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refactor AnySubscriptionCallback and add/deprecate callback signatures #1598

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merged 18 commits into from
Apr 3, 2021
+884 −429
Merged

refactor AnySubscriptionCallback and add/deprecate callback signatures #1598

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96a04a1
refactor AnySubscriptionCallback to...
wjwwood Mar 26, 2021
1418e8e
fix use of std::bind, free functions, etc. using new function_traits:…
wjwwood Mar 30, 2021
76edcd3
fix use of const MessageT & callbacks by fixing subscriptin_traits
wjwwood Mar 30, 2021
2bec5c4
fix deprecation warnings
wjwwood Mar 30, 2021
fda4a9f
use target_compile_features to require c++17 for downstream users of …
wjwwood Mar 30, 2021
3d4518d
uncrustify
wjwwood Mar 30, 2021
02e1eef
cpplint
wjwwood Mar 30, 2021
fdc6920
use target_compile_features(... cxx_std_17)
wjwwood Mar 31, 2021
d7840fd
Keep both std::shared_ptr<const MessageT> and const std::shared_ptr<c…
wjwwood Apr 1, 2021
0811b7f
defer deprecation of the shared_ptr<MessageT> sub callbacks
wjwwood Apr 1, 2021
2cea8ca
fix unused variable warning
wjwwood Apr 1, 2021
934d8be
small fixups to AnySubscriptionCallback
wjwwood Apr 1, 2021
84c7372
add check for unset AnySubscriptionCallback in dispatch methods
wjwwood Apr 1, 2021
0903161
update dispatch methods to handle all scenarios
wjwwood Apr 1, 2021
f923c2b
updated tests for AnySubscriptionCallback, include full parameterized…
wjwwood Apr 1, 2021
a5ff680
fixup test with changed assumption
wjwwood Apr 1, 2021
2590fd0
remove use of std::unary_function, which was removed in c++17
wjwwood Apr 2, 2021
ac4b35c
silence c++17 warnings on windows for now
wjwwood Apr 2, 2021
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13 changes: 9 additions & 4 deletions rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,10 @@ find_package(rosidl_typesupport_cpp REQUIRED)
find_package(statistics_msgs REQUIRED)
find_package(tracetools REQUIRED)

# Default to C++14
# TODO(wjwwood): remove this when gtest can build on its own, when using target_compile_features()
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
Expand Down Expand Up @@ -170,8 +171,12 @@ foreach(interface_file ${interface_files})
include/rclcpp/node_interfaces/get_${interface_name}.hpp)
endforeach()

add_library(${PROJECT_NAME}
${${PROJECT_NAME}_SRCS})
add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
# TODO(wjwwood): address all deprecation warnings and then remove this
if(WIN32)
target_compile_definitions(${PROJECT_NAME} PUBLIC "_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS")
endif()
target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
Expand Down
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