -163,7 +163,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
printf("spin_until_future_complete(short timeout) - no callbacks expected\n");
sub_called = std::promise<void>();
sub_called_future = sub_called.get_future();
using rclcpp::executor::FutureReturnCode;
using rclcpp::FutureReturnCode;
FutureReturnCode future_ret = executor.spin_until_future_complete(sub_called_future, 100ms);
EXPECT_EQ(FutureReturnCode::TIMEOUT, future_ret);
ASSERT_EQ(5, counter);
Expand Down
4 changes: 2 additions & 2 deletions test_rclcpp/test/test_waitable.cpp
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Expand Up @@ -43,7 +43,7 @@ class WaitableWithTimer : public rclcpp::Waitable
rcl_ret_t ret = rcl_timer_init(
timer_.get(),
clock_handle,
rclcpp::contexts::default_context::get_global_default_context()->get_rcl_context().get(),
rclcpp::contexts::get_global_default_context()->get_rcl_context().get(),
period_nanoseconds,
nullptr,
rcl_get_default_allocator());
Expand Down Expand Up @@ -93,7 +93,7 @@ TEST(CLASSNAME(test_waitable, RMW_IMPLEMENTATION), waitable_with_timer) {
if (!rclcpp::ok()) {rclcpp::init(0, nullptr);}
auto node = rclcpp::Node::make_shared("waitable_with_timer");
auto waitable = WaitableWithTimer::make_shared(node->get_clock());
auto group = node->create_callback_group(rclcpp::callback_group::CallbackGroupType::Reentrant);
auto group = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
node->get_node_waitables_interface()->add_waitable(waitable, group);

std::shared_future<bool> fut(waitable->execute_promise_.get_future());
Expand Down