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Add thread dependency to examples (Rolling) #237

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merged 13 commits into from
Jan 25, 2022
Merged

Add thread dependency to examples (Rolling) #237

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bf2589f
Regression test
Acuadros95 Jan 19, 2022
5435537
Add fix
Acuadros95 Jan 19, 2022
196d0f9
Add thread find_package
Acuadros95 Jan 20, 2022
da1cebe
updated CMakeLists.txt according to reviewer comments.
JanStaschulat Jan 24, 2022
97ec69e
typo
JanStaschulat Jan 24, 2022
0963be4
correcting order of C/C++ header includes
JanStaschulat Jan 24, 2022
9e8fadf
uncrustify
JanStaschulat Jan 24, 2022
02d885e
cpplint: changed order of includes in test_action_*.cpp
JanStaschulat Jan 24, 2022
87189ce
cpplint: changed order of includes test_parameter.cpp
JanStaschulat Jan 24, 2022
9891702
cpplint rclc changes
JanStaschulat Jan 24, 2022
36f3027
resolving cpplint errors
JanStaschulat Jan 24, 2022
987dff2
resolving cpplint errors
JanStaschulat Jan 24, 2022
b79ffa9
resolving uncrustify and cpplint errors
JanStaschulat Jan 24, 2022
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25 changes: 12 additions & 13 deletions rclc/test/rclc/test_action_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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());
}

Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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());
}

Expand Down
8 changes: 4 additions & 4 deletions rclc/test/rclc/test_action_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
2 changes: 2 additions & 0 deletions rclc_examples/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

Expand Down Expand Up @@ -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)
Expand Down
1 change: 0 additions & 1 deletion rclc_examples/src/example_action_client.c
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@

#include <stdio.h>
#include <unistd.h>
#include <pthread.h>

#include <rcl/rcl.h>
#include <rcl/error_handling.h>
Expand Down
4 changes: 2 additions & 2 deletions rclc_parameter/test/rclc_parameter/test_parameter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,6 @@

#include <gtest/gtest.h>

#include <rclcpp/rclcpp.hpp>

extern "C"
{
#include <rclc/node.h>
Expand All @@ -26,6 +24,8 @@ extern "C"
#include <memory>
#include <vector>

#include <rclcpp/rclcpp.hpp>

using namespace std::chrono_literals;

// #include "parameter_client.hpp"
Expand Down