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Check callback arity and enable/disable compatible/incompatible versions of create_service. Workaround for http://www.open-std.org/jtc1/sc22/wg21/docs/lwg-defects.html#2132 in Windows

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This commit is contained in:
Esteve Fernandez 2015-04-29 14:29:56 -07:00
parent b401c2fc33
commit 2367549a50
2 changed files with 49 additions and 12 deletions
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34
rclcpp/include/rclcpp/node.hpp
View file

@ -46,6 +46,24 @@ class Executor;
namespace node namespace node
{ {
// TODO: add support for functors, std::function, lambdas and object members
template<typename FunctionT>
struct function_traits;
template<typename ReturnTypeT, typename ... Args>
struct function_traits<ReturnTypeT(Args ...)>
{
static constexpr std::size_t arity = sizeof ... (Args);
};
template<typename ReturnTypeT, typename ... Args>
struct function_traits<ReturnTypeT (*)(Args ...)>: public function_traits<ReturnTypeT(Args ...)>
{};
template<typename FunctorT, size_t arity, typename ReturnTypeT>
struct function_arity : std::enable_if<function_traits<FunctorT>::arity == arity, ReturnTypeT>
{};
/* ROS Node Interface. /* ROS Node Interface.
* *
* This is the single point of entry for creating publishers and subscribers. * This is the single point of entry for creating publishers and subscribers.
@ -109,19 +127,27 @@ public:
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr); rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
/* Create and return a Service. */ /* Create and return a Service. */
template<typename ServiceT> template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
2,
typename rclcpp::service::Service<ServiceT>::SharedPtr typename rclcpp::service::Service<ServiceT>::SharedPtr
>::type
create_service( create_service(
const std::string & service_name, const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackType callback, FunctorT functor,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr); rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
/* Create and return a Service. */ /* Create and return a Service. */
template<typename ServiceT> template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
3,
typename rclcpp::service::Service<ServiceT>::SharedPtr typename rclcpp::service::Service<ServiceT>::SharedPtr
>::type
create_service( create_service(
const std::string & service_name, const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header, FunctorT functor,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr); rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
private: private:

23
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -182,13 +182,18 @@ Node::create_client(
return cli; return cli;
} }
template<typename ServiceT> template<typename ServiceT, typename FunctorT>
typename service::Service<ServiceT>::SharedPtr typename function_arity<
FunctorT,
2,
typename rclcpp::service::Service<ServiceT>::SharedPtr
>::type
Node::create_service( Node::create_service(
const std::string & service_name, const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackType callback, FunctorT functor,
rclcpp::callback_group::CallbackGroup::SharedPtr group) rclcpp::callback_group::CallbackGroup::SharedPtr group)
{ {
typename rclcpp::service::Service<ServiceT>::CallbackType callback = functor;
using rosidl_generator_cpp::get_service_type_support_handle; using rosidl_generator_cpp::get_service_type_support_handle;
auto service_type_support_handle = auto service_type_support_handle =
get_service_type_support_handle<ServiceT>(); get_service_type_support_handle<ServiceT>();
@ -205,13 +210,19 @@ Node::create_service(
return serv; return serv;
} }
template<typename ServiceT> template<typename ServiceT, typename FunctorT>
typename service::Service<ServiceT>::SharedPtr typename function_arity<
FunctorT,
3,
typename rclcpp::service::Service<ServiceT>::SharedPtr
>::type
Node::create_service( Node::create_service(
const std::string & service_name, const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header, FunctorT functor,
rclcpp::callback_group::CallbackGroup::SharedPtr group) rclcpp::callback_group::CallbackGroup::SharedPtr group)
{ {
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
functor;
using rosidl_generator_cpp::get_service_type_support_handle; using rosidl_generator_cpp::get_service_type_support_handle;
auto service_type_support_handle = auto service_type_support_handle =
get_service_type_support_handle<ServiceT>(); get_service_type_support_handle<ServiceT>();