From 54e36bc940e5aad53f44396d0d16967a84090ab4 Mon Sep 17 00:00:00 2001
From: David Anthony <david.anthony@swri.org>
Date: Wed, 20 Sep 2023 14:15:08 -0500
Subject: [PATCH] Cleaning up old distro support and removing build warnigns

---
 CMakeLists.txt                 | 16 +---------------
 include/swri_console/defines.h | 14 --------------
 src/console_window.cpp         | 19 +++++++++++++------
 src/ros_thread.cpp             | 11 -----------
 4 files changed, 14 insertions(+), 46 deletions(-)
 delete mode 100644 include/swri_console/defines.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 318f773..78579f8 100644
--- a/CMakeLists.txt
+++ b/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
diff --git a/include/swri_console/defines.h b/include/swri_console/defines.h
deleted file mode 100644
index 01775fa..0000000
--- a/include/swri_console/defines.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef SWRI_CONSOLE_DEFINES_H_
-#define SWRI_CONSOLE_DEFINES_H_
-
-#include <rcl_interfaces/msg/log.hpp>
-
-namespace LogLevelMask {
-  const uint8_t DEBUG = 0x01;
-  const uint8_t INFO = 0x02;
-  const uint8_t WARN = 0x04;
-  const uint8_t ERROR = 0x08;
-  const uint8_t FATAL = 0x10;
-};
-
-#endif // DEFINES_H
diff --git a/src/console_window.cpp b/src/console_window.cpp
index cdd37f0..31d6b1f 100644
--- a/src/console_window.cpp
+++ b/src/console_window.cpp
@@ -42,7 +42,6 @@
 #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>
@@ -65,6 +64,14 @@
 
 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)
@@ -286,19 +293,19 @@ 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;
diff --git a/src/ros_thread.cpp b/src/ros_thread.cpp
index eb38a7f..d498f2c 100644
--- a/src/ros_thread.cpp
+++ b/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
 }
 }