Make use of a lambda function instead of a method for log

Signed-off-by: Brian Ezequiel Marchi <brian.marchi65@gmail.com>
ros2 · Oct 15, 2019 · 5343f2c · 5343f2c
1 parent 654505e
commit 5343f2c
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Showing 3 changed files with 8 additions and 19 deletions.
diff --git a/rclcpp/include/rclcpp/clock.hpp b/rclcpp/include/rclcpp/clock.hpp
@@ -123,16 +123,6 @@ class Clock
     JumpHandler::post_callback_t post_callback,
     const rcl_jump_threshold_t & threshold);
 
-  /// Get current time from the time source specified by Clock::get_clock_type() const noexcept.
-  /**
-   * \param now A pointer to time point value, which will be
-   * set to the current time according to the underlying clock.
-   * \return RCUTILS_RET_OK if time was successfully retrieved
-   */
-  RCLCPP_PUBLIC
-  rcutils_ret_t
-  get_now_as_rcutils_time_point(rcutils_time_point_value_t * now);
-
 private:
   // Invoke time jump callback
   RCLCPP_PUBLIC

diff --git a/rclcpp/resource/logging.hpp.em b/rclcpp/resource/logging.hpp.em
@@ -106,8 +106,14 @@ def is_supported_feature_combination(feature_combination):
       ::std::is_same<typename std::remove_cv<typename std::remove_reference<decltype(logger)>::type>::type, \
       typename ::rclcpp::Logger>::value, \
       "First argument to logging macros must be an rclcpp::Logger"); \
+@[ if 'throttle' in feature_combination]@ \
+      std::function<rcutils_ret_t (rcutils_time_point_value_t *)> get_time_point = [&clock](rcutils_time_point_value_t * time_point) -> rcutils_ret_t { \
+        *time_point = clock.now().nanoseconds(); \
+        return RCUTILS_RET_OK; \
+      }; \
+@[ end if] \
     RCUTILS_LOG_@(severity)@(suffix)_NAMED( \
-@{params = ['clock.get_now_as_rcutils_time_point' if p == 'clock' and 'throttle' in feature_combination else p for p in params]}@
+@{params = ['get_time_point' if p == 'clock' and 'throttle' in feature_combination else p for p in params]}@
 @[ if params]@
 @(''.join(['      ' + p + ', \\\n' for p in params]))@
 @[ end if]@

diff --git a/rclcpp/src/rclcpp/clock.cpp b/rclcpp/src/rclcpp/clock.cpp
@@ -52,7 +52,7 @@ Clock::now()
 {
   Time now(0, 0, rcl_clock_.type);
 
-  auto ret = get_now_as_rcutils_time_point(&now.rcl_time_.nanoseconds);
+  auto ret = rcl_clock_get_now(&rcl_clock_, &now.rcl_time_.nanoseconds);
   if (ret != RCL_RET_OK) {
     exceptions::throw_from_rcl_error(ret, "could not get current time stamp");
   }
@@ -141,11 +141,4 @@ Clock::create_jump_callback(
   // *INDENT-ON*
 }
 
-rcutils_ret_t
-Clock::get_now_as_rcutils_time_point(
-  rcutils_time_point_value_t * now)
-{
-  return rcl_clock_get_now(&rcl_clock_, now);
-}
-
 }  // namespace rclcpp