[compat] use MessageWrapper for subscribers

sarthou · Dec 21, 2023 · 84aa48d · 84aa48d
1 parent c32991e
commit 84aa48d
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Showing 5 changed files with 15 additions and 9 deletions.
diff --git a/include/ontologenius/API/ontologenius/FeederPublisher.h b/include/ontologenius/API/ontologenius/FeederPublisher.h
@@ -186,8 +186,8 @@ class FeederPublisher
   void publish(const std::string& str);
   void publishStamped(const std::string& str, const ontologenius::compat::onto_ros::Time& stamp);
 
-  void commitCallback(const std_msgs_compat::String::ConstPtr& msg);
-  void notificationCallback(const std_msgs_compat::String::ConstPtr& msg);
+  void commitCallback(ontologenius::compat::onto_ros::MessageWrapper<std_msgs_compat::String> msg);
+  void notificationCallback(ontologenius::compat::onto_ros::MessageWrapper<std_msgs_compat::String> msg);
 };
 
 } // namespace onto

diff --git a/include/ontologenius/compat/ros.h b/include/ontologenius/compat/ros.h
@@ -112,6 +112,9 @@ namespace onto_ros
   template <typename T>
   using ServiceWrapper = T;
 
+  template <typename T>
+  using MessageWrapper = typename T::ConstPtr;
+
   using Rate = ros::Rate;
   using RosTime = ros::Time;
 
@@ -122,6 +125,9 @@ namespace onto_ros
   template <typename T>
   using ServiceWrapper = std::shared_ptr<T>;
 
+  template <typename T>
+  using MessageWrapper = typename T::ConstSharedPtr;
+
   using Rate = rclcpp::Rate;
   using RosTime = rclcpp::Time;
 
@@ -380,7 +386,7 @@ class Client
 #if ONTO_ROS_VERSION == 1
     return handle_.waitForExistence(ros::Duration(timeout));
 #elif ONTO_ROS_VERSION == 2
-    return handle_->wait_for_service(timeout);
+    return handle_->wait_for_service(std::chrono::seconds(timeout));
 #endif
   }
 

diff --git a/include/ontologenius/interface/RosInterface.h b/include/ontologenius/interface/RosInterface.h
@@ -110,9 +110,9 @@ class RosInterface
   bool display_;
 
   /// @brief The ROS topic callback receiving statements not stamped
-  void knowledgeCallback(const std_msgs_compat::String::ConstPtr& msg);
+  void knowledgeCallback(compat::onto_ros::MessageWrapper<std_msgs_compat::String> msg);
   /// @brief The ROS topic callback receiving stamped statements
-  void stampedKnowledgeCallback(const compat::OntologeniusStampedString::ConstPtr& msg);
+  void stampedKnowledgeCallback(compat::onto_ros::MessageWrapper<compat::OntologeniusStampedString> msg);
 
   /// @brief The ROS service callback in charge of general operations on the ontology
   bool actionsHandle(compat::onto_ros::ServiceWrapper<compat::OntologeniusService::Request>& req,

diff --git a/src/API/ontologenius/FeederPublisher.cpp b/src/API/ontologenius/FeederPublisher.cpp
@@ -180,13 +180,13 @@ void FeederPublisher::publishStamped(const std::string& str, const ontologenius:
   stamped_pub_.publish(msg);
 }
 
-void FeederPublisher::commitCallback(const std_msgs_compat::String::ConstPtr& msg)
+void FeederPublisher::commitCallback(ontologenius::compat::onto_ros::MessageWrapper<std_msgs_compat::String> msg)
 {
   if (msg->data == "end")
     updated_ = true;
 }
 
-void FeederPublisher::notificationCallback(const std_msgs_compat::String::ConstPtr& msg)
+void FeederPublisher::notificationCallback(ontologenius::compat::onto_ros::MessageWrapper<std_msgs_compat::String> msg)
 {
   notification_callback_(msg->data);
 }

diff --git a/src/interface/RosInterface.cpp b/src/interface/RosInterface.cpp
@@ -198,14 +198,14 @@ void RosInterface::setDisplay(bool display)
 *
 ****************/
 
-void RosInterface::knowledgeCallback(const std_msgs_compat::String::ConstPtr& msg)
+void RosInterface::knowledgeCallback(compat::onto_ros::MessageWrapper<std_msgs_compat::String> msg)
 {
   auto now = compat::onto_ros::Node::get().current_time();
 
   feeder_.store(msg->data, { (uint32_t) now.seconds(), (uint32_t) now.nanoseconds()});
 }
 
-void RosInterface::stampedKnowledgeCallback(const compat::OntologeniusStampedString::ConstPtr& msg)
+void RosInterface::stampedKnowledgeCallback(compat::onto_ros::MessageWrapper<compat::OntologeniusStampedString> msg)
 {
   feeder_.store(msg->data, {msg->stamp.seconds, msg->stamp.nanoseconds});
 }