ros2
diff --git a/‎rclcpp/CMakeLists.txt
Lines changed: 19 additions & 8 deletions b/‎rclcpp/CMakeLists.txt
Lines changed: 19 additions & 8 deletions
diff --git a/‎rclcpp/include/rclcpp/any_executable.hpp
Lines changed: 0 additions & 1 deletion b/‎rclcpp/include/rclcpp/any_executable.hpp
Lines changed: 0 additions & 1 deletion
diff --git a/‎rclcpp/include/rclcpp/any_subscription_callback.hpp
Lines changed: 1 addition & 1 deletion b/‎rclcpp/include/rclcpp/any_subscription_callback.hpp
Lines changed: 1 addition & 1 deletion
diff --git a/‎rclcpp/include/rclcpp/create_subscription.hpp
Lines changed: 1 addition & 0 deletions b/‎rclcpp/include/rclcpp/create_subscription.hpp
Lines changed: 1 addition & 0 deletions
diff --git a/‎rclcpp/include/rclcpp/detail/resolve_intra_process_buffer_type.hpp
Lines changed: 54 additions & 0 deletions b/‎rclcpp/include/rclcpp/detail/resolve_intra_process_buffer_type.hpp
Lines changed: 54 additions & 0 deletions
diff --git a/‎rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp
Lines changed: 1 addition & 0 deletions b/‎rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp
Lines changed: 1 addition & 0 deletions
diff --git a/‎rclcpp/include/rclcpp/executor.hpp
Lines changed: 0 additions & 5 deletions b/‎rclcpp/include/rclcpp/executor.hpp
Lines changed: 0 additions & 5 deletions
diff --git a/‎rclcpp/include/rclcpp/experimental/README.md
Lines changed: 4 additions & 0 deletions b/‎rclcpp/include/rclcpp/experimental/README.md
Lines changed: 4 additions & 0 deletions
diff --git a/‎rclcpp/include/rclcpp/experimental/buffers/buffer_implementation_base.hpp
Lines changed: 42 additions & 0 deletions b/‎rclcpp/include/rclcpp/experimental/buffers/buffer_implementation_base.hpp
Lines changed: 42 additions & 0 deletions
@@ -47,7 +47,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/graph_listener.cpp
   src/rclcpp/init_options.cpp
   src/rclcpp/intra_process_manager.cpp
-  src/rclcpp/intra_process_manager_impl.cpp
   src/rclcpp/logger.cpp
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
@@ -75,6 +74,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/service.cpp
   src/rclcpp/signal_handler.cpp
   src/rclcpp/subscription_base.cpp
+  src/rclcpp/subscription_intra_process_base.cpp
   src/rclcpp/time.cpp
   src/rclcpp/time_source.cpp
   src/rclcpp/timer.cpp
@@ -200,25 +200,36 @@ if(BUILD_TESTING)
       "rosidl_typesupport_cpp"
     )
   endif()
-  ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
-  if(TARGET test_mapped_ring_buffer)
-    ament_target_dependencies(test_mapped_ring_buffer
+  ament_add_gmock(test_intra_process_manager test/test_intra_process_manager.cpp)
+  if(TARGET test_intra_process_manager)
+    ament_target_dependencies(test_intra_process_manager
       "rcl"
       "rcl_interfaces"
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
+    target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
-  if(TARGET test_intra_process_manager)
-    ament_target_dependencies(test_intra_process_manager
-      "rcl"
+  ament_add_gtest(test_ring_buffer_implementation test/test_ring_buffer_implementation.cpp)
+  if(TARGET test_ring_buffer_implementation)
+    ament_target_dependencies(test_ring_buffer_implementation
+      "rcl_interfaces"
+      "rmw"
+      "rosidl_generator_cpp"
+      "rosidl_typesupport_cpp"
+    )
+    target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_intra_process_buffer test/test_intra_process_buffer.cpp)
+  if(TARGET test_intra_process_buffer)
+    ament_target_dependencies(test_intra_process_buffer
       "rcl_interfaces"
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
+    target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
   endif()
 
   ament_add_gtest(test_loaned_message test/test_loaned_message.cpp)
 
@@ -42,7 +42,6 @@ struct AnyExecutable
 
   // Only one of the following pointers will be set.
   rclcpp::SubscriptionBase::SharedPtr subscription;
-  rclcpp::SubscriptionBase::SharedPtr subscription_intra_process;
   rclcpp::TimerBase::SharedPtr timer;
   rclcpp::ServiceBase::SharedPtr service;
   rclcpp::ClientBase::SharedPtr client;
 
@@ -227,7 +227,7 @@ class AnySubscriptionCallback
     TRACEPOINT(callback_end, (const void *)this);
   }
 
-  bool use_take_shared_method()
+  bool use_take_shared_method() const
   {
     return const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_;
   }
 
@@ -72,6 +72,7 @@ create_subscription(
 
   auto sub = node_topics->create_subscription(topic_name, factory, qos);
   node_topics->add_subscription(sub, options.callback_group);
+
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 
 
@@ -0,0 +1,54 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__RESOLVE_INTRA_PROCESS_BUFFER_TYPE_HPP_
+#define RCLCPP__DETAIL__RESOLVE_INTRA_PROCESS_BUFFER_TYPE_HPP_
+
+#include <stdexcept>
+
+#include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/intra_process_buffer_type.hpp"
+
+namespace rclcpp
+{
+
+namespace detail
+{
+
+/// Return the buffer type, resolving the "CallbackDefault" type to an actual type if needed.
+template<typename CallbackMessageT, typename AllocatorT>
+rclcpp::IntraProcessBufferType
+resolve_intra_process_buffer_type(
+  const rclcpp::IntraProcessBufferType buffer_type,
+  const rclcpp::AnySubscriptionCallback<CallbackMessageT, AllocatorT> & any_subscription_callback)
+{
+  rclcpp::IntraProcessBufferType resolved_buffer_type = buffer_type;
+
+  // If the user has not specified a type for the intra-process buffer, use the callback's type.
+  if (resolved_buffer_type == IntraProcessBufferType::CallbackDefault) {
+    if (any_subscription_callback.use_take_shared_method()) {
+      resolved_buffer_type = IntraProcessBufferType::SharedPtr;
+    } else {
+      resolved_buffer_type = IntraProcessBufferType::UniquePtr;
+    }
+  }
+
+  return resolved_buffer_type;
+}
+
+}  // namespace detail
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__RESOLVE_INTRA_PROCESS_BUFFER_TYPE_HPP_
@@ -25,6 +25,7 @@ namespace rclcpp
 namespace detail
 {
 
+/// Return whether or not intra process is enabled, resolving "NodeDefault" if needed.
 template<typename OptionsT, typename NodeBaseT>
 bool
 resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
 
@@ -305,11 +305,6 @@ class Executor
   execute_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
-  RCLCPP_PUBLIC
-  static void
-  execute_intra_process_subscription(
-    rclcpp::SubscriptionBase::SharedPtr subscription);
-
   RCLCPP_PUBLIC
   static void
   execute_timer(rclcpp::TimerBase::SharedPtr timer);
 
@@ -0,0 +1,4 @@
+Notice that headers in this folder should only provide symbols in the rclcpp::experimental namespace.
+
+Also notice that these headers are not considered part of the public API as they have not yet been stabilized.
+And therefore they are subject to change without notice.
@@ -0,0 +1,42 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_
+#define RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace buffers
+{
+
+template<typename BufferT>
+class BufferImplementationBase
+{
+public:
+  virtual ~BufferImplementationBase() {}
+
+  virtual BufferT dequeue() = 0;
+  virtual void enqueue(BufferT request) = 0;
+
+  virtual void clear() = 0;
+  virtual bool has_data() const = 0;
+};
+
+}  // namespace buffers
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_
Original file line number	Diff line number	Diff line change
`@@ -227,7 +227,7 @@ class AnySubscriptionCallback`
`227`	`227`	`TRACEPOINT(callback_end, (const void *)this);`
`228`	`228`	`}`
`229`	`229`
`230`		`- bool use_take_shared_method()`
	`230`	`+ bool use_take_shared_method() const`
`231`	`231`	`{`
`232`	`232`	`return const_shared_ptr_callback_ \|\| const_shared_ptr_with_info_callback_;`
`233`	`233`	`}`
Original file line number	Diff line number	Diff line change
`@@ -72,6 +72,7 @@ create_subscription(`
`72`	`72`
`73`	`73`	`auto sub = node_topics->create_subscription(topic_name, factory, qos);`
`74`	`74`	`node_topics->add_subscription(sub, options.callback_group);`
	`75`	`+`
`75`	`76`	`return std::dynamic_pointer_cast<SubscriptionT>(sub);`
`76`	`77`	`}`
`77`	`78`
Original file line number	Diff line number	Diff line change
`@@ -25,6 +25,7 @@ namespace rclcpp`
`25`	`25`	`namespace detail`
`26`	`26`	`{`
`27`	`27`
	`28`	`+/// Return whether or not intra process is enabled, resolving "NodeDefault" if needed.`
`28`	`29`	`template<typename OptionsT, typename NodeBaseT>`
`29`	`30`	`bool`
`30`	`31`	`resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)`