changed from atomic to const

Signed-off-by: Pedro Pena <[email protected]>
ros2 · Aug 4, 2020 · 7e6c958 · 7e6c958
1 parent c68a82c
commit 7e6c958
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/rclcpp/include/rclcpp/callback_group.hpp b/rclcpp/include/rclcpp/callback_group.hpp
@@ -57,7 +57,7 @@ class CallbackGroup
   RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
 
   RCLCPP_PUBLIC
-  explicit CallbackGroup(CallbackGroupType group_type, bool allow_executor_to_add = true);
+  explicit CallbackGroup(CallbackGroupType group_type, const bool allow_executor_to_add = true);
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
@@ -129,8 +129,8 @@ class CallbackGroup
    * add a callback group
    */
   RCLCPP_PUBLIC
-  std::atomic_bool &
-  allow_executor_to_add() {return allow_executor_to_add_;}
+  const bool &
+  allow_executor_to_add() const {return allow_executor_to_add_;}
 
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
@@ -173,7 +173,7 @@ class CallbackGroup
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
-  std::atomic_bool allow_executor_to_add_;
+  const bool allow_executor_to_add_;
 
 private:
   template<typename TypeT, typename Function>

diff --git a/rclcpp/src/rclcpp/callback_group.cpp b/rclcpp/src/rclcpp/callback_group.cpp
@@ -19,10 +19,11 @@
 using rclcpp::CallbackGroup;
 using rclcpp::CallbackGroupType;
 
-CallbackGroup::CallbackGroup(CallbackGroupType group_type, bool allow_executor_to_add)
+CallbackGroup::CallbackGroup(CallbackGroupType group_type, const bool allow_executor_to_add)
 : type_(group_type), associated_with_executor_(false),
-  can_be_taken_from_(true)
-{allow_executor_to_add_.store(allow_executor_to_add);}
+  can_be_taken_from_(true),
+  allow_executor_to_add_(allow_executor_to_add)
+{}
 
 
 std::atomic_bool &

diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
@@ -151,7 +151,7 @@ Executor::add_allowable_unassigned_callback_groups()
         [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
         {
           auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->allow_executor_to_add().load() &&
+          if (shared_group_ptr && shared_group_ptr->allow_executor_to_add() &&
           !shared_group_ptr->get_associated_with_executor_atomic().load())
           {
             add_callback_group(shared_group_ptr, node);
@@ -234,7 +234,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
   for (auto & weak_group : node_ptr->get_callback_groups()) {
     auto group_ptr = weak_group.lock();
     if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->allow_executor_to_add().load())
+      group_ptr->allow_executor_to_add())
     {
       add_callback_group(group_ptr, node_ptr, notify);
     }

diff --git a/rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp b/rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp
@@ -253,7 +253,6 @@ StaticExecutorEntitiesCollector::add_callback_group(
 {
   rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
   auto insert_info = weak_groups_to_nodes_.insert(std::make_pair(weak_group_ptr, node_ptr));
-  group_ptr->allow_executor_to_add().store(false);
   bool was_inserted = insert_info.second;
   if (!was_inserted) {
     throw std::runtime_error("Callback group was already added to executor.");