Remove Old Distro Support (#62)

* Cleaning up old distro support and removing build warnings

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_ID MATCHES "Clang")
@@ -12,7 +12,6 @@ project(swri_console)
 
 ### ROS PACKAGES ###
 find_package(ament_cmake REQUIRED)
-# find_package(rosbag_storage REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 
@@ -23,13 +22,6 @@ find_package(Qt5Widgets REQUIRED)
 
 find_package(Boost COMPONENTS thread REQUIRED)
 
-### Compile flag to support different versions of ROS ###
-if($ENV{ROS_DISTRO} STRGREATER "foxy")
-  set(USE_NEW_QOS_DEFN 1)
-else()
-  set(USE_NEW_QOS_DEFN 0)
-endif()
-
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 include_directories(include)
@@ -38,7 +30,6 @@ set(UI_FILES
   ui/console_window.ui)
 set(HEADER_FILES
   include/swri_console/bag_reader.h
-  include/swri_console/defines.h
   include/swri_console/console_master.h
   include/swri_console/console_window.h
   include/swri_console/log_database.h
@@ -66,11 +57,6 @@ qt5_wrap_cpp(SRC_FILES ${HEADER_FILES})
 
 add_executable(swri_console ${HEADER_FILES} ${SRC_FILES} ${RCC_SRCS} src/main.cpp)
 
-target_compile_definitions(swri_console
-  PRIVATE
-    USE_NEW_QOS_DEFN=${USE_NEW_QOS_DEFN}
-)
-
 target_link_libraries(swri_console
   Qt5::Core
   Qt5::Gui

package.xml

@@ -18,7 +18,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <build_depend>libqt5-opengl-dev</build_depend>
-  <build_depend>ros_environment</build_depend>
   <depend>libboost-thread-dev</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>

src/console_window.cpp

@@ -32,8 +32,6 @@
 #include <cstdio>
 #include <set>
 
-// #include <rosgraph_msgs/Log.h>
-// #include <ros/master.h>  // required for getURI, VCM 12 April 2017
 #include <rclcpp/rclcpp.hpp>
 #include <rcl_interfaces/msg/log.hpp>
 
@@ -42,7 +40,6 @@
 #include <swri_console/log_database_proxy_model.h>
 #include <swri_console/node_list_model.h>
 #include <swri_console/settings_keys.h>
-#include <swri_console/defines.h>
 
 #include <QColorDialog>
 #include <QRegExp>
@@ -55,16 +52,16 @@
 #include <QMenu>
 #include <QSettings>
 
-// QString::SkipEmptyParts was deprecated in favor of Qt::SkipEmptyParts in
-// Qt 5.14.0
-#if QT_VERSION >= QT_VERSION_CHECK(5, 14, 0)
-  #define SPLIT_FLAG (Qt::SkipEmptyParts)
-#else
-  #define SPLIT_FLAG (QString::SkipEmptyParts)
-#endif
-
 using namespace Qt;
 
+namespace log_level_mask {
+  static constexpr uint8_t DEBUG = 1 << 0;
+  static constexpr uint8_t INFO = 1 << 1;
+  static constexpr uint8_t WARN = 1 << 2;
+  static constexpr uint8_t ERROR = 1 << 3;
+  static constexpr uint8_t FATAL = 1 << 4;
+};
+
 namespace swri_console {
 
 ConsoleWindow::ConsoleWindow(LogDatabase *db)
@@ -275,7 +272,7 @@ void ConsoleWindow::nodeSelectionChanged()
   db_proxy_->setNodeFilter(nodes);
 
   for (int i = 0; i < node_names.size(); i++) {
-    node_names[i] = node_names[i].split("/", SPLIT_FLAG).last();
+    node_names[i] = node_names[i].split("/", Qt::SkipEmptyParts).last();
   }
 
   setWindowTitle(QString("SWRI Console (") + node_names.join(", ") + ")");
@@ -286,19 +283,19 @@ void ConsoleWindow::setSeverityFilter()
   uint8_t mask = 0;
 
   if (ui.checkDebug->isChecked()) {
-    mask |= LogLevelMask::DEBUG;
+    mask |= log_level_mask::DEBUG;
   }
   if (ui.checkInfo->isChecked()) {
-    mask |= LogLevelMask::INFO;
+    mask |= log_level_mask::INFO;
   }
   if (ui.checkWarn->isChecked()) {
-    mask |= LogLevelMask::WARN;
+    mask |= log_level_mask::WARN;
   }
   if (ui.checkError->isChecked()) {
-    mask |= LogLevelMask::ERROR;
+    mask |= log_level_mask::ERROR;
   }
   if (ui.checkFatal->isChecked()) {
-    mask |= LogLevelMask::FATAL;
+    mask |= log_level_mask::FATAL;
   }
 
   QSettings settings;
@@ -394,7 +391,7 @@ void ConsoleWindow::setFollowNewest(bool follow)
 
 void ConsoleWindow::includeFilterUpdated(const QString &text)
 {
-  QStringList items = text.split(";", SPLIT_FLAG);
+  QStringList items = text.split(";", Qt::SkipEmptyParts);
   QStringList filtered;
 
   for (int i = 0; i < items.size(); i++) {
@@ -412,7 +409,7 @@ void ConsoleWindow::includeFilterUpdated(const QString &text)
 
 void ConsoleWindow::excludeFilterUpdated(const QString &text)
 {
-  QStringList items = text.split(";", SPLIT_FLAG);
+  QStringList items = text.split(";", Qt::SkipEmptyParts);
   QStringList filtered;
 
   for (int i = 0; i < items.size(); i++) {

src/ros_thread.cpp

@@ -121,18 +121,7 @@ void RosThread::emptyLogQueue(rcl_interfaces::msg::Log::ConstSharedPtr msg)
 
 rclcpp::QoS RosThread::getQos()
 {
-#if USE_NEW_QOS_DEFN == 0
-  // Foxy does not have a rosout QoS profile, so we copy the initialization from
-  // rclc/logging_rosout.c
-  auto qos_profile = rmw_qos_profile_default;
-  qos_profile.depth = 1000;
-  qos_profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-  qos_profile.lifespan.sec = 10;
-  qos_profile.lifespan.nsec = 0;
-  return rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile));
-#else
   // Humble and on can use the same QoS as the standard rosout config
   return rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rcl_qos_profile_rosout_default));
-#endif
 }
 }