Add thread dependency to examples (Rolling) (#237)

* Regression test * Add fix * Add thread find_package * updated CMakeLists.txt according to reviewer comments. Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * typo Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * correcting order of C/C++ header includes Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * uncrustify Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * cpplint: changed order of includes in test_action_*.cpp Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * cpplint: changed order of includes test_parameter.cpp Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * cpplint rclc changes Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * resolving cpplint errors Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * resolving cpplint errors Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> * resolving uncrustify and cpplint errors Signed-off-by: Jan Staschulat (CR/ADA1.2) <[email protected]> Co-authored-by: Jan Staschulat (CR/ADA1.2) <[email protected]>
ros2 · Jan 25, 2022 · 0a49ce1 · 0a49ce1
1 parent 5ea1a2a
commit 0a49ce1
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Showing 5 changed files with 20 additions and 20 deletions.
diff --git a/rclc/test/rclc/test_action_client.cpp b/rclc/test/rclc/test_action_client.cpp
@@ -15,25 +15,24 @@
 
 #include <gtest/gtest.h>
 
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-
 extern "C"
 {
 #include <rclc/rclc.h>
 #include <rclc/executor.h>
 #include <example_interfaces/action/fibonacci.h>
 }
 
-#include <example_interfaces/action/fibonacci.hpp>
-
 #include <chrono>
 #include <thread>
 #include <memory>
 #include <map>
 #include <vector>
 #include <utility>
 
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
+
 #define RCLC_MAX_GOALS 10
 
 using namespace std::chrono_literals;
@@ -429,12 +428,12 @@ TEST_F(ActionClientTest, goal_accept_feedback_and_result) {
           auto feedback = std::make_shared<Fibonacci::Feedback>();
           auto & sequence = feedback->sequence;
 
-          while (sequence.size() < (size_t) goal->order) {
+          while (sequence.size() < static_cast<size_t>(goal->order)) {
             sequence.push_back(sequence.size());
           }
 
           size_t sent_feedback = 0;
-          while (sent_feedback < (size_t)goal->order) {
+          while (sent_feedback < static_cast<size_t>(goal->order)) {
             goal_handle->publish_feedback(feedback);
             std::this_thread::sleep_for(std::chrono::milliseconds(10));
             ++sent_feedback;
@@ -514,12 +513,12 @@ TEST_F(ActionClientTest, goal_accept_feedback_and_abort) {
           auto feedback = std::make_shared<Fibonacci::Feedback>();
           auto & sequence = feedback->sequence;
 
-          while (sequence.size() < (size_t) goal->order) {
+          while (sequence.size() < static_cast<size_t>(goal->order)) {
             sequence.push_back(sequence.size());
           }
 
           size_t sent_feedback = 0;
-          while (sent_feedback < (size_t)goal->order) {
+          while (sent_feedback < static_cast<size_t>(goal->order)) {
             goal_handle->publish_feedback(feedback);
             std::this_thread::sleep_for(std::chrono::milliseconds(10));
             ++sent_feedback;
@@ -600,7 +599,7 @@ TEST_F(ActionClientTest, goal_accept_cancel_success) {
           auto feedback = std::make_shared<Fibonacci::Feedback>();
           auto & sequence = feedback->sequence;
 
-          while (sequence.size() < (size_t) goal->order) {
+          while (sequence.size() < static_cast<size_t>(goal->order)) {
             sequence.push_back(sequence.size());
           }
 
@@ -683,12 +682,12 @@ TEST_F(ActionClientTest, goal_accept_cancel_reject) {
           auto feedback = std::make_shared<Fibonacci::Feedback>();
           auto & sequence = feedback->sequence;
 
-          while (sequence.size() < (size_t) goal->order) {
+          while (sequence.size() < static_cast<size_t>(goal->order)) {
             sequence.push_back(sequence.size());
           }
 
           size_t sent_feedback = 0;
-          while (sent_feedback < (size_t)goal->order) {
+          while (sent_feedback < static_cast<size_t>(goal->order)) {
             goal_handle->publish_feedback(feedback);
             std::this_thread::sleep_for(std::chrono::milliseconds(10));
             ++sent_feedback;
@@ -805,7 +804,7 @@ TEST_F(ActionClientTest, multi_goal_accept_feedback_and_result) {
           auto feedback = std::make_shared<Fibonacci::Feedback>();
           auto & sequence = feedback->sequence;
 
-          while (sequence.size() < (size_t) goal->order) {
+          while (sequence.size() < static_cast<size_t>(goal->order)) {
             sequence.push_back(sequence.size());
           }
 

diff --git a/rclc/test/rclc/test_action_server.cpp b/rclc/test/rclc/test_action_server.cpp
@@ -16,24 +16,24 @@
 
 #include <gtest/gtest.h>
 
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-
 extern "C"
 {
 #include <rclc/rclc.h>
 #include <rclc/executor.h>
 #include <example_interfaces/action/fibonacci.h>
 }
 
-#include <example_interfaces/action/fibonacci.hpp>
 #include <chrono>
 #include <thread>
 #include <memory>
 #include <map>
 #include <vector>
 #include <utility>
 
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
+
 #define RCLC_MAX_GOALS 10
 
 using namespace std::chrono_literals;

diff --git a/rclc_examples/CMakeLists.txt b/rclc_examples/CMakeLists.txt
@@ -26,6 +26,7 @@ find_package(std_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(rclc_parameter REQUIRED)
+find_package(Threads REQUIRED)
 
 include_directories(include)
 
@@ -57,6 +58,7 @@ add_executable(example_pingpong src/example_pingpong.cpp)
 ament_target_dependencies(example_pingpong rcl rclc std_msgs)
 
 add_executable(example_action_server src/example_action_server.c)
+target_link_libraries(example_action_server Threads::Threads)
 ament_target_dependencies(example_action_server rcl rcl_action rclc example_interfaces)
 
 add_executable(example_action_client src/example_action_client.c)

diff --git a/rclc_examples/src/example_action_client.c b/rclc_examples/src/example_action_client.c
@@ -15,7 +15,6 @@
 
 #include <stdio.h>
 #include <unistd.h>
-#include <pthread.h>
 
 #include <rcl/rcl.h>
 #include <rcl/error_handling.h>

diff --git a/rclc_parameter/test/rclc_parameter/test_parameter.cpp b/rclc_parameter/test/rclc_parameter/test_parameter.cpp
@@ -14,8 +14,6 @@
 
 #include <gtest/gtest.h>
 
-#include <rclcpp/rclcpp.hpp>
-
 extern "C"
 {
 #include <rclc/node.h>
@@ -26,6 +24,8 @@ extern "C"
 #include <memory>
 #include <vector>
 
+#include <rclcpp/rclcpp.hpp>
+
 using namespace std::chrono_literals;
 
 // #include "parameter_client.hpp"