optimize header includes from rclcpp and msgpack that were taking long

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
ros-sports · Dec 12, 2023 · fe48290 · fe48290
1 parent 233d0e0
commit fe48290
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Showing 9 changed files with 41 additions and 9 deletions.
diff --git a/nao_lola_client/include/nao_lola_client/connection.hpp b/nao_lola_client/include/nao_lola_client/connection.hpp
@@ -19,7 +19,6 @@
 #include <string>
 #include "boost/asio.hpp"
 #include "rclcpp/logger.hpp"
-#include "rclcpp/rclcpp.hpp"
 
 #define MSGPACK_READ_LENGTH 896
 

diff --git a/nao_lola_client/include/nao_lola_client/msgpack_parser.hpp b/nao_lola_client/include/nao_lola_client/msgpack_parser.hpp
@@ -18,7 +18,7 @@
 #include <map>
 #include <string>
 #include <vector>
-#include "msgpack.hpp"
+#include "msgpack/object.hpp"
 #include "nao_lola_sensor_msgs/msg/joint_currents.hpp"
 #include "nao_lola_sensor_msgs/msg/joint_positions.hpp"
 #include "nao_lola_sensor_msgs/msg/joint_stiffnesses.hpp"

diff --git a/nao_lola_client/include/nao_lola_client/nao_lola_client.hpp b/nao_lola_client/include/nao_lola_client/nao_lola_client.hpp
@@ -18,7 +18,9 @@
 #include <thread>
 #include <memory>
 #include <mutex>
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
 #include "nao_lola_sensor_msgs/msg/joint_positions.hpp"
 #include "nao_lola_sensor_msgs/msg/joint_stiffnesses.hpp"
 #include "nao_lola_sensor_msgs/msg/joint_temperatures.hpp"

diff --git a/nao_lola_client/src/connection.cpp b/nao_lola_client/src/connection.cpp
@@ -14,6 +14,9 @@
 
 #include <string>
 #include "nao_lola_client/connection.hpp"
+#include "rclcpp/clock.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/utilities.hpp"
 
 #define ENDPOINT "/tmp/robocup"
 
@@ -25,9 +28,9 @@ Connection::Connection()
  do {
  socket.connect(ENDPOINT, ec);
  if (ec) {
- RCLCPP_WARN_SKIPFIRST_THROTTLE(
+ RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE(
  logger, clock, 1000,
- (std::string{"Could not connect to LoLA, retrying: "} + ec.message()).c_str());
+ "Could not connect to LoLA, retrying: " << ec.message());
  }
  } while (ec && rclcpp::ok());
 }

diff --git a/nao_lola_client/src/msgpack_packer.cpp b/nao_lola_client/src/msgpack_packer.cpp
@@ -18,9 +18,16 @@
 #include <memory>
 #include <vector>
 #include "nao_lola_client/msgpack_packer.hpp"
-#include "msgpack.hpp"
+#include "msgpack/object.hpp"
+#include "msgpack/pack.hpp"
+#include "msgpack/adaptor/bool.hpp"
+#include "msgpack/adaptor/cpp11/array.hpp"
+#include "msgpack/adaptor/float.hpp"
+#include "msgpack/adaptor/map.hpp"
+#include "msgpack/adaptor/string.hpp"
+#include "msgpack/zone.hpp"
 #include "nao_lola_client/command_index_conversion.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logging.hpp"
 
 std::string MsgpackPacker::getPacked()
 {

diff --git a/nao_lola_client/src/msgpack_parser.cpp b/nao_lola_client/src/msgpack_parser.cpp
@@ -15,6 +15,12 @@
 #include <vector>
 #include <map>
 #include <string>
+#include "msgpack/object.hpp"
+#include "msgpack/adaptor/float.hpp"
+#include "msgpack/adaptor/map.hpp"
+#include "msgpack/adaptor/string.hpp"
+#include "msgpack/adaptor/vector.hpp"
+#include "msgpack/unpack.hpp"
 #include "nao_lola_client/msgpack_parser.hpp"
 #include "nao_lola_client/lola_enums.hpp"
 #include "nao_lola_client/sensor_index_conversion.hpp"

diff --git a/nao_lola_client/src/nao_lola_client.cpp b/nao_lola_client/src/nao_lola_client.cpp
@@ -38,7 +38,7 @@ NaoLolaClient::NaoLolaClient(const rclcpp::NodeOptions & options)
  try {
  recvData = connection.receive();
  } catch (const std::runtime_error & e) {
- RCLCPP_ERROR_SKIPFIRST_THROTTLE(get_logger(), *get_clock(), 1000, e.what());
+ RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(get_logger(), *get_clock(), 1000, e.what());
  continue;
  }
 

diff --git a/nao_lola_client/test/test_msgpack_packer.cpp b/nao_lola_client/test/test_msgpack_packer.cpp
@@ -17,7 +17,14 @@
 #include <vector>
 #include <map>
 #include <memory>
-#include "msgpack.hpp"
+#include "msgpack/object.hpp"
+#include "msgpack/adaptor/bool.hpp"
+#include "msgpack/adaptor/float.hpp"
+#include "msgpack/adaptor/map.hpp"
+#include "msgpack/adaptor/string.hpp"
+#include "msgpack/adaptor/vector.hpp"
+#include "msgpack/adaptor/vector_bool.hpp"
+#include "msgpack/unpack.hpp"
 #include "nao_lola_client/msgpack_packer.hpp"
 #include "nao_lola_command_msgs/msg/joint_positions.hpp"
 #include "nao_lola_command_msgs/msg/joint_stiffnesses.hpp"

diff --git a/nao_lola_client/test/test_msgpack_parser.cpp b/nao_lola_client/test/test_msgpack_parser.cpp
@@ -17,6 +17,14 @@
 #include <map>
 #include <string>
 #include <memory>
+#include "msgpack/object.hpp"
+#include "msgpack/adaptor/float.hpp"
+#include "msgpack/adaptor/int.hpp"
+#include "msgpack/adaptor/vector.hpp"
+#include "msgpack/adaptor/map.hpp"
+#include "msgpack/adaptor/string.hpp"
+#include "msgpack/pack.hpp"
+#include "msgpack/zone.hpp"
 #include "nao_lola_client/msgpack_parser.hpp"
 #include "nao_lola_sensor_msgs/msg/joint_indexes.hpp"