rename rcl_service_introspection_utils to rcl_service_event_publisher

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
ros2 · Aug 10, 2022 · 7a2988d · 7a2988d
1 parent d1739d2
commit 7a2988d
Show file tree

Hide file tree

Showing 6 changed files with 24 additions and 29 deletions.
diff --git a/rcl/include/rcl/introspection.h b/rcl/include/rcl/introspection.h
@@ -34,7 +34,7 @@ extern "C"
 #define RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_EVENT_CONTENT_PARAMETER "publish_service_content"
 
 
-typedef struct rcl_service_introspection_utils_s {
+typedef struct rcl_service_event_publisher_s {
   /// Handle to clock for timestamping service events
   rcl_clock_t * clock;
   /// Handle to publisher for publishing service events
@@ -46,7 +46,7 @@ typedef struct rcl_service_introspection_utils_s {
   bool _enabled;
   // Enable/disable passing along service introspection content during runtime
   bool _content_enabled;
-} rcl_service_introspection_utils_t;
+} rcl_service_event_publisher_t;
 
 RCL_PUBLIC
 RCL_WARN_UNUSED
@@ -59,14 +59,14 @@ rcl_service_typesupport_to_message_typesupport(
 
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_service_introspection_utils_t
+rcl_service_event_publisher_t
 rcl_get_zero_initialized_introspection_utils();
 
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_service_introspection_init(
-  rcl_service_introspection_utils_t * introspection_utils,
+  rcl_service_event_publisher_t * introspection_utils,
   const rosidl_service_type_support_t * service_type_support,
   const char * service_name,
   const rcl_node_t * node,
@@ -77,25 +77,21 @@ RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_service_introspection_fini(
-  rcl_service_introspection_utils_t * introspection_utils,
+  rcl_service_event_publisher_t * introspection_utils,
   rcl_allocator_t * allocator,
   rcl_node_t *  node);
 
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_introspection_send_message(
-  const rcl_service_introspection_utils_t * introspection_utils,
+  const rcl_service_event_publisher_t * introspection_utils,
   uint8_t event_type,
   const void * ros_response_request,
   int64_t sequence_number,
   const uint8_t uuid[16], // uuid is uint8_t but the guid is int8_t
   const rcl_allocator_t * allocator);
 
-
-
-
-
 /*  Enables service introspection by reconstructing the introspection clock and publisher
  *  
  *  Does nothing and returns RCL_RET_OK if already enabled
@@ -104,7 +100,7 @@ RCL_LOCAL
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_service_introspection_enable(
-    rcl_service_introspection_utils_t * introspection_utils,
+    rcl_service_event_publisher_t * introspection_utils,
     const rcl_node_t * node,
     rcl_allocator_t * allocator);
 
@@ -120,7 +116,7 @@ RCL_LOCAL
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_service_introspection_disable(
-    rcl_service_introspection_utils_t * introspection_utils,
+    rcl_service_event_publisher_t * introspection_utils,
     rcl_node_t * node,
     const rcl_allocator_t * allocator);
 

diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
@@ -111,8 +111,8 @@ rcl_client_init(
 
   client->impl->introspection_utils = NULL;
   if (options->enable_service_introspection) {
-    client->impl->introspection_utils = (rcl_service_introspection_utils_t *) allocator->allocate(
-        sizeof(rcl_service_introspection_utils_t), allocator->state);
+    client->impl->introspection_utils = (rcl_service_event_publisher_t *) allocator->allocate(
+        sizeof(rcl_service_event_publisher_t), allocator->state);
     *client->impl->introspection_utils = rcl_get_zero_initialized_introspection_utils();
     ret = rcl_service_introspection_init(
         client->impl->introspection_utils, type_support, remapped_service_name, node,

diff --git a/rcl/src/rcl/client_impl.h b/rcl/src/rcl/client_impl.h
@@ -29,7 +29,7 @@ struct rcl_client_impl_s
   rmw_qos_profile_t actual_response_subscription_qos;
   rmw_client_t * rmw_handle;
   atomic_int_least64_t sequence_number;
-  rcl_service_introspection_utils_t * introspection_utils;
+  rcl_service_event_publisher_t * introspection_utils;
 };
 
 #endif  // RCL__CLIENT_IMPL_H_
diff --git a/rcl/src/rcl/introspection.c b/rcl/src/rcl/introspection.c
@@ -35,9 +35,9 @@ extern "C" {
 #include "unique_identifier_msgs/msg/uuid.h"
 #include "service_msgs/msg/service_event_info.h"
 
-rcl_service_introspection_utils_t rcl_get_zero_initialized_introspection_utils()
+rcl_service_event_publisher_t rcl_get_zero_initialized_introspection_utils()
 {
-  static rcl_service_introspection_utils_t null_introspection_utils = {
+  static rcl_service_event_publisher_t null_introspection_utils = {
     .service_type_support = NULL,
     .publisher = NULL,
     .clock = NULL,
@@ -110,7 +110,7 @@ rcl_ret_t rcl_service_typesupport_to_message_typesupport(
 }
 
 rcl_ret_t rcl_service_introspection_init(
-  rcl_service_introspection_utils_t * introspection_utils,
+  rcl_service_event_publisher_t * introspection_utils,
   const rosidl_service_type_support_t * service_type_support,
   const char * service_name,
   const rcl_node_t * node,
@@ -124,6 +124,7 @@ rcl_ret_t rcl_service_introspection_init(
   // Can do this because typesupports have static lifetimes
   introspection_utils->service_type_support = service_type_support;
 
+
   // Make a publisher
   if (strlen(service_name) > 255 - strlen(RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)) {
     // topics have a maximum length of 255 characters
@@ -151,7 +152,7 @@ rcl_ret_t rcl_service_introspection_init(
 }
 
 rcl_ret_t rcl_service_introspection_fini(
-  rcl_service_introspection_utils_t * introspection_utils, rcl_allocator_t * allocator,
+  rcl_service_event_publisher_t * introspection_utils, rcl_allocator_t * allocator,
   rcl_node_t * node)
 {
   rcl_ret_t ret;
@@ -166,16 +167,14 @@ rcl_ret_t rcl_service_introspection_fini(
   if (NULL != introspection_utils->publisher) {
     allocator->deallocate(introspection_utils->publisher, allocator->state);
   }
-  allocator->deallocate(introspection_utils->service_event_topic_name, allocator->state);
 
   introspection_utils->publisher = NULL;
-  introspection_utils->service_event_topic_name = NULL;
 
   return RCL_RET_OK;
 }
 
 rcl_ret_t rcl_introspection_send_message(
-  const rcl_service_introspection_utils_t * introspection_utils, const uint8_t event_type,
+  const rcl_service_event_publisher_t * introspection_utils, const uint8_t event_type,
   const void * ros_response_request, const int64_t sequence_number, const uint8_t uuid[16],
   const rcl_allocator_t * allocator)
 {
@@ -239,7 +238,7 @@ rcl_ret_t rcl_introspection_send_message(
 }
 
 rcl_ret_t rcl_service_introspection_enable(
-  rcl_service_introspection_utils_t * introspection_utils, const rcl_node_t * node,
+  rcl_service_event_publisher_t * introspection_utils, const rcl_node_t * node,
   rcl_allocator_t * allocator)
 {
   rcl_ret_t ret;
@@ -262,7 +261,7 @@ rcl_ret_t rcl_service_introspection_enable(
 }
 
 rcl_ret_t rcl_service_introspection_disable(
-  rcl_service_introspection_utils_t * introspection_utils, rcl_node_t * node,
+  rcl_service_event_publisher_t * introspection_utils, rcl_node_t * node,
   const rcl_allocator_t * allocator)
 {
   rcl_ret_t ret;
@@ -282,7 +281,7 @@ rcl_ret_t rcl_service_introspection_disable(
 rcl_ret_t rcl_service_introspection_configure_service_events(
   rcl_service_t * service, rcl_node_t * node, bool enable)
 {
-  rcl_service_introspection_utils_t * introspection_utils = service->impl->introspection_utils;
+  rcl_service_event_publisher_t * introspection_utils = service->impl->introspection_utils;
 
   if (enable == introspection_utils->_enabled) {
     return RCL_RET_OK;
@@ -307,7 +306,7 @@ rcl_ret_t rcl_service_introspection_configure_service_events(
 rcl_ret_t rcl_service_introspection_configure_client_events(
   rcl_client_t * client, rcl_node_t * node, bool enable)
 {
-  rcl_service_introspection_utils_t * introspection_utils = client->impl->introspection_utils;
+  rcl_service_event_publisher_t * introspection_utils = client->impl->introspection_utils;
 
   if (enable == introspection_utils->_enabled) {
     return RCL_RET_OK;

diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
@@ -145,8 +145,8 @@ rcl_service_init(
 
   service->impl->introspection_utils = NULL;
   if (options->enable_service_introspection) {
-    service->impl->introspection_utils = (rcl_service_introspection_utils_t *) allocator->allocate(
-        sizeof(rcl_service_introspection_utils_t), allocator->state);
+    service->impl->introspection_utils = (rcl_service_event_publisher_t *) allocator->allocate(
+        sizeof(rcl_service_event_publisher_t), allocator->state);
     *service->impl->introspection_utils = rcl_get_zero_initialized_introspection_utils();
     ret = rcl_service_introspection_init(
         service->impl->introspection_utils, type_support, remapped_service_name, node,

diff --git a/rcl/src/rcl/service_impl.h b/rcl/src/rcl/service_impl.h
@@ -26,7 +26,7 @@ struct rcl_service_impl_s
   rmw_qos_profile_t actual_request_subscription_qos;
   rmw_qos_profile_t actual_response_publisher_qos;
   rmw_service_t * rmw_handle;
-  rcl_service_introspection_utils_t * introspection_utils;
+  rcl_service_event_publisher_t * introspection_utils;
 };
 
 #endif  // RCL__SERVICE_IMPL_H_