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Merged
bpapaspyros merged 7 commits into from
Sep 27, 2024
Merged

chore: format repository #142

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abebb80
chore: format C/C++ files (.c, .cpp, .h, .hpp)
bpapaspyros Sep 27, 2024
a44f58a
chore: format python files
bpapaspyros Sep 27, 2024
3c8e84a
Revert "chore: format python files"
bpapaspyros Sep 27, 2024
210e3ab
chore: reformat python with line length 120
bpapaspyros Sep 27, 2024
918f52d
docs: update CHANGELOG.md
bpapaspyros Sep 27, 2024
48c57a8
docs: update CHANGELOG.md
bpapaspyros Sep 27, 2024
651543c
fix: update package builder version in .toml
bpapaspyros Sep 27, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ Release Versions:
- refactor(controllers): split up base class (#135)
- release: use updated base image (#139)
- fix(controllers): remove duplicate function (#140)
- chore: format repository (#142)

## 4.2.2

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2 changes: 1 addition & 1 deletion aica-package.toml
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@@ -1,4 +1,4 @@
#syntax=ghcr.io/aica-technology/package-builder:v1.1.0-rc0006
#syntax=ghcr.io/aica-technology/package-builder:v1.1.1

[metadata]
version = "5.0.0-rc0008"
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43 changes: 23 additions & 20 deletions source/modulo_components/include/modulo_components/Component.hpp
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Expand Up @@ -65,8 +65,7 @@ class Component : public rclcpp::Node, public ComponentInterface {
template<typename DataT>
void add_output(
const std::string& signal_name, const std::shared_ptr<DataT>& data, const std::string& default_topic = "",
bool fixed_topic = false, bool publish_on_step = true
);
bool fixed_topic = false, bool publish_on_step = true);

private:
/**
Expand All @@ -81,75 +80,79 @@ class Component : public rclcpp::Node, public ComponentInterface {
void on_execute();

// TODO hide ROS methods
using ComponentInterface::get_parameter;
using ComponentInterface::create_output;
using ComponentInterface::evaluate_periodic_callbacks;
using ComponentInterface::get_parameter;
using ComponentInterface::inputs_;
using ComponentInterface::outputs_;
using ComponentInterface::periodic_outputs_;
using ComponentInterface::publish_predicates;
using ComponentInterface::publish_outputs;
using ComponentInterface::evaluate_periodic_callbacks;
using ComponentInterface::publish_predicates;
using rclcpp::Node::get_parameter;

std::thread execute_thread_; ///< The execution thread of the component
bool started_; ///< Flag that indicates if execution has started or not
std::thread execute_thread_;///< The execution thread of the component
bool started_; ///< Flag that indicates if execution has started or not
};

template<typename DataT>
inline void Component::add_output(
const std::string& signal_name, const std::shared_ptr<DataT>& data, const std::string& default_topic,
bool fixed_topic, bool publish_on_step
) {
bool fixed_topic, bool publish_on_step) {
using namespace modulo_core::communication;
try {
auto parsed_signal_name =
this->create_output(PublisherType::PUBLISHER, signal_name, data, default_topic, fixed_topic, publish_on_step);
auto topic_name = this->get_parameter_value<std::string>(parsed_signal_name + "_topic");
RCLCPP_DEBUG_STREAM(this->get_logger(),
"Adding output '" << parsed_signal_name << "' with topic name '" << topic_name << "'.");
RCLCPP_DEBUG_STREAM(
this->get_logger(), "Adding output '" << parsed_signal_name << "' with topic name '" << topic_name << "'.");
auto message_pair = this->outputs_.at(parsed_signal_name)->get_message_pair();
switch (message_pair->get_type()) {
case MessageType::BOOL: {
auto publisher = this->create_publisher<std_msgs::msg::Bool>(topic_name, this->get_qos());
this->outputs_.at(parsed_signal_name) =
std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::Bool>, std_msgs::msg::Bool>>(
PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
PublisherType::PUBLISHER, publisher)
->create_publisher_interface(message_pair);
break;
}
case MessageType::FLOAT64: {
auto publisher = this->create_publisher<std_msgs::msg::Float64>(topic_name, this->get_qos());
this->outputs_.at(parsed_signal_name) =
std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::Float64>, std_msgs::msg::Float64>>(
PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
PublisherType::PUBLISHER, publisher)
->create_publisher_interface(message_pair);
break;
}
case MessageType::FLOAT64_MULTI_ARRAY: {
auto publisher = this->create_publisher<std_msgs::msg::Float64MultiArray>(topic_name, this->get_qos());
this->outputs_.at(parsed_signal_name) = std::make_shared<
PublisherHandler<
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>, std_msgs::msg::Float64MultiArray>>(
PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
this->outputs_.at(parsed_signal_name) = std::make_shared<PublisherHandler<
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>, std_msgs::msg::Float64MultiArray>>(
PublisherType::PUBLISHER, publisher)
->create_publisher_interface(message_pair);
break;
}
case MessageType::INT32: {
auto publisher = this->create_publisher<std_msgs::msg::Int32>(topic_name, this->get_qos());
this->outputs_.at(parsed_signal_name) =
std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::Int32>, std_msgs::msg::Int32>>(
PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
PublisherType::PUBLISHER, publisher)
->create_publisher_interface(message_pair);
break;
}
case MessageType::STRING: {
auto publisher = this->create_publisher<std_msgs::msg::String>(topic_name, this->get_qos());
this->outputs_.at(parsed_signal_name) =
std::make_shared<PublisherHandler<rclcpp::Publisher<std_msgs::msg::String>, std_msgs::msg::String>>(
PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
PublisherType::PUBLISHER, publisher)
->create_publisher_interface(message_pair);
break;
}
case MessageType::ENCODED_STATE: {
auto publisher = this->create_publisher<modulo_core::EncodedState>(topic_name, this->get_qos());
this->outputs_.at(parsed_signal_name) =
std::make_shared<PublisherHandler<rclcpp::Publisher<modulo_core::EncodedState>, modulo_core::EncodedState>>(
PublisherType::PUBLISHER, publisher)->create_publisher_interface(message_pair);
PublisherType::PUBLISHER, publisher)
->create_publisher_interface(message_pair);
break;
}
}
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