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Delegate service creation to SFINAE'd create_service_internal based on the arity of the callback function

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This commit is contained in:
Esteve Fernandez 2015-04-30 08:48:42 -07:00
parent ad3f5da3a5
commit 1181daf81e
2 changed files with 56 additions and 16 deletions
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20
rclcpp/include/rclcpp/node.hpp
View file

@ -158,6 +158,26 @@ private:
const std::string & service_name, const std::string & service_name,
std::shared_ptr<rclcpp::service::ServiceBase> serv_base_ptr, std::shared_ptr<rclcpp::service::ServiceBase> serv_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group); rclcpp::callback_group::CallbackGroup::SharedPtr group);
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
2,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback);
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
3,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback);
}; };
} /* namespace node */ } /* namespace node */

52
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -182,11 +182,11 @@ Node::create_client(
return cli; return cli;
} }
template<typename ServiceT, typename F> template<typename ServiceT, typename FunctorT>
typename rclcpp::service::Service<ServiceT>::SharedPtr typename rclcpp::service::Service<ServiceT>::SharedPtr
Node::create_service( Node::create_service(
const std::string & service_name, const std::string & service_name,
F callback, FunctorT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group) rclcpp::callback_group::CallbackGroup::SharedPtr group)
{ {
using rosidl_generator_cpp::get_service_type_support_handle; using rosidl_generator_cpp::get_service_type_support_handle;
@ -196,21 +196,9 @@ Node::create_service(
rmw_service_t * service_handle = rmw_create_service( rmw_service_t * service_handle = rmw_create_service(
this->node_handle_, service_type_support_handle, service_name.c_str()); this->node_handle_, service_type_support_handle, service_name.c_str());
auto serv = service::Service<ServiceT>::make_shared( auto serv = create_service_internal<ServiceT>(service_handle, service_name,
service_handle, callback);
service_name,
callback);
auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv); auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
register_service(service_name, serv_base_ptr, group);
return serv;
}
void
Node::register_service(
const std::string & service_name,
std::shared_ptr<rclcpp::service::ServiceBase> serv_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
if (group) { if (group) {
if (!group_in_node(group)) { if (!group_in_node(group)) {
// TODO: use custom exception // TODO: use custom exception
@ -221,6 +209,38 @@ Node::register_service(
default_callback_group_->add_service(serv_base_ptr); default_callback_group_->add_service(serv_base_ptr);
} }
number_of_services_++; number_of_services_++;
return serv;
}
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
2,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
Node::create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback)
{
typename rclcpp::service::Service<ServiceT>::CallbackType callback_without_header = callback;
return service::Service<ServiceT>::make_shared(
service_handle, service_name, callback_without_header);
}
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
3,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
Node::create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback)
{
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
callback;
return service::Service<ServiceT>::make_shared(
service_handle, service_name, callback_with_header);
} }
#endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */ #endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */