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Fixed compiler warnings

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This commit is contained in:
Bastian Hofmann 2023-03-10 02:53:01 +00:00
parent 156af3db6b
commit b654b06945
2 changed files with 16 additions and 16 deletions
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21
src/ros_actor_action_server/src/Server.cpp
View File

@ -4,13 +4,12 @@
#include "Server.hpp" #include "Server.hpp"
#include <mqueue.h>
#include <cstdio>
#include <rclcpp/logger.hpp>
using namespace ros_actor_message_queue_msgs; using namespace ros_actor_message_queue_msgs;
static const char* feedbackName;
static const char* actionName;
void sendAction(mqd_t queue, ActionMessage *message) { void sendAction(mqd_t queue, ActionMessage *message) {
std::cout << "Sending action..." << std::endl; std::cout << "Sending action..." << std::endl;
mq_send(queue, (const char *)message, sizeof(ActionMessage), 0); mq_send(queue, (const char *)message, sizeof(ActionMessage), 0);
@ -86,7 +85,7 @@ int main(int argc, char **argv) {
currentAnimationGoalPtr->publish_feedback(feedback); currentAnimationGoalPtr->publish_feedback(feedback);
}else{ }else{
currentAnimationGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Animation_Result>()); currentAnimationGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Animation_Result>());
currentAnimationGoalPtr == nullptr; currentAnimationGoalPtr = nullptr;
} }
} }
if(currentAction.state==MOVEMENT && currentMovementGoalPtr!=nullptr){ if(currentAction.state==MOVEMENT && currentMovementGoalPtr!=nullptr){
@ -96,7 +95,7 @@ int main(int argc, char **argv) {
currentMovementGoalPtr->publish_feedback(feedback); currentMovementGoalPtr->publish_feedback(feedback);
}else{ }else{
currentMovementGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Movement_Result>()); currentMovementGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Movement_Result>());
currentMovementGoalPtr == nullptr; currentMovementGoalPtr = nullptr;
} }
} }
currentFeedback = newFeedback; currentFeedback = newFeedback;
@ -106,7 +105,7 @@ int main(int argc, char **argv) {
auto animationServer = rclcpp_action::create_server<action::Animation>( auto animationServer = rclcpp_action::create_server<action::Animation>(
node, "animation", node, "animation",
[&currentAction, &mutex](const rclcpp_action::GoalUUID goalUuid, const AnimationGoalPtr &animationGoal) { [&currentAction, &mutex](__attribute__((unused)) const rclcpp_action::GoalUUID goalUuid, const AnimationGoalPtr &animationGoal) {
// igndbg << "goal" << shared_mmap->currentState << std::endl; // igndbg << "goal" << shared_mmap->currentState << std::endl;
mutex.lock(); mutex.lock();
@ -121,7 +120,7 @@ int main(int argc, char **argv) {
return rclcpp_action::GoalResponse::REJECT; return rclcpp_action::GoalResponse::REJECT;
} }
}, },
[actionQueue, &currentAction, &mutex](const AnimationServerGoalPtr &animationGoalPtr) { [actionQueue, &currentAction, &mutex](__attribute__((unused)) const AnimationServerGoalPtr &animationGoalPtr) {
if (currentAction.state == IDLE) { if (currentAction.state == IDLE) {
return rclcpp_action::CancelResponse::REJECT; return rclcpp_action::CancelResponse::REJECT;
} else { } else {
@ -145,7 +144,7 @@ int main(int argc, char **argv) {
auto movementServer = rclcpp_action::create_server<action::Movement>( auto movementServer = rclcpp_action::create_server<action::Movement>(
node, "movement", node, "movement",
[&currentAction, &mutex](const rclcpp_action::GoalUUID goalUuid, const MovementGoalPtr &movementGoal) { [&currentAction, &mutex](__attribute__((unused)) const rclcpp_action::GoalUUID goalUuid, const MovementGoalPtr &movementGoal) {
mutex.lock(); mutex.lock();
if (currentAction.state == IDLE) { if (currentAction.state == IDLE) {
std::cout << "Accepting..." << std::endl; std::cout << "Accepting..." << std::endl;
@ -160,7 +159,7 @@ int main(int argc, char **argv) {
return rclcpp_action::GoalResponse::REJECT; return rclcpp_action::GoalResponse::REJECT;
} }
}, },
[actionQueue, &currentAction, &mutex](const MovementServerGoalPtr &movementGoalPtr) { [actionQueue, &currentAction, &mutex](__attribute__((unused)) const MovementServerGoalPtr &movementGoalPtr) {
if (currentAction.state == IDLE) { if (currentAction.state == IDLE) {
return rclcpp_action::CancelResponse::REJECT; return rclcpp_action::CancelResponse::REJECT;
} else { } else {
@ -184,4 +183,6 @@ int main(int argc, char **argv) {
while(rclcpp::ok()){ while(rclcpp::ok()){
rclcpp::spin(node); rclcpp::spin(node);
} }
} }

11
src/ros_actor_action_server/src/Server.hpp
View File

@ -5,7 +5,10 @@
#ifndef BUILD_SERVER_H #ifndef BUILD_SERVER_H
#define BUILD_SERVER_H #define BUILD_SERVER_H
#include <cstdio>
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include <rclcpp/utilities.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp_action/rclcpp_action.hpp> #include <rclcpp_action/rclcpp_action.hpp>
#include <ros_actor_action_server_msgs/action/animation.hpp> #include <ros_actor_action_server_msgs/action/animation.hpp>
#include <ros_actor_action_server_msgs/action/movement.hpp> #include <ros_actor_action_server_msgs/action/movement.hpp>
@ -15,18 +18,14 @@
#include <mqueue.h> #include <mqueue.h>
using namespace ros_actor_action_server_msgs; using namespace ros_actor_action_server_msgs;
using rclcpp_action::ServerGoalHandle;
static char *feedbackName;
static char *actionName;
#define AnimationActionServer rclcpp_action::Server<action::Animation> #define AnimationActionServer rclcpp_action::Server<action::Animation>
#define MovementActionServer rclcpp_action::Server<action::Movement> #define MovementActionServer rclcpp_action::Server<action::Movement>
#define AnimationGoalPtr std::shared_ptr<const action::Animation::Goal> #define AnimationGoalPtr std::shared_ptr<const action::Animation::Goal>
#define AnimationServerGoalPtr std::shared_ptr<ServerGoalHandle<action::Animation>> #define AnimationServerGoalPtr std::shared_ptr<rclcpp_action::ServerGoalHandle<action::Animation>>
#define MovementGoalPtr std::shared_ptr<const action::Movement::Goal> #define MovementGoalPtr std::shared_ptr<const action::Movement::Goal>
#define MovementServerGoalPtr std::shared_ptr<ServerGoalHandle<action::Movement>> #define MovementServerGoalPtr std::shared_ptr<rclcpp_action::ServerGoalHandle<action::Movement>>
#endif //BUILD_SERVER_H #endif //BUILD_SERVER_H