use void * to pass executor ptr

Mauro Passerino · Mauro Passerino · commit f13ffb25d30b · 2021-02-15T15:24:45.000-03:00
diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
@@ -159,7 +159,7 @@ class ClientBase
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 protected:
diff --git a/rclcpp/include/rclcpp/executors/events_executor.hpp b/rclcpp/include/rclcpp/executors/events_executor.hpp
@@ -185,16 +185,14 @@ class EventsExecutor : public rclcpp::Executor
   // This function is called by the DDS entities when an event happened,
   // like a subscription receiving a message.
   static void
-  push_event(const void * executor_ptr, rmw_listener_event_t event)
+  push_event(void * executor_ptr, rmw_listener_event_t event)
   {
     // Check if the executor pointer is not valid
     if (!executor_ptr) {
       throw std::runtime_error("The executor pointer is not valid.");
     }
 
-    // Cast executor_ptr to this (need to remove constness)
-    auto this_executor = const_cast<executors::EventsExecutor *>(
-      static_cast<const executors::EventsExecutor *>(executor_ptr));
+    auto this_executor = static_cast<executors::EventsExecutor *>(executor_ptr);
 
     // Event queue mutex scope
     {
diff --git a/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp b/rclcpp/include/rclcpp/executors/events_executor_notify_waitable.hpp
@@ -61,7 +61,7 @@ class EventsExecutorNotifyWaitable final : public EventWaitable
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override
   {
     for (auto gc : notify_guard_conditions_) {
diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp
@@ -77,7 +77,7 @@ class SubscriptionIntraProcessBase : public rclcpp::Waitable
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override;
 
 protected:
diff --git a/rclcpp/include/rclcpp/qos_event.hpp b/rclcpp/include/rclcpp/qos_event.hpp
@@ -111,7 +111,7 @@ class QOSEventHandlerBase : public Waitable
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override;
 
 protected:
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
@@ -129,7 +129,7 @@ class ServiceBase
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 protected:
diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -272,7 +272,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   RCLCPP_PUBLIC
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 protected:
diff --git a/rclcpp/include/rclcpp/waitable.hpp b/rclcpp/include/rclcpp/waitable.hpp
@@ -212,7 +212,7 @@ class Waitable
   virtual
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const;
 
 private:
diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
@@ -201,7 +201,7 @@ ClientBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 
 void
 ClientBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_client_set_listener_callback(
diff --git a/rclcpp/src/rclcpp/qos_event.cpp b/rclcpp/src/rclcpp/qos_event.cpp
@@ -70,7 +70,7 @@ QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
 
 void
 QOSEventHandlerBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_event_set_listener_callback(
diff --git a/rclcpp/src/rclcpp/service.cpp b/rclcpp/src/rclcpp/service.cpp
@@ -87,7 +87,7 @@ ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 
 void
 ServiceBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_service_set_listener_callback(
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -291,7 +291,7 @@ SubscriptionBase::exchange_in_use_by_wait_set_state(
 
 void
 SubscriptionBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_subscription_set_listener_callback(
diff --git a/rclcpp/src/rclcpp/subscription_intra_process_base.cpp b/rclcpp/src/rclcpp/subscription_intra_process_base.cpp
@@ -39,7 +39,7 @@ SubscriptionIntraProcessBase::get_actual_qos() const
 
 void
 SubscriptionIntraProcessBase::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   rcl_ret_t ret = rcl_guard_condition_set_listener_callback(
diff --git a/rclcpp/src/rclcpp/waitable.cpp b/rclcpp/src/rclcpp/waitable.cpp
@@ -62,7 +62,7 @@ Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)
 
 void
 Waitable::set_events_executor_callback(
-  const rclcpp::executors::EventsExecutor * executor,
+  rclcpp::executors::EventsExecutor * executor,
   rmw_listener_callback_t executor_callback) const
 {
   (void)executor;
diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -469,7 +469,7 @@ class TestWaitable : public rclcpp::Waitable
 
   void
   set_events_executor_callback(
-    const rclcpp::executors::EventsExecutor * executor,
+    rclcpp::executors::EventsExecutor * executor,
     rmw_listener_callback_t executor_callback) const override
   {
     rcl_ret_t ret = rcl_guard_condition_set_listener_callback(

Original file line number	Diff line number	Diff line change
`@@ -185,16 +185,14 @@ class EventsExecutor : public rclcpp::Executor`
`185`	`185`	`// This function is called by the DDS entities when an event happened,`
`186`	`186`	`// like a subscription receiving a message.`
`187`	`187`	`static void`
`188`		`- push_event(const void * executor_ptr, rmw_listener_event_t event)`
	`188`	`+ push_event(void * executor_ptr, rmw_listener_event_t event)`
`189`	`189`	`{`
`190`	`190`	`// Check if the executor pointer is not valid`
`191`	`191`	`if (!executor_ptr) {`
`192`	`192`	`throw std::runtime_error("The executor pointer is not valid.");`
`193`	`193`	`}`
`194`	`194`
`195`		`- // Cast executor_ptr to this (need to remove constness)`
`196`		`- auto this_executor = const_cast<executors::EventsExecutor *>(`
`197`		`- static_cast<const executors::EventsExecutor *>(executor_ptr));`
	`195`	`+ auto this_executor = static_cast<executors::EventsExecutor *>(executor_ptr);`
`198`	`196`
`199`	`197`	`// Event queue mutex scope`
`200`	`198`	`{`
Original file line number	Diff line number	Diff line change
`@@ -61,7 +61,7 @@ class EventsExecutorNotifyWaitable final : public EventWaitable`
`61`	`61`	`RCLCPP_PUBLIC`
`62`	`62`	`void`
`63`	`63`	`set_events_executor_callback(`
`64`		`- const rclcpp::executors::EventsExecutor * executor,`
	`64`	`+ rclcpp::executors::EventsExecutor * executor,`
`65`	`65`	`rmw_listener_callback_t executor_callback) const override`
`66`	`66`	`{`
`67`	`67`	`for (auto gc : notify_guard_conditions_) {`
Original file line number	Diff line number	Diff line change
`@@ -201,7 +201,7 @@ ClientBase::exchange_in_use_by_wait_set_state(bool in_use_state)`
`201`	`201`
`202`	`202`	`void`
`203`	`203`	`ClientBase::set_events_executor_callback(`
`204`		`- const rclcpp::executors::EventsExecutor * executor,`
	`204`	`+ rclcpp::executors::EventsExecutor * executor,`
`205`	`205`	`rmw_listener_callback_t executor_callback) const`
`206`	`206`	`{`
`207`	`207`	`rcl_ret_t ret = rcl_client_set_listener_callback(`
Original file line number	Diff line number	Diff line change
`@@ -70,7 +70,7 @@ QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)`
`70`	`70`
`71`	`71`	`void`
`72`	`72`	`QOSEventHandlerBase::set_events_executor_callback(`
`73`		`- const rclcpp::executors::EventsExecutor * executor,`
	`73`	`+ rclcpp::executors::EventsExecutor * executor,`
`74`	`74`	`rmw_listener_callback_t executor_callback) const`
`75`	`75`	`{`
`76`	`76`	`rcl_ret_t ret = rcl_event_set_listener_callback(`
Original file line number	Diff line number	Diff line change
`@@ -87,7 +87,7 @@ ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)`
`87`	`87`
`88`	`88`	`void`
`89`	`89`	`ServiceBase::set_events_executor_callback(`
`90`		`- const rclcpp::executors::EventsExecutor * executor,`
	`90`	`+ rclcpp::executors::EventsExecutor * executor,`
`91`	`91`	`rmw_listener_callback_t executor_callback) const`
`92`	`92`	`{`
`93`	`93`	`rcl_ret_t ret = rcl_service_set_listener_callback(`
Original file line number	Diff line number	Diff line change
`@@ -291,7 +291,7 @@ SubscriptionBase::exchange_in_use_by_wait_set_state(`
`291`	`291`
`292`	`292`	`void`
`293`	`293`	`SubscriptionBase::set_events_executor_callback(`
`294`		`- const rclcpp::executors::EventsExecutor * executor,`
	`294`	`+ rclcpp::executors::EventsExecutor * executor,`
`295`	`295`	`rmw_listener_callback_t executor_callback) const`
`296`	`296`	`{`
`297`	`297`	`rcl_ret_t ret = rcl_subscription_set_listener_callback(`
Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,7 @@ SubscriptionIntraProcessBase::get_actual_qos() const`
`39`	`39`
`40`	`40`	`void`
`41`	`41`	`SubscriptionIntraProcessBase::set_events_executor_callback(`
`42`		`- const rclcpp::executors::EventsExecutor * executor,`
	`42`	`+ rclcpp::executors::EventsExecutor * executor,`
`43`	`43`	`rmw_listener_callback_t executor_callback) const`
`44`	`44`	`{`
`45`	`45`	`rcl_ret_t ret = rcl_guard_condition_set_listener_callback(`
Original file line number	Diff line number	Diff line change
`@@ -62,7 +62,7 @@ Waitable::exchange_in_use_by_wait_set_state(bool in_use_state)`
`62`	`62`
`63`	`63`	`void`
`64`	`64`	`Waitable::set_events_executor_callback(`
`65`		`- const rclcpp::executors::EventsExecutor * executor,`
	`65`	`+ rclcpp::executors::EventsExecutor * executor,`
`66`	`66`	`rmw_listener_callback_t executor_callback) const`
`67`	`67`	`{`
`68`	`68`	`(void)executor;`
Original file line number	Diff line number	Diff line change
`@@ -469,7 +469,7 @@ class TestWaitable : public rclcpp::Waitable`
`469`	`469`
`470`	`470`	`void`
`471`	`471`	`set_events_executor_callback(`
`472`		`- const rclcpp::executors::EventsExecutor * executor,`
	`472`	`+ rclcpp::executors::EventsExecutor * executor,`
`473`	`473`	`rmw_listener_callback_t executor_callback) const override`
`474`	`474`	`{`
`475`	`475`	`rcl_ret_t ret = rcl_guard_condition_set_listener_callback(`