Resolve merge conflicts for mergify/bp/kilted/pr-1506

rclpy/rclpy/impl/_rclpy_pybind11.pyi

@@ -602,14 +602,6 @@ class Subscription(Destroyable, Generic[MsgT]):
     def get_publisher_count(self) -> int:
         """Count the publishers from a subscription."""
 
-<<<<<<< HEAD
-=======
-    def set_on_new_message_callback(self, callback: Callable[[int], None]) -> None:
-        """Set the on new message callback function for the subscription."""
-
-    def clear_on_new_message_callback(self) -> None:
-        """Clear the on new message callback function for the subscription."""
-
     def is_cft_enabled(self) -> bool:
         """Check if content filtering is enabled for this subscription."""
 
@@ -619,7 +611,6 @@ class Subscription(Destroyable, Generic[MsgT]):
     def get_content_filter(self) -> ContentFilterOptions:
         """Get the filter expression and expression parameters for the subscription."""
 
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
 
 class rcl_time_point_t:
 

rclpy/rclpy/node.py

@@ -83,11 +83,7 @@
 from rclpy.service import Service
 from rclpy.subscription import MessageInfo
 from rclpy.subscription import Subscription
-<<<<<<< HEAD
-=======
-from rclpy.subscription import SubscriptionCallbackUnion
 from rclpy.subscription_content_filter_options import ContentFilterOptions
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
 from rclpy.time_source import TimeSource
 from rclpy.timer import Rate
 from rclpy.timer import Timer, TimerInfo
@@ -1694,40 +1690,7 @@ def create_subscription(
         self,
         msg_type: Type[MsgT],
         topic: str,
-<<<<<<< HEAD
         callback: Union[Callable[[MsgT], None], Callable[[MsgT, MessageInfo], None]],
-=======
-        callback: GenericSubscriptionCallback[bytes],
-        qos_profile: Union[QoSProfile, int],
-        *,
-        callback_group: Optional[CallbackGroup] = None,
-        event_callbacks: Optional[SubscriptionEventCallbacks] = None,
-        qos_overriding_options: Optional[QoSOverridingOptions] = None,
-        raw: Literal[True],
-        content_filter_options: Optional[ContentFilterOptions] = None
-    ) -> Subscription[MsgT]: ...
-
-    @overload
-    def create_subscription(
-        self,
-        msg_type: Type[MsgT],
-        topic: str,
-        callback: GenericSubscriptionCallback[MsgT],
-        qos_profile: Union[QoSProfile, int],
-        *,
-        callback_group: Optional[CallbackGroup] = None,
-        event_callbacks: Optional[SubscriptionEventCallbacks] = None,
-        qos_overriding_options: Optional[QoSOverridingOptions] = None,
-        raw: bool = False,
-        content_filter_options: Optional[ContentFilterOptions] = None
-    ) -> Subscription[MsgT]: ...
-
-    def create_subscription(
-        self,
-        msg_type: Type[MsgT],
-        topic: str,
-        callback: SubscriptionCallbackUnion[MsgT],
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
         qos_profile: Union[QoSProfile, int],
         *,
         callback_group: Optional[CallbackGroup] = None,

rclpy/src/rclpy/subscription.cpp

@@ -26,13 +26,9 @@
 #include <memory>
 #include <stdexcept>
 #include <string>
-<<<<<<< HEAD
-=======
-#include <utility>
 #include <vector>
 
 #include <rcpputils/scope_exit.hpp>
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
 
 #include "exceptions.hpp"
 #include "node.hpp"
@@ -44,10 +40,6 @@ using pybind11::literals::operator""_a;
 
 namespace rclpy
 {
-<<<<<<< HEAD
-=======
-using events_executor::RclEventCallbackTrampoline;
-
 namespace
 {
 std::vector<const char *>
@@ -64,7 +56,6 @@ get_c_vector_string(const std::vector<std::string> & strings_in)
 }
 }  // namespace
 
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
 Subscription::Subscription(
   Node & node, py::object pymsg_type, std::string topic,
   py::object pyqos_profile, py::object content_filter_options)
@@ -242,43 +233,6 @@ Subscription::get_publisher_count() const
   return count;
 }
 
-void
-<<<<<<< HEAD
-=======
-Subscription::set_callback(
-  rcl_event_callback_t callback,
-  const void * user_data)
-{
-  rcl_ret_t ret = rcl_subscription_set_on_new_message_callback(
-    rcl_subscription_.get(),
-    callback,
-    user_data);
-
-  if (RCL_RET_OK != ret) {
-    throw RCLError(std::string("Failed to set the on new message callback for subscription: ") +
-      rcl_get_error_string().str);
-  }
-}
-
-void
-Subscription::set_on_new_message_callback(std::function<void(size_t)> callback)
-{
-  clear_on_new_message_callback();
-  on_new_message_callback_ = std::move(callback);
-  set_callback(
-    RclEventCallbackTrampoline,
-    static_cast<const void *>(&on_new_message_callback_));
-}
-
-void
-Subscription::clear_on_new_message_callback()
-{
-  if (on_new_message_callback_) {
-    set_callback(nullptr, nullptr);
-    on_new_message_callback_ = nullptr;
-  }
-}
-
 bool
 Subscription::is_cft_enabled() const
 {
@@ -362,7 +316,6 @@ Subscription::get_content_filter() const
 }
 
 void
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
 define_subscription(py::object module)
 {
   py::class_<Subscription, Destroyable, std::shared_ptr<Subscription>>(module, "Subscription")
@@ -388,14 +341,7 @@ define_subscription(py::object module)
     "Return the resolved topic name of a subscription.")
   .def(
     "get_publisher_count", &Subscription::get_publisher_count,
-<<<<<<< HEAD
-    "Count the publishers from a subscription.");
-=======
     "Count the publishers from a subscription.")
-  .def(
-    "set_on_new_message_callback", &Subscription::set_on_new_message_callback,
-    py::arg("callback"))
-  .def("clear_on_new_message_callback", &Subscription::clear_on_new_message_callback)
   .def("is_cft_enabled", &Subscription::is_cft_enabled,
     "Check if content filtering is enabled for this subscription.")
   .def(
@@ -404,6 +350,5 @@ define_subscription(py::object module)
   .def(
     "get_content_filter", &Subscription::get_content_filter,
     "Get the filter expression and expression parameters for the subscription.");
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
 }
 }  // namespace rclpy

rclpy/src/rclpy/subscription.hpp

@@ -108,8 +108,6 @@ class Subscription : public Destroyable, public std::enable_shared_from_this<Sub
   void
   destroy() override;
 
-<<<<<<< HEAD
-=======
   void
   set_on_new_message_callback(std::function<void(size_t)> callback);
 
@@ -139,7 +137,6 @@ class Subscription : public Destroyable, public std::enable_shared_from_this<Sub
   py::object
   get_content_filter() const;
 
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))
 private:
   Node node_;
   std::shared_ptr<rcl_subscription_t> rcl_subscription_;

rclpy/test/test_subscription.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import time
+from typing import List
 
 import pytest
 
@@ -174,26 +175,6 @@ def test_subscription_publisher_count() -> None:
     sub.destroy()
 
     node.destroy_node()
-<<<<<<< HEAD
-=======
-
-
-def test_on_new_message_callback(test_node) -> None:
-    topic_name = '/topic'
-    cb = Mock()
-    sub = test_node.create_subscription(
-        msg_type=Empty,
-        topic=topic_name,
-        qos_profile=10,
-        callback=cb)
-    pub = test_node.create_publisher(Empty, topic_name, 10)
-    sub.handle.set_on_new_message_callback(cb)
-    cb.assert_not_called()
-    pub.publish(Empty())
-    cb.assert_called_once_with(1)
-    sub.handle.clear_on_new_message_callback()
-    pub.publish(Empty())
-    cb.assert_called_once()
 
 
 def test_subscription_set_content_filter(test_node) -> None:
@@ -469,4 +450,3 @@ def publish_messages(pub):
 
     pub.destroy()
     sub.destroy()
->>>>>>> 8d42eaa (Add content-filtered-topic interfaces (#1506))