Merge pull request #121 from ros2/publisher_template

Add template parameter to publisher

rclcpp/include/rclcpp/intra_process_manager.hpp

@@ -190,7 +190,8 @@ public:
    */
   template<typename MessageT>
   uint64_t
-  add_publisher(publisher::Publisher::SharedPtr publisher, size_t buffer_size = 0)
+  add_publisher(typename publisher::Publisher<MessageT>::SharedPtr publisher,
+    size_t buffer_size = 0)
   {
     auto id = IntraProcessManager::get_next_unique_id();
     publishers_[id].publisher = publisher;
@@ -419,7 +420,7 @@ private:
 
     PublisherInfo() = default;
 
-    publisher::Publisher::WeakPtr publisher;
+    publisher::PublisherBase::WeakPtr publisher;
     std::atomic<uint64_t> sequence_number;
     mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer;
     std::unordered_map<uint64_t, std::set<uint64_t>> target_subscriptions_by_message_sequence;

rclcpp/include/rclcpp/node.hpp

@@ -99,7 +99,7 @@ public:
    * \return Shared pointer to the created publisher.
    */
   template<typename MessageT>
-  rclcpp::publisher::Publisher::SharedPtr
+  typename rclcpp::publisher::Publisher<MessageT>::SharedPtr
   create_publisher(
     const std::string & topic_name, const rmw_qos_profile_t & qos_profile);
 
@@ -235,7 +235,7 @@ private:
 
   std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
 
-  publisher::Publisher::SharedPtr events_publisher_;
+  publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 
   template<typename MessageT>
   typename subscription::Subscription<MessageT>::SharedPtr

rclcpp/include/rclcpp/node_impl.hpp

@@ -114,7 +114,7 @@ Node::create_callback_group(
 }
 
 template<typename MessageT>
-publisher::Publisher::SharedPtr
+typename publisher::Publisher<MessageT>::SharedPtr
 Node::create_publisher(
   const std::string & topic_name, const rmw_qos_profile_t & qos_profile)
 {
@@ -130,7 +130,7 @@ Node::create_publisher(
     // *INDENT-ON*
   }
 
-  auto publisher = publisher::Publisher::make_shared(
+  auto publisher = publisher::Publisher<MessageT>::make_shared(
     node_handle_, publisher_handle, topic_name, qos_profile.depth);
 
   if (use_intra_process_comms_) {

rclcpp/include/rclcpp/publisher.hpp

@@ -40,14 +40,10 @@ class Node;
 namespace publisher
 {
 
-/// A publisher publishes messages of any type to a topic.
-class Publisher
+class PublisherBase
 {
-  friend rclcpp::node::Node;
-
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher);
-
+  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase);
   /// Default constructor.
   /**
    * Typically, a publisher is not created through this method, but instead is created through a
@@ -57,7 +53,7 @@ public:
    * \param[in] topic The topic that this publisher publishes on.
    * \param[in] queue_size The maximum number of unpublished messages to queue.
    */
-  Publisher(
+  PublisherBase(
     std::shared_ptr<rmw_node_t> node_handle,
     rmw_publisher_t * publisher_handle,
     std::string topic,
@@ -77,7 +73,7 @@ public:
   }
 
   /// Default destructor.
-  virtual ~Publisher()
+  virtual ~PublisherBase()
   {
     if (intra_process_publisher_handle_) {
       if (rmw_destroy_publisher(node_handle_.get(), intra_process_publisher_handle_)) {
@@ -97,98 +93,6 @@ public:
     }
   }
 
-  /// Send a message to the topic for this publisher.
-  /**
-   * This function is templated on the input message type, MessageT.
-   * \param[in] msg A shared pointer to the message to send.
-   */
-  template<typename MessageT>
-  void
-  publish(std::unique_ptr<MessageT> & msg)
-  {
-    this->do_inter_process_publish<MessageT>(msg.get());
-    if (store_intra_process_message_) {
-      // Take the pointer from the unique_msg, release it and pass as a void *
-      // to the ipm. The ipm should then capture it again as a unique_ptr of
-      // the correct type.
-      // TODO(wjwwood):
-      //   investigate how to transfer the custom deleter (if there is one)
-      //   from the incoming unique_ptr through to the ipm's unique_ptr.
-      //   See: http://stackoverflow.com/questions/11002641/dynamic-casting-for-unique-ptr
-      MessageT * msg_ptr = msg.get();
-      msg.release();
-      uint64_t message_seq;
-      {
-        std::lock_guard<std::mutex> lock(intra_process_publish_mutex_);
-        message_seq =
-          store_intra_process_message_(intra_process_publisher_id_, msg_ptr, typeid(MessageT));
-      }
-      rcl_interfaces::msg::IntraProcessMessage ipm;
-      ipm.publisher_id = intra_process_publisher_id_;
-      ipm.message_sequence = message_seq;
-      auto status = rmw_publish(intra_process_publisher_handle_, &ipm);
-      if (status != RMW_RET_OK) {
-        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        throw std::runtime_error(
-          std::string("failed to publish intra process message: ") + rmw_get_error_string_safe());
-        // *INDENT-ON*
-      }
-    } else {
-      // Always destroy the message, even if we don't consume it, for consistency.
-      msg.reset();
-    }
-  }
-
-  template<typename MessageT>
-  void
-  publish(const std::shared_ptr<MessageT> & msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg.get());
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // TODO(wjwwood):
-    //   The intra process manager should probably also be able to store
-    //   shared_ptr's and do the "smart" thing based on other intra process
-    //   subscriptions. For now call the other publish().
-    std::unique_ptr<MessageT> unique_msg(new MessageT(*msg.get()));
-    return this->publish(unique_msg);
-  }
-
-  template<typename MessageT>
-  void
-  publish(std::shared_ptr<const MessageT> msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg.get());
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    // TODO(wjwwood):
-    //   The intra process manager should probably also be able to store
-    //   shared_ptr's and do the "smart" thing based on other intra process
-    //   subscriptions. For now call the other publish().
-    std::unique_ptr<MessageT> unique_msg(new MessageT(*msg.get()));
-    return this->publish(unique_msg);
-  }
-
-  template<typename MessageT>
-  void
-  publish(const MessageT & msg)
-  {
-    // Avoid allocating when not using intra process.
-    if (!store_intra_process_message_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg.get());
-    }
-    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
-    std::unique_ptr<MessageT> unique_msg(new MessageT(msg));
-    return this->publish(unique_msg);
-  }
-
   /// Get the topic that this publisher publishes on.
   // \return The topic name.
   const std::string &
@@ -261,20 +165,6 @@ public:
   typedef std::function<uint64_t(uint64_t, void *, const std::type_info &)> StoreMessageCallbackT;
 
 protected:
-  template<typename MessageT>
-  void
-  do_inter_process_publish(MessageT * msg)
-  {
-    auto status = rmw_publish(publisher_handle_, msg);
-    if (status != RMW_RET_OK) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("failed to publish message: ") + rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-  }
-
-
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
@@ -295,7 +185,6 @@ protected:
     }
   }
 
-private:
   std::shared_ptr<rmw_node_t> node_handle_;
 
   rmw_publisher_t * publisher_handle_;
@@ -311,6 +200,127 @@ private:
   rmw_gid_t intra_process_rmw_gid_;
 
   std::mutex intra_process_publish_mutex_;
+};
+
+/// A publisher publishes messages of any type to a topic.
+template<typename MessageT>
+class Publisher : public PublisherBase
+{
+  friend rclcpp::node::Node;
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT>);
+
+  Publisher(
+    std::shared_ptr<rmw_node_t> node_handle,
+    rmw_publisher_t * publisher_handle,
+    std::string topic,
+    size_t queue_size)
+  : PublisherBase(node_handle, publisher_handle, topic, queue_size)
+  {}
+
+
+  /// Send a message to the topic for this publisher.
+  /**
+   * This function is templated on the input message type, MessageT.
+   * \param[in] msg A shared pointer to the message to send.
+   */
+  void
+  publish(std::unique_ptr<MessageT> & msg)
+  {
+    this->do_inter_process_publish(msg.get());
+    if (store_intra_process_message_) {
+      // Take the pointer from the unique_msg, release it and pass as a void *
+      // to the ipm. The ipm should then capture it again as a unique_ptr of
+      // the correct type.
+      // TODO(wjwwood):
+      //   investigate how to transfer the custom deleter (if there is one)
+      //   from the incoming unique_ptr through to the ipm's unique_ptr.
+      //   See: http://stackoverflow.com/questions/11002641/dynamic-casting-for-unique-ptr
+      MessageT * msg_ptr = msg.get();
+      msg.release();
+      uint64_t message_seq;
+      {
+        std::lock_guard<std::mutex> lock(intra_process_publish_mutex_);
+        message_seq =
+          store_intra_process_message_(intra_process_publisher_id_, msg_ptr, typeid(MessageT));
+      }
+      rcl_interfaces::msg::IntraProcessMessage ipm;
+      ipm.publisher_id = intra_process_publisher_id_;
+      ipm.message_sequence = message_seq;
+      auto status = rmw_publish(intra_process_publisher_handle_, &ipm);
+      if (status != RMW_RET_OK) {
+        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+        throw std::runtime_error(
+          std::string("failed to publish intra process message: ") + rmw_get_error_string_safe());
+        // *INDENT-ON*
+      }
+    } else {
+      // Always destroy the message, even if we don't consume it, for consistency.
+      msg.reset();
+    }
+  }
+
+  void
+  publish(const std::shared_ptr<MessageT> & msg)
+  {
+    // Avoid allocating when not using intra process.
+    if (!store_intra_process_message_) {
+      // In this case we're not using intra process.
+      return this->do_inter_process_publish(msg.get());
+    }
+    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
+    // TODO(wjwwood):
+    //   The intra process manager should probably also be able to store
+    //   shared_ptr's and do the "smart" thing based on other intra process
+    //   subscriptions. For now call the other publish().
+    std::unique_ptr<MessageT> unique_msg(new MessageT(*msg.get()));
+    return this->publish(unique_msg);
+  }
+
+  void
+  publish(std::shared_ptr<const MessageT> msg)
+  {
+    // Avoid allocating when not using intra process.
+    if (!store_intra_process_message_) {
+      // In this case we're not using intra process.
+      return this->do_inter_process_publish(msg.get());
+    }
+    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
+    // TODO(wjwwood):
+    //   The intra process manager should probably also be able to store
+    //   shared_ptr's and do the "smart" thing based on other intra process
+    //   subscriptions. For now call the other publish().
+    std::unique_ptr<MessageT> unique_msg(new MessageT(*msg.get()));
+    return this->publish(unique_msg);
+  }
+
+
+  void
+  publish(const MessageT & msg)
+  {
+    // Avoid allocating when not using intra process.
+    if (!store_intra_process_message_) {
+      // In this case we're not using intra process.
+      return this->do_inter_process_publish(msg.get());
+    }
+    // Otherwise we have to allocate memory in a unique_ptr and pass it along.
+    std::unique_ptr<MessageT> unique_msg(new MessageT(msg));
+    return this->publish(unique_msg);
+  }
+
+protected:
+  void
+  do_inter_process_publish(MessageT * msg)
+  {
+    auto status = rmw_publish(publisher_handle_, msg);
+    if (status != RMW_RET_OK) {
+      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      throw std::runtime_error(
+        std::string("failed to publish message: ") + rmw_get_error_string_safe());
+      // *INDENT-ON*
+    }
+  }
 
 };
 

rclcpp/test/test_intra_process_manager.cpp

@@ -27,12 +27,12 @@ namespace publisher
 namespace mock
 {
 
-class Publisher
+class PublisherBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher);
+  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase);
 
-  Publisher()
+  PublisherBase()
   : mock_topic_name(""), mock_queue_size(0) {}
 
   const std::string & get_topic_name() const
@@ -55,6 +55,13 @@ public:
   size_t mock_queue_size;
 };
 
+template<typename T>
+class Publisher : public PublisherBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<T>);
+};
+
 }
 }
 }
@@ -96,10 +103,12 @@ public:
 #define RCLCPP_RCLCPP_SUBSCRIPTION_HPP_
 // Force ipm to use our mock publisher class.
 #define Publisher mock::Publisher
+#define PublisherBase mock::PublisherBase
 #define SubscriptionBase mock::SubscriptionBase
 #include <rclcpp/intra_process_manager.hpp>
 #undef SubscriptionBase
 #undef Publisher
+#undef PublisherBase
 
 #include <rcl_interfaces/msg/intra_process_message.hpp>
 
@@ -116,11 +125,13 @@ public:
 TEST(TestIntraProcessManager, nominal) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
-  auto p2 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p2 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p2->mock_topic_name = "nominal2";
   p2->mock_queue_size = 10;
 
@@ -201,7 +212,8 @@ TEST(TestIntraProcessManager, nominal) {
 TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
@@ -240,7 +252,8 @@ TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
 TEST(TestIntraProcessManager, removed_subscription_affects_take) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
@@ -308,7 +321,8 @@ TEST(TestIntraProcessManager, removed_subscription_affects_take) {
 TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
@@ -377,15 +391,18 @@ TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
 TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
-  auto p2 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p2 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p2->mock_topic_name = "nominal1";
   p2->mock_queue_size = 10;
 
-  auto p3 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p3 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p3->mock_topic_name = "nominal1";
   p3->mock_queue_size = 10;
 
@@ -468,15 +485,18 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
 TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
-  auto p2 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p2 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p2->mock_topic_name = "nominal1";
   p2->mock_queue_size = 10;
 
-  auto p3 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p3 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p3->mock_topic_name = "nominal1";
   p3->mock_queue_size = 10;
 
@@ -626,7 +646,8 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
 TEST(TestIntraProcessManager, ring_buffer_displacement) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
@@ -694,7 +715,8 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
 TEST(TestIntraProcessManager, subscription_creation_race_condition) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+  auto p1 =
+    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
@@ -740,7 +762,8 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
   uint64_t p1_id;
   uint64_t p1_m1_id;
   {
-    auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+    auto p1 =
+      std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;
 
@@ -777,7 +800,8 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_store) {
 
   uint64_t p1_id;
   {
-    auto p1 = std::make_shared<rclcpp::publisher::mock::Publisher>();
+    auto p1 =
+      std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;