Updated the rcl interface in accordance with the specifications outli…

…ned in the DRAFT REP shared below. https://discourse.ros.org/t/adding-thread-attributes-configuration-in-ros-2-framework/30701/5 Signed-off-by: Shoji Morita <[email protected]>
esol-community · Aug 10, 2023 · 0e9616a · 0e9616a
1 parent b0988dd
commit 0e9616a
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Showing 2 changed files with 9 additions and 17 deletions.
diff --git a/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
@@ -38,19 +38,15 @@ MultiThreadedExecutor::MultiThreadedExecutor(
   thread_attributes_(nullptr)
 {
   bool has_number_of_threads_arg = number_of_threads > 0;
-  rcl_ret_t ret;
 
   number_of_threads_ = number_of_threads > 0 ?
     number_of_threads :
     std::max(rcpputils::Thread::hardware_concurrency(), 2U);
 
-  ret = rcl_arguments_get_thread_attrs(
-    &options.context->get_rcl_context()->global_arguments,
-    &thread_attributes_);
-  if (ret != RCL_RET_OK) {
-    ret = rcl_context_get_thread_attrs(
-      options.context->get_rcl_context().get(),
-      &thread_attributes_);
+  if (rcutils_thread_attrs_t * attrs = rcl_context_get_thread_attrs(
+    options.context->get_rcl_context().get()))
+  {
+    thread_attributes_ = attrs;
   }
 
   if (has_number_of_threads_arg && thread_attributes_ &&

diff --git a/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp
@@ -24,16 +24,12 @@ SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::ExecutorOptions & o
 : rclcpp::Executor(options),
   thread_attributes_(nullptr)
 {
-  rcl_ret_t ret;
-
-  ret = rcl_arguments_get_thread_attrs(
-    &options.context->get_rcl_context()->global_arguments,
-    &thread_attributes_);
-  if (ret != RCL_RET_OK) {
-    ret = rcl_context_get_thread_attrs(
-      options.context->get_rcl_context().get(),
-      &thread_attributes_);
+  if (rcutils_thread_attrs_t * attrs = rcl_context_get_thread_attrs(
+    options.context->get_rcl_context().get()))
+  {
+    thread_attributes_ = attrs;
   }
+
   if (thread_attributes_ && thread_attributes_->num_attributes != 1) {
     RCLCPP_WARN(
       rclcpp::get_logger("rclcpp"),