Merge pull request #139 from cactusdynamics/hide-ros2-adapter

Hide Ros2Adapter from threads
cactusdynamics · Sep 11, 2024 · 3d569cf · 3d569cf
2 parents 0c9fad2 + df0fef8
commit 3d569cf
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Showing 8 changed files with 20 additions and 28 deletions.
diff --git a/docs/imgs/ROS2Ownership.svg b/docs/imgs/ROS2Ownership.svg
diff --git a/examples/ros2/publisher/complex_data.cc b/examples/ros2/publisher/complex_data.cc
@@ -57,8 +57,8 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
       : cactus_rt::CyclicThread("RTROS2Publisher", CreateThreadConfig()),
         run_duration_(run_duration.count()) {}
 
-  void InitializeForRos2() override {
-    publisher_ = ros2_adapter_->CreatePublisher<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
+  void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
+    publisher_ = ros2_adapter.CreatePublisher<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
   }
 
  protected:

diff --git a/examples/ros2/publisher/simple_data.cc b/examples/ros2/publisher/simple_data.cc
@@ -32,8 +32,8 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
       : cactus_rt::CyclicThread("RTROS2Publisher", CreateThreadConfig()),
         run_duration_(run_duration.count()) {}
 
-  void InitializeForRos2() override {
-    publisher_ = ros2_adapter_->CreatePublisher<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
+  void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
+    publisher_ = ros2_adapter.CreatePublisher<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
   }
 
  protected:

diff --git a/examples/ros2/subscriber/complex_data.cc b/examples/ros2/subscriber/complex_data.cc
@@ -57,8 +57,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
       : cactus_rt::CyclicThread("RTROS2Subscriber", CreateThreadConfig()),
         run_duration_(run_duration.count()) {}
 
-  void InitializeForRos2() override {
-    subscription_ = ros2_adapter_->CreateSubscriptionForLatestValue<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
+  void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
+    subscription_ = ros2_adapter.CreateSubscriptionForLatestValue<RealtimeType, RosType>("/cactus_rt/complex", rclcpp::QoS(100));
   }
 
  protected:

diff --git a/examples/ros2/subscriber/queued_data.cc b/examples/ros2/subscriber/queued_data.cc
@@ -31,8 +31,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
       : cactus_rt::CyclicThread("RTROS2Subscriber", CreateThreadConfig()),
         run_duration_(run_duration.count()) {}
 
-  void InitializeForRos2() override {
-    subscription_ = ros2_adapter_->CreateSubscriptionQueued<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
+  void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
+    subscription_ = ros2_adapter.CreateSubscriptionQueued<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
   }
 
  protected:

diff --git a/examples/ros2/subscriber/simple_data.cc b/examples/ros2/subscriber/simple_data.cc
@@ -32,8 +32,8 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
       : cactus_rt::CyclicThread("RTROS2Subscriber", CreateThreadConfig()),
         run_duration_(run_duration.count()) {}
 
-  void InitializeForRos2() override {
-    subscription_ = ros2_adapter_->CreateSubscriptionForLatestValue<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
+  void InitializeForRos2(cactus_rt::ros2::Ros2Adapter& ros2_adapter) override {
+    subscription_ = ros2_adapter.CreateSubscriptionForLatestValue<RealtimeType, RosType, false>("/cactus_rt/simple", rclcpp::QoS(100));
   }
 
  protected:

diff --git a/include/cactus_rt/ros2/app.h b/include/cactus_rt/ros2/app.h
@@ -12,32 +12,23 @@ namespace cactus_rt::ros2 {
 class App;
 
 class Ros2ThreadMixin {
-  friend class App;
-
- protected:
-  std::shared_ptr<Ros2Adapter> ros2_adapter_;
-
- private:
-  void SetRos2Adapter(std::shared_ptr<Ros2Adapter> ros2_adapter) {
-    ros2_adapter_ = ros2_adapter;
-  }
-
  public:
-  virtual void InitializeForRos2() = 0;
+  virtual void InitializeForRos2(Ros2Adapter& ros2_adapter) = 0;
   virtual ~Ros2ThreadMixin() = 0;
 };
 
 class Ros2ExecutorThread : public cactus_rt::Thread, public cactus_rt::ros2::Ros2ThreadMixin {
+  std::shared_ptr<Ros2Adapter>                             ros2_adapter_;
   std::optional<rclcpp::executors::SingleThreadedExecutor> executor_;
 
   static cactus_rt::ThreadConfig CreateThreadConfig();
 
  public:
-  Ros2ExecutorThread();
+  explicit Ros2ExecutorThread(std::shared_ptr<Ros2Adapter> ros2_adapter);
 
   void Run() override;
 
-  void InitializeForRos2() override {}
+  void InitializeForRos2(Ros2Adapter& /*ros2_adapter*/) override {}
 };
 
 class App : public cactus_rt::App {
@@ -63,8 +54,7 @@ class App : public cactus_rt::App {
     static_assert(std::is_base_of_v<Ros2ThreadMixin, ThreadT>, "Must derive ROS2 thread from Ros2ThreadMixin");
     std::shared_ptr<ThreadT> thread = CreateThread<ThreadT>(std::forward<Args>(args)...);
 
-    thread->SetRos2Adapter(ros2_adapter_);
-    thread->InitializeForRos2();
+    thread->InitializeForRos2(*ros2_adapter_);
 
     return thread;
   }

diff --git a/src/cactus_rt/ros2/app.cc b/src/cactus_rt/ros2/app.cc
@@ -12,7 +12,9 @@ cactus_rt::ThreadConfig Ros2ExecutorThread::CreateThreadConfig() {
   return thread_config;
 }
 
-Ros2ExecutorThread::Ros2ExecutorThread() : Thread("ROS2ExecutorThread", CreateThreadConfig()) {}
+Ros2ExecutorThread::Ros2ExecutorThread(std::shared_ptr<Ros2Adapter> ros2_adapter)
+    : Thread("ROS2ExecutorThread", CreateThreadConfig()),
+      ros2_adapter_(ros2_adapter) {}
 
 void Ros2ExecutorThread::Run() {
   rclcpp::ExecutorOptions options;
@@ -52,7 +54,7 @@ App::App(
 
   // Must initialize rclcpp before making the Ros2Adapter;
   ros2_adapter_ = std::make_shared<Ros2Adapter>(name, ros2_adapter_config);
-  ros2_executor_thread_ = CreateROS2EnabledThread<Ros2ExecutorThread>();
+  ros2_executor_thread_ = CreateROS2EnabledThread<Ros2ExecutorThread>(ros2_adapter_);
 }
 
 App::~App() {