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Remove MANUAL_BY_NODE liveliness API #645

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Merged
merged 1 commit into from
May 12, 2020
Merged

Remove MANUAL_BY_NODE liveliness API #645

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25 changes: 0 additions & 25 deletions rcl/include/rcl/node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -369,31 +369,6 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id);

/// Manually assert that this node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE)
/**
* If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator of
* this node may manually call `assert_liveliness` at some point in time to signal to the rest
* of the system that this Node is still alive.
* This function must be called at least as often as the qos_profile's liveliness_lease_duration
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] node handle to the node that needs liveliness to be asserted
* \return `RCL_RET_OK` if the liveliness assertion was completed successfully, or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_assert_liveliness(const rcl_node_t * node);

/// Return the rmw node handle.
/**
* The handle returned is a pointer to the internally held rmw handle.
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13 changes: 0 additions & 13 deletions rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -492,19 +492,6 @@ rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id)
return RCL_RET_OK;
}

rcl_ret_t
rcl_node_assert_liveliness(const rcl_node_t * node)
{
if (!rcl_node_is_valid(node)) {
return RCL_RET_NODE_INVALID; // error already set
}
if (rmw_node_assert_liveliness(node->impl->rmw_node_handle) != RMW_RET_OK) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
return RCL_RET_ERROR;
}
return RCL_RET_OK;
}

rmw_node_t *
rcl_node_get_rmw_handle(const rcl_node_t * node)
{
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2 changes: 1 addition & 1 deletion rcl/test/rcl/test_events.cpp
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Expand Up @@ -726,7 +726,7 @@ get_test_pubsub_incompatible_qos_inputs()
inputs[2].testcase_name = "IncompatibleQoS_LivelinessPolicy";
inputs[2].qos_policy_kind = RMW_QOS_POLICY_LIVELINESS;
inputs[2].publisher_qos_profile = TestEventFixture::default_qos_profile;
inputs[2].publisher_qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
inputs[2].publisher_qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
inputs[2].subscription_qos_profile = TestEventFixture::default_qos_profile;
inputs[2].subscription_qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
inputs[2].error_msg = "Incompatible qos liveliness policy";
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