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Added support for const member functions (#763)

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* Added support for const member functions

Signed-off-by: Esteve Fernandez <esteve@apache.org>

* Added signature for Windows

Signed-off-by: Esteve Fernandez <esteve@apache.org>

* Fix style

Signed-off-by: Esteve Fernandez <esteve@apache.org>

* Attempt at fixing function_traits for macOS

Signed-off-by: Esteve Fernandez <esteve@apache.org>
This commit is contained in:
Esteve Fernandez 2019-06-14 22:09:47 +02:00 • committed by Karsten Knese
parent 0ae3da49e7
commit 2bee266adf
2 changed files with 42 additions and 0 deletions
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18
rclcpp/include/rclcpp/function_traits.hpp
View file

@ -96,6 +96,24 @@ struct function_traits<
: function_traits<ReturnTypeT(Args ...)>
{};
// std::bind for object const methods
template<typename ClassT, typename ReturnTypeT, typename ... Args, typename ... FArgs>
#if defined _LIBCPP_VERSION // libc++ (Clang)
struct function_traits<std::__bind<ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
#elif defined _GLIBCXX_RELEASE // glibc++ (GNU C++ >= 7.1)
struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...) const>>
#elif defined __GLIBCXX__ // glibc++ (GNU C++)
struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...) const>(FArgs ...)>>
#elif defined _MSC_VER // MS Visual Studio
struct function_traits<
std::_Binder<std::_Unforced, ReturnTypeT(__cdecl ClassT::*)(Args ...) const, FArgs ...>
>
#else
#error "Unsupported C++ compiler / standard library"
#endif
: function_traits<ReturnTypeT(Args ...)>
{};
// std::bind for free functions
template<typename ReturnTypeT, typename ... Args, typename ... FArgs>
#if defined _LIBCPP_VERSION // libc++ (Clang)

24
rclcpp/test/test_function_traits.cpp
View file

@ -80,6 +80,12 @@ struct ObjectMember
return 7;
}
int callback_one_bool_const(bool a) const
{
(void)a;
return 7;
}
int callback_two_bools(bool a, bool b)
{
(void)a;
@ -394,6 +400,16 @@ TEST(TestFunctionTraits, argument_types) {
rclcpp::function_traits::function_traits<decltype(bind_one_bool)>::template argument_type<0>
>::value, "Functor accepts a bool as first argument");
auto bind_one_bool_const = std::bind(
&ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
static_assert(
std::is_same<
bool,
rclcpp::function_traits::function_traits<decltype(bind_one_bool_const)>::template
argument_type<0>
>::value, "Functor accepts a bool as first argument");
auto bind_two_bools = std::bind(
&ObjectMember::callback_two_bools, &object_member, std::placeholders::_1,
std::placeholders::_2);
@ -561,6 +577,14 @@ TEST(TestFunctionTraits, check_arguments) {
static_assert(
rclcpp::function_traits::check_arguments<decltype(bind_one_bool), bool>::value,
"Functor accepts a single bool as arguments");
auto bind_one_bool_const = std::bind(
&ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
// Test std::bind functions
static_assert(
rclcpp::function_traits::check_arguments<decltype(bind_one_bool_const), bool>::value,
"Functor accepts a single bool as arguments");
}
/*