Fix CallbackWrapper class for the Rolling release

* change to get building with latest rclcpp * implement pure virtual waitable functions as in ros2/system_tests#548 * uncrustify fixes Author: Henry Moore <[email protected]>
locusrobotics · Sep 18, 2024 · 0476592 · 0476592
1 parent ff41ec0
commit 0476592
Show file tree

Hide file tree

Showing 2 changed files with 14 additions and 7 deletions.
diff --git a/fuse_core/include/fuse_core/callback_wrapper.hpp b/fuse_core/include/fuse_core/callback_wrapper.hpp
@@ -166,7 +166,7 @@ class CallbackAdapter : public rclcpp::Waitable
   /**
    * @brief tell the CallbackGroup that this waitable is ready to execute anything
    */
-  bool is_ready(rcl_wait_set_t * wait_set) override;
+  bool is_ready(rcl_wait_set_t const & wait_set) override;
 
 
   /**
@@ -175,18 +175,25 @@ class CallbackAdapter : public rclcpp::Waitable
     waitable_ptr = std::make_shared<CallbackWrapper>();
     node->get_node_waitables_interface()->add_waitable(waitable_ptr, (rclcpp::CallbackGroup::SharedPtr) nullptr);
    */
-  void add_to_wait_set(rcl_wait_set_t * wait_set) override;
+  void add_to_wait_set(rcl_wait_set_t & wait_set) override;
 
   std::shared_ptr<void> take_data() override;
 
-  void execute(std::shared_ptr<void> & data) override;
+  void execute(std::shared_ptr<void> const & data) override;
 
   void addCallback(const std::shared_ptr<CallbackWrapperBase> & callback);
 
   void addCallback(std::shared_ptr<CallbackWrapperBase> && callback);
 
   void removeAllCallbacks();
 
+  void set_on_ready_callback(std::function<void(size_t, int)>) override {}
+  void clear_on_ready_callback() override {}
+  std::shared_ptr<void> take_data_by_entity_id(size_t) override
+  {
+    return nullptr;
+  }
+
 private:
   rcl_guard_condition_t gc_;  //!< guard condition to drive the waitable
 

diff --git a/fuse_core/src/callback_wrapper.cpp b/fuse_core/src/callback_wrapper.cpp
@@ -59,7 +59,7 @@ size_t CallbackAdapter::get_number_of_ready_guard_conditions() {return 1;}
 /**
    * @brief tell the CallbackGroup that this waitable is ready to execute anything
    */
-bool CallbackAdapter::is_ready(rcl_wait_set_t * wait_set)
+bool CallbackAdapter::is_ready(rcl_wait_set_t const & wait_set)
 {
   (void) wait_set;
   return !callback_queue_.empty();
@@ -71,9 +71,9 @@ bool CallbackAdapter::is_ready(rcl_wait_set_t * wait_set)
     waitable_ptr = std::make_shared<CallbackAdapter>();
     node->get_node_waitables_interface()->add_waitable(waitable_ptr, (rclcpp::CallbackGroup::SharedPtr) nullptr);
    */
-void CallbackAdapter::add_to_wait_set(rcl_wait_set_t * wait_set)
+void CallbackAdapter::add_to_wait_set(rcl_wait_set_t & wait_set)
 {
-  if (RCL_RET_OK != rcl_wait_set_add_guard_condition(wait_set, &gc_, NULL)) {
+  if (RCL_RET_OK != rcl_wait_set_add_guard_condition(&wait_set, &gc_, NULL)) {
     RCLCPP_WARN(rclcpp::get_logger("fuse"), "Could not add callback waitable to wait set.");
   }
 }
@@ -107,7 +107,7 @@ std::shared_ptr<void> CallbackAdapter::take_data()
    * @brief hook that allows the rclcpp::waitables interface to run the next callback
    *
    */
-void CallbackAdapter::execute(std::shared_ptr<void> & data)
+void CallbackAdapter::execute(std::shared_ptr<void> const & data)
 {
   if (!data) {
     throw std::runtime_error("'data' is empty");