Back out Waitable and GraphEvent-related changes

Signed-off-by: Emerson Knapp <[email protected]>

rclcpp/include/rclcpp/any_executable.hpp

@@ -35,16 +35,18 @@ namespace executor
 struct AnyExecutable
 {
   RCLCPP_PUBLIC
-  AnyExecutable() = default;
+  AnyExecutable();
 
   RCLCPP_PUBLIC
   virtual ~AnyExecutable();
 
-  bool
-  has_timer() const;
-
+  // Only one of the following pointers will be set.
+  rclcpp::SubscriptionBase::SharedPtr subscription;
+  rclcpp::SubscriptionBase::SharedPtr subscription_intra_process;
+  rclcpp::TimerBase::SharedPtr timer;
+  rclcpp::ServiceBase::SharedPtr service;
+  rclcpp::ClientBase::SharedPtr client;
   rclcpp::Waitable::SharedPtr waitable;
-
   // These are used to keep the scope on the containing items
   rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;

rclcpp/include/rclcpp/client.hpp

@@ -27,7 +27,6 @@
 #include "rcl/error_handling.h"
 #include "rcl/wait.h"
 
-#include "rclcpp/waitable.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/macros.hpp"
@@ -50,7 +49,7 @@ namespace node_interfaces
 class NodeBaseInterface;
 }  // namespace node_interfaces
 
-class ClientBase : public Waitable
+class ClientBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase)
@@ -83,26 +82,6 @@ class ClientBase : public Waitable
   std::shared_ptr<const rcl_event_t>
   get_event_handle() const;
 
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_clients() override;
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_events() override;
-
-  RCLCPP_PUBLIC
-  bool
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override;
-
-  RCLCPP_PUBLIC
-  void
-  execute() override;
-
   RCLCPP_PUBLIC
   bool
   service_is_ready() const;
@@ -182,7 +161,6 @@ class Client : public ClientBase
     using rosidl_typesupport_cpp::get_service_type_support_handle;
     auto service_type_support_handle =
       get_service_type_support_handle<ServiceT>();
-
     rcl_ret_t ret = rcl_client_init(
       this->get_client_handle().get(),
       this->get_rcl_node_handle(),

rclcpp/include/rclcpp/create_service.hpp

@@ -46,11 +46,10 @@ create_service(
   service_options.qos = qos_profile;
 
   auto serv = Service<ServiceT>::make_shared(
-    node_base->get_shared_rcl_node_handle(), service_name, service_options, any_service_callback);
+    node_base->get_shared_rcl_node_handle(),
+    service_name, any_service_callback, service_options);
   auto serv_base_ptr = std::dynamic_pointer_cast<ServiceBase>(serv);
-
   node_services->add_service(serv_base_ptr, group);
-
   return serv;
 }
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -42,18 +42,19 @@ create_subscription(
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
   bool use_intra_process_comms,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
-  AllocatorT>::SharedPtr msg_mem_strat,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT, AllocatorT>::SharedPtr
+  msg_mem_strat,
   typename std::shared_ptr<AllocatorT> allocator)
 {
   auto subscription_options = rcl_subscription_get_default_options();
   subscription_options.qos = qos_profile;
   subscription_options.ignore_local_publications = ignore_local_publications;
 
-  auto factory = rclcpp::create_subscription_factory<MessageT, CallbackT, AllocatorT,
-      CallbackMessageT, SubscriptionT>(
+  auto factory = rclcpp::create_subscription_factory
+    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
     std::forward<CallbackT>(callback),
-    callbacks,
+    callbacks, 
     msg_mem_strat,
     allocator);
 
@@ -63,7 +64,6 @@ create_subscription(
     subscription_options,
     use_intra_process_comms);
   node_topics->add_subscription(sub, group);
-
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 

rclcpp/include/rclcpp/executor.hpp

@@ -298,6 +298,28 @@ class Executor
   void
   execute_any_executable(AnyExecutable & any_exec);
 
+  RCLCPP_PUBLIC
+  static void
+  execute_subscription(
+    rclcpp::SubscriptionBase::SharedPtr subscription);
+
+  RCLCPP_PUBLIC
+  static void
+  execute_intra_process_subscription(
+    rclcpp::SubscriptionBase::SharedPtr subscription);
+
+  RCLCPP_PUBLIC
+  static void
+  execute_timer(rclcpp::TimerBase::SharedPtr timer);
+
+  RCLCPP_PUBLIC
+  static void
+  execute_service(rclcpp::ServiceBase::SharedPtr service);
+
+  RCLCPP_PUBLIC
+  static void
+  execute_client(rclcpp::ClientBase::SharedPtr client);
+
   RCLCPP_PUBLIC
   void
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -79,7 +79,7 @@ class MultiThreadedExecutor : public executor::Executor
   bool yield_before_execute_;
 
   std::mutex scheduled_timers_mutex_;
-  std::set<Waitable::SharedPtr> scheduled_timers_;
+  std::set<TimerBase::SharedPtr> scheduled_timers_;
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -64,6 +64,21 @@ class RCLCPP_PUBLIC MemoryStrategy
 
   virtual void remove_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
 
+  virtual void
+  get_next_subscription(
+    rclcpp::executor::AnyExecutable & any_exec,
+    const WeakNodeVector & weak_nodes) = 0;
+
+  virtual void
+  get_next_service(
+    rclcpp::executor::AnyExecutable & any_exec,
+    const WeakNodeVector & weak_nodes) = 0;
+
+  virtual void
+  get_next_client(
+    rclcpp::executor::AnyExecutable & any_exec,
+    const WeakNodeVector & weak_nodes) = 0;
+
   virtual void
   get_next_waitable(
     rclcpp::executor::AnyExecutable & any_exec,

rclcpp/include/rclcpp/node.hpp

@@ -366,17 +366,17 @@ class Node : public std::enable_shared_from_this<Node>
   count_subscribers(const std::string & topic_name) const;
 
   /// Return a graph event, which will be set anytime a graph change occurs.
-  /* The graph GraphEvent object is a loan which must be returned.
-   * The GraphEvent object is scoped and therefore to return the loan just let it go
+  /* The graph Event object is a loan which must be returned.
+   * The Event object is scoped and therefore to return the loan just let it go
    * out of scope.
    */
   RCLCPP_PUBLIC
-  rclcpp::GraphEvent::SharedPtr
+  rclcpp::Event::SharedPtr
   get_graph_event();
 
-  /// Wait for a graph event to occur by waiting on an GraphEvent to become set.
+  /// Wait for a graph event to occur by waiting on an Event to become set.
   /**
-   * The given GraphEvent must be acquire through the get_graph_event() method.
+   * The given Event must be acquire through the get_graph_event() method.
    *
    * \throws InvalidEventError if the given event is nullptr
    * \throws EventNotRegisteredError if the given event was not acquired with
@@ -385,7 +385,7 @@ class Node : public std::enable_shared_from_this<Node>
   RCLCPP_PUBLIC
   void
   wait_for_graph_change(
-    rclcpp::GraphEvent::SharedPtr event,
+    rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_impl.hpp

@@ -85,7 +85,11 @@ Node::create_publisher(
     allocator);
 }
 
-template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename Alloc,
+  typename SubscriptionT>
 std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
@@ -157,7 +161,6 @@ Node::create_client(
 
   auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
   node_services_->add_client(cli_base_ptr, group);
-
   return cli;
 }
 

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -25,7 +25,7 @@
 
 #include "rcl/guard_condition.h"
 
-#include "rclcpp/graph_event.hpp"
+#include "rclcpp/event.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
@@ -102,14 +102,14 @@ class NodeGraph : public NodeGraphInterface
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::GraphEvent::SharedPtr
+  rclcpp::Event::SharedPtr
   get_graph_event();
 
   RCLCPP_PUBLIC
   virtual
   void
   wait_for_graph_change(
-    rclcpp::GraphEvent::SharedPtr event,
+    rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
   RCLCPP_PUBLIC
@@ -133,7 +133,7 @@ class NodeGraph : public NodeGraphInterface
   /// For notifying waiting threads (wait_for_graph_change()) on changes (notify_graph_change()).
   std::condition_variable graph_cv_;
   /// Weak references to graph events out on loan.
-  std::vector<rclcpp::GraphEvent::WeakPtr> graph_events_;
+  std::vector<rclcpp::Event::WeakPtr> graph_events_;
   /// Number of graph events out on loan, used to determine if the graph should be monitored.
   /** graph_users_count_ is atomic so that it can be accessed without acquiring the graph_mutex_ */
   std::atomic_size_t graph_users_count_;

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -23,7 +23,7 @@
 
 #include "rcl/guard_condition.h"
 
-#include "rclcpp/graph_event.hpp"
+#include "rclcpp/event.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -99,7 +99,7 @@ class NodeGraphInterface
   /**
    * Affects threads waiting on the notify guard condition, see:
    * get_notify_guard_condition(), as well as the threads waiting on graph
-   * changes using a graph GraphEvent, see: wait_for_graph_change().
+   * changes using a graph Event, see: wait_for_graph_change().
    *
    * This is typically only used by the rclcpp::graph_listener::GraphListener.
    *
@@ -118,18 +118,18 @@ class NodeGraphInterface
 
   /// Return a graph event, which will be set anytime a graph change occurs.
   /**
-   * The graph GraphEvent object is a loan which must be returned.
-   * The GraphEvent object is scoped and therefore to return the load just let it go
+   * The graph Event object is a loan which must be returned.
+   * The Event object is scoped and therefore to return the load just let it go
    * out of scope.
    */
   RCLCPP_PUBLIC
   virtual
-  rclcpp::GraphEvent::SharedPtr
+  rclcpp::Event::SharedPtr
   get_graph_event() = 0;
 
-  /// Wait for a graph event to occur by waiting on an GraphEvent to become set.
+  /// Wait for a graph event to occur by waiting on an Event to become set.
   /**
-   * The given GraphEvent must be acquire through the get_graph_event() method.
+   * The given Event must be acquire through the get_graph_event() method.
    *
    * \throws InvalidEventError if the given event is nullptr
    * \throws EventNotRegisteredError if the given event was not acquired with
@@ -139,7 +139,7 @@ class NodeGraphInterface
   virtual
   void
   wait_for_graph_change(
-    rclcpp::GraphEvent::SharedPtr event,
+    rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout) = 0;
 
   /// Return the number of on loan graph events, see get_graph_event().

rclcpp/include/rclcpp/publisher.hpp

@@ -40,7 +40,6 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-
 namespace rclcpp
 {
 
@@ -188,17 +187,16 @@ class PublisherBase
     const rcl_publisher_options_t & intra_process_options);
 
 protected:
-  using IntraProcessManagerWeakPtr =
-    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
-
   std::shared_ptr<rcl_node_t> rcl_node_handle_;
 
   rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
+  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
+
+std::vector<std::shared_ptr<QOSEventBase>> event_handles_;
 
-  std::vector<std::shared_ptr<QOSEventBase>> event_handles_;
-
+  using IntraProcessManagerWeakPtr =
+    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
   bool use_intra_process_;
-  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
   IntraProcessManagerWeakPtr weak_ipm_;
   uint64_t intra_process_publisher_id_;
   StoreMessageCallbackT store_intra_process_message_;
@@ -401,6 +399,7 @@ class Publisher : public PublisherBase
   }
 
   std::shared_ptr<MessageAlloc> message_allocator_;
+
   MessageDeleter message_deleter_;
 };
 

rclcpp/include/rclcpp/qos_event.hpp

@@ -48,7 +48,7 @@ struct QOSLivelinessEventInfo
   };
 
   LivelinessEventType event_type;
-  void * other_info;
+  rmw_liveliness_lost_t * other_info;
 };
 
 struct QOSLifespanEventInfo
@@ -141,7 +141,8 @@ class QOSEvent : public QOSEventBase
   {
     EventCallbackInfoT callback_info;
 
-    rcl_ret_t ret = rcl_take_event(&event_handle_, callback_info.other_info);
+    rcl_ret_t ret = RCL_RET_ERROR;
+    // rcl_ret_t ret = rcl_take_event(&event_handle_, callback_info.other_info);
     if (ret != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",

rclcpp/include/rclcpp/rclcpp.hpp

@@ -88,7 +88,7 @@
  * - Graph Events (a waitable event object that wakes up when the graph changes):
  *   - rclcpp::Node::get_graph_event()
  *   - rclcpp::Node::wait_for_graph_change()
- *   - rclcpp::GraphEvent
+ *   - rclcpp::Event
  * - List topic names and types:
  *   - rclcpp::Node::get_topic_names_and_types()
  * - Get the number of publishers or subscribers on a topic: