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add new API naming changes
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saikishor committed Jul 21, 2024
1 parent cf626bc commit ba30771
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Showing 3 changed files with 10 additions and 10 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -113,10 +113,10 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
write_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
read_async_handler_->init(
std::bind(&ActuatorInterface::read, this, std::placeholders::_1, std::placeholders::_2));
read_async_handler_->start_async_update_thread();
read_async_handler_->start_thread();
write_async_handler_->init(
std::bind(&ActuatorInterface::write, this, std::placeholders::_1, std::placeholders::_2));
write_async_handler_->start_async_update_thread();
write_async_handler_->start_thread();
}
return on_init(hardware_info);
};
Expand Down Expand Up @@ -228,7 +228,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
info_.name.c_str());
return return_type::OK;
}
std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
if (!trigger_status)
{
RCLCPP_WARN(
Expand Down Expand Up @@ -293,7 +293,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
info_.name.c_str());
return return_type::OK;
}
std::tie(trigger_status, result) = write_async_handler_->trigger_async_update(time, period);
std::tie(trigger_status, result) = write_async_handler_->trigger_async_callback(time, period);
if (!trigger_status)
{
RCLCPP_WARN(
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
read_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
read_async_handler_->init(
std::bind(&SensorInterface::read, this, std::placeholders::_1, std::placeholders::_2));
read_async_handler_->start_async_update_thread();
read_async_handler_->start_thread();
}
return on_init(hardware_info);
};
Expand Down Expand Up @@ -155,7 +155,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
if (info_.is_async)
{
bool trigger_status = true;
std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
if (!trigger_status)
{
RCLCPP_WARN(
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -114,10 +114,10 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
write_async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
read_async_handler_->init(
std::bind(&SystemInterface::read, this, std::placeholders::_1, std::placeholders::_2));
read_async_handler_->start_async_update_thread();
read_async_handler_->start_thread();
write_async_handler_->init(
std::bind(&SystemInterface::write, this, std::placeholders::_1, std::placeholders::_2));
write_async_handler_->start_async_update_thread();
write_async_handler_->start_thread();
}
return on_init(hardware_info);
};
Expand Down Expand Up @@ -229,7 +229,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
info_.name.c_str());
return return_type::OK;
}
std::tie(trigger_status, result) = read_async_handler_->trigger_async_update(time, period);
std::tie(trigger_status, result) = read_async_handler_->trigger_async_callback(time, period);
if (!trigger_status)
{
RCLCPP_WARN(
Expand Down Expand Up @@ -294,7 +294,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
info_.name.c_str());
return return_type::OK;
}
std::tie(trigger_status, result) = write_async_handler_->trigger_async_update(time, period);
std::tie(trigger_status, result) = write_async_handler_->trigger_async_callback(time, period);
if (!trigger_status)
{
RCLCPP_WARN(
Expand Down

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