Inlining node loop again.

107-systems · Nov 16, 2023 · 04dd2a0 · 04dd2a0
1 parent 863c9d3
commit 04dd2a0
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Showing 2 changed files with 9 additions and 12 deletions.
diff --git a/include/t07_robot/Node.h b/include/t07_robot/Node.h
@@ -52,10 +52,8 @@ class Node : public rclcpp::Node
   std::mutex _node_mtx;
   std::chrono::steady_clock::time_point const _node_start;
   std::unique_ptr<CanManager> _can_mgr;
-
-  static std::chrono::milliseconds constexpr IO_LOOP_RATE{1};
-  rclcpp::TimerBase::SharedPtr _io_loop_timer;
-  void io_loop();
+  static std::chrono::milliseconds constexpr NODE_LOOP_RATE{1};
+  rclcpp::TimerBase::SharedPtr _node_loop_timer;
 
   cyphal::Publisher<uavcan::node::Heartbeat_1_0> _cyphal_heartbeat_pub;
   static std::chrono::milliseconds constexpr CYPHAL_HEARTBEAT_PERIOD{1000};

diff --git a/src/Node.cpp b/src/Node.cpp
@@ -66,11 +66,16 @@ Node::Node()
       _node_hdl.onCanFrameReceived(frame);
     });
 
+  _node_loop_timer = create_wall_timer(NODE_LOOP_RATE,
+                                       [this]()
+                                       {
+                                         std::lock_guard <std::mutex> lock(_node_mtx);
+                                         _node_hdl.spinSome();
+                                       });
+
   init_cyphal_heartbeat();
   init_cyphal_node_info();
 
-  _io_loop_timer = create_wall_timer(IO_LOOP_RATE, [this]() { this->io_loop(); });
-
   init_motor_left();
   init_motor_right();
 
@@ -86,12 +91,6 @@ Node::~Node()
  * PRIVATE MEMBER FUNCTIONS
  **************************************************************************************/
 
-void Node::io_loop()
-{
-  std::lock_guard <std::mutex> lock(_node_mtx);
-  _node_hdl.spinSome();
-}
-
 void Node::init_cyphal_heartbeat()
 {
   _cyphal_heartbeat_pub = _node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);