Use rcpputils/scope_exit.hpp and remove rclcpp/scope_exit.hpp

rclcpp/include/rclcpp/executor.hpp

@@ -29,6 +29,7 @@
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
+#include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
@@ -40,7 +41,6 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -354,7 +354,7 @@ class Executor
     if (spinning.exchange(true)) {
       throw std::runtime_error("spin_until_future_complete() called while already spinning");
     }
-    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
     while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
       spin_once_impl(timeout_left);

rclcpp/include/rclcpp/rclcpp.hpp

@@ -140,7 +140,6 @@
  *   - rclcpp/duration.hpp
  *   - rclcpp/function_traits.hpp
  *   - rclcpp/macros.hpp
- *   - rclcpp/scope_exit.hpp
  *   - rclcpp/time.hpp
  *   - rclcpp/utilities.hpp
  *   - rclcpp/typesupport_helpers.hpp

rclcpp/include/rclcpp/scope_exit.hpp

@@ -19,6 +19,10 @@
 #ifndef RCLCPP__SCOPE_EXIT_HPP_
 #define RCLCPP__SCOPE_EXIT_HPP_
 
+// TODO(christophebedard) remove this header completely in I-turtle
+
+#warning rclcpp/scope_exit.hpp has been deprecated, please use rcpputils/scope_exit.hpp instead
+
 #include <functional>
 
 #include "rclcpp/macros.hpp"

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -20,13 +20,13 @@
 #include <utility>
 
 #include "rcl/wait.h"
+#include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/client.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/service.hpp"
 #include "rclcpp/subscription_base.hpp"
 #include "rclcpp/subscription_wait_set_mask.hpp"
@@ -657,7 +657,7 @@ class WaitSetTemplate final : private SynchronizationPolicy, private StoragePoli
 
     // ensure the ownership of the entities in the wait set is shared for the duration of wait
     this->storage_acquire_ownerships();
-    RCLCPP_SCOPE_EXIT({this->storage_release_ownerships();});
+    RCPPUTILS_SCOPE_EXIT({this->storage_release_ownerships();});
 
     // this method comes from the SynchronizationPolicy
     return this->template sync_wait<WaitResult<WaitSetTemplate>>(

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp

@@ -19,8 +19,8 @@
 #include <vector>
 
 #include "rcl_yaml_param_parser/parser.h"
+#include "rcpputils/scope_exit.hpp"
 
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/parameter_map.hpp"
 
 std::map<std::string, rclcpp::ParameterValue>
@@ -47,7 +47,7 @@ rclcpp::detail::resolve_parameter_overrides(
       rclcpp::exceptions::throw_from_rcl_error(ret);
     }
     if (params) {
-      auto cleanup_params = make_scope_exit(
+      auto cleanup_params = rcpputils::make_scope_exit(
         [params]() {
           rcl_yaml_node_struct_fini(params);
         });

rclcpp/src/rclcpp/executor.cpp

@@ -22,13 +22,13 @@
 
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
+#include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/utilities.hpp"
 
 #include "rcutils/logging_macros.h"
@@ -450,7 +450,7 @@ Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_some() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   bool work_available = false;
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
@@ -484,7 +484,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_once() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   spin_once_impl(timeout);
 }
 

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -19,8 +19,9 @@
 #include <memory>
 #include <vector>
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rclcpp/utilities.hpp"
-#include "rclcpp/scope_exit.hpp"
 
 using rclcpp::detail::MutexTwoPriorities;
 using rclcpp::executors::MultiThreadedExecutor;
@@ -48,7 +49,7 @@ MultiThreadedExecutor::spin()
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   std::vector<std::thread> threads;
   size_t thread_id = 0;
   {

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/any_executable.hpp"
-#include "rclcpp/scope_exit.hpp"
 
 using rclcpp::executors::SingleThreadedExecutor;
 
@@ -29,7 +30,7 @@ SingleThreadedExecutor::spin()
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   while (rclcpp::ok(this->context_) && spinning.load()) {
     rclcpp::AnyExecutable any_executable;
     if (get_next_executable(any_executable)) {

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -18,7 +18,7 @@
 #include <memory>
 #include <vector>
 
-#include "rclcpp/scope_exit.hpp"
+#include "rcpputils/scope_exit.hpp"
 
 using rclcpp::executors::StaticSingleThreadedExecutor;
 using rclcpp::experimental::ExecutableList;
@@ -43,7 +43,7 @@ StaticSingleThreadedExecutor::spin()
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
 
   // Set memory_strategy_ and exec_list_ based on weak_nodes_
   // Prepare wait_set_ based on memory_strategy_
@@ -100,7 +100,7 @@ StaticSingleThreadedExecutor::spin_some_impl(std::chrono::nanoseconds max_durati
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_some() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
 
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     // Get executables that are ready now

rclcpp/src/rclcpp/expand_topic_or_service_name.cpp

@@ -19,7 +19,6 @@
 #include "rcl/expand_topic_name.h"
 #include "rcl/validate_topic_name.h"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rcutils/logging_macros.h"
 #include "rcutils/types/string_map.h"
 #include "rmw/error_handling.h"

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -32,7 +32,6 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/parameter_map.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rcutils/logging_macros.h"
 #include "rmw/qos_profiles.h"
 

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -20,7 +20,7 @@
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
 #include "rclcpp/rclcpp.hpp"
-#include "rclcpp/scope_exit.hpp"
+#include "rcpputils/scope_exit.hpp"
 #include "test_msgs/msg/empty.hpp"
 
 using namespace std::chrono_literals;
@@ -366,7 +366,7 @@ BENCHMARK_F(
   if (ret != RCL_RET_OK) {
     st.SkipWithError(rcutils_get_error_string().str);
   }
-  RCLCPP_SCOPE_EXIT(
+  RCPPUTILS_SCOPE_EXIT(
   {
     rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
     if (ret != RCL_RET_OK) {
@@ -379,7 +379,7 @@ BENCHMARK_F(
   rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
   entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   reset_heap_counters();