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Hide Ros2Adapter from threads #139

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Sep 11, 2024
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Hide Ros2Adapter from threads #139

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2 changes: 1 addition & 1 deletion docs/imgs/ROS2Ownership.svg
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4 changes: 2 additions & 2 deletions examples/ros2/publisher/complex_data.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -57,8 +57,8 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
: cactus_rt::CyclicThread("RTROS2Publisher", CreateThreadConfig()),
run_duration_(run_duration.count()) {}

void InitializeForRos2() override {
publisher_ = ros2_adapter_->CreatePublisher<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
publisher_ = ros2_adapter.CreatePublisher<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
}

protected:
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4 changes: 2 additions & 2 deletions examples/ros2/publisher/simple_data.cc
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Expand Up @@ -32,8 +32,8 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
: cactus_rt::CyclicThread("RTROS2Publisher", CreateThreadConfig()),
run_duration_(run_duration.count()) {}

void InitializeForRos2() override {
publisher_ = ros2_adapter_->CreatePublisher<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
publisher_ = ros2_adapter.CreatePublisher<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
}

protected:
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4 changes: 2 additions & 2 deletions examples/ros2/subscriber/complex_data.cc
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Expand Up @@ -57,8 +57,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
: cactus_rt::CyclicThread("RTROS2Subscriber", CreateThreadConfig()),
run_duration_(run_duration.count()) {}

void InitializeForRos2() override {
subscription_ = ros2_adapter_->CreateSubscriptionForLatestValue<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
subscription_ = ros2_adapter.CreateSubscriptionForLatestValue<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
}

protected:
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4 changes: 2 additions & 2 deletions examples/ros2/subscriber/queued_data.cc
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Expand Up @@ -31,8 +31,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
: cactus_rt::CyclicThread("RTROS2Subscriber", CreateThreadConfig()),
run_duration_(run_duration.count()) {}

void InitializeForRos2() override {
subscription_ = ros2_adapter_->CreateSubscriptionQueued<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
subscription_ = ros2_adapter.CreateSubscriptionQueued<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
}

protected:
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4 changes: 2 additions & 2 deletions examples/ros2/subscriber/simple_data.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
: cactus_rt::CyclicThread("RTROS2Subscriber", CreateThreadConfig()),
run_duration_(run_duration.count()) {}

void InitializeForRos2() override {
subscription_ = ros2_adapter_->CreateSubscriptionForLatestValue<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
subscription_ = ros2_adapter.CreateSubscriptionForLatestValue<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
}

protected:
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20 changes: 5 additions & 15 deletions include/cactus_rt/ros2/app.h
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Expand Up @@ -12,32 +12,23 @@ namespace cactus_rt::ros2 {
class App;

class Ros2ThreadMixin {
friend class App;

protected:
std::shared_ptr<Ros2Adapter> ros2_adapter_;

private:
void SetRos2Adapter(std::shared_ptr<Ros2Adapter> ros2_adapter) {
ros2_adapter_ = ros2_adapter;
}

public:
virtual void InitializeForRos2() = 0;
virtual void InitializeForRos2(Ros2Adapter& ros2_adapter) = 0;
virtual ~Ros2ThreadMixin() = 0;
};

class Ros2ExecutorThread : public cactus_rt::Thread, public cactus_rt::ros2::Ros2ThreadMixin {
std::shared_ptr<Ros2Adapter> ros2_adapter_;
std::optional<rclcpp::executors::SingleThreadedExecutor> executor_;

static cactus_rt::ThreadConfig CreateThreadConfig();

public:
Ros2ExecutorThread();
explicit Ros2ExecutorThread(std::shared_ptr<Ros2Adapter> ros2_adapter);

void Run() override;

void InitializeForRos2() override {}
void InitializeForRos2(Ros2Adapter& /*ros2_adapter*/) override {}
};

class App : public cactus_rt::App {
Expand All @@ -63,8 +54,7 @@ class App : public cactus_rt::App {
static_assert(std::is_base_of_v<Ros2ThreadMixin, ThreadT>, "Must derive ROS2 thread from Ros2ThreadMixin");
std::shared_ptr<ThreadT> thread = CreateThread<ThreadT>(std::forward<Args>(args)...);

thread->SetRos2Adapter(ros2_adapter_);
thread->InitializeForRos2();
thread->InitializeForRos2(*ros2_adapter_);

return thread;
}
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6 changes: 4 additions & 2 deletions src/cactus_rt/ros2/app.cc
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Expand Up @@ -12,7 +12,9 @@ cactus_rt::ThreadConfig Ros2ExecutorThread::CreateThreadConfig() {
return thread_config;
}

Ros2ExecutorThread::Ros2ExecutorThread() : Thread("ROS2ExecutorThread", CreateThreadConfig()) {}
Ros2ExecutorThread::Ros2ExecutorThread(std::shared_ptr<Ros2Adapter> ros2_adapter)
: Thread("ROS2ExecutorThread", CreateThreadConfig()),
ros2_adapter_(ros2_adapter) {}

void Ros2ExecutorThread::Run() {
rclcpp::ExecutorOptions options;
Expand Down Expand Up @@ -52,7 +54,7 @@ App::App(

// Must initialize rclcpp before making the Ros2Adapter;
ros2_adapter_ = std::make_shared<Ros2Adapter>(name, ros2_adapter_config);
ros2_executor_thread_ = CreateROS2EnabledThread<Ros2ExecutorThread>();
ros2_executor_thread_ = CreateROS2EnabledThread<Ros2ExecutorThread>(ros2_adapter_);
}

App::~App() {
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