Remove cras expected.hpp

ros-perception · Aug 12, 2023 · 581fade · 581fade
1 parent 3146883
commit 581fade
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Showing 5 changed files with 10 additions and 83 deletions.
diff --git a/include/point_cloud_transport/expected.hpp b/include/point_cloud_transport/expected.hpp
diff --git a/include/point_cloud_transport/publisher_plugin.hpp b/include/point_cloud_transport/publisher_plugin.hpp
@@ -38,8 +38,8 @@
 
 #include "rclcpp/node.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tl/expected.hpp>
 
-#include <point_cloud_transport/expected.hpp>
 #include <point_cloud_transport/single_subscriber_publisher.hpp>
 #include "point_cloud_transport/visibility_control.hpp"
 
@@ -52,7 +52,7 @@ class POINT_CLOUD_TRANSPORT_PUBLIC PublisherPlugin
 public:
   /// \brief Result of cloud encoding. Either an holding the compressed cloud,
   /// empty value or error message.
-  typedef cras::expected<std::optional<const std::shared_ptr<rclcpp::SerializedMessage>>,
+  typedef tl::expected<std::optional<const std::shared_ptr<rclcpp::SerializedMessage>>,
       std::string> EncodeResult;
 
   PublisherPlugin() = default;

diff --git a/include/point_cloud_transport/simple_publisher_plugin.hpp b/include/point_cloud_transport/simple_publisher_plugin.hpp
@@ -42,8 +42,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include "rclcpp/serialization.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tl/expected.hpp>
 
-#include <point_cloud_transport/expected.hpp>
 #include <point_cloud_transport/point_cloud_common.hpp>
 #include <point_cloud_transport/publisher_plugin.hpp>
 #include <point_cloud_transport/single_subscriber_publisher.hpp>
@@ -75,7 +75,7 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
 public:
   /// \brief Result of cloud encoding. Either the compressed cloud message,
   /// empty value, or error message.
-  typedef cras::expected<std::optional<M>, std::string> TypedEncodeResult;
+  typedef tl::expected<std::optional<M>, std::string> TypedEncodeResult;
 
   ~SimplePublisherPlugin()
   {
@@ -114,7 +114,7 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
   }
 
   void setParamCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType
+    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType
     param_change_callback)
   {
     if (simple_impl_) {
@@ -171,7 +171,7 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
     // encode the message using the expected transport method
     auto res = this->encodeTyped(raw);
     if (!res) {
-      return cras::make_unexpected(res.error());
+      return tl::make_unexpected(res.error());
     }
     if (!res.value()) {
       return std::nullopt;

diff --git a/include/point_cloud_transport/simple_subscriber_plugin.hpp b/include/point_cloud_transport/simple_subscriber_plugin.hpp
@@ -98,7 +98,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
   }
 
   void setParamCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType
+    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType
     param_change_callback)
   {
     if (impl_) {
@@ -134,7 +134,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
       auto serializer = rclcpp::Serialization<M>();
       serializer.deserialize_message(compressed.get(), msg.get());
     } catch (const std::exception & e) {
-      return cras::make_unexpected(
+      return tl::make_unexpected(
         "Error deserializing message for transport decoder: " + std::string(
           e.what()) + ".");
     }

diff --git a/include/point_cloud_transport/subscriber_plugin.hpp b/include/point_cloud_transport/subscriber_plugin.hpp
@@ -40,8 +40,8 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <tl/expected.hpp>
 
-#include <point_cloud_transport/expected.hpp>
 #include <point_cloud_transport/transport_hints.hpp>
 
 #include "point_cloud_transport/visibility_control.hpp"
@@ -57,7 +57,7 @@ class POINT_CLOUD_TRANSPORT_PUBLIC SubscriberPlugin
 public:
   /// \brief Result of cloud decoding. Either a `sensor_msgs::msg::PointCloud2`
   /// holding the raw message, empty value or error message.
-  typedef cras::expected<std::optional<sensor_msgs::msg::PointCloud2::ConstSharedPtr>,
+  typedef tl::expected<std::optional<sensor_msgs::msg::PointCloud2::ConstSharedPtr>,
       std::string> DecodeResult;
 
   SubscriberPlugin() = default;