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overload for node interfaces (#700)

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* overload for node interfaces

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* remove new line

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* overload client for node iterfaces

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
This commit is contained in:
Karsten Knese 2019-04-17 17:01:26 -05:00 • committed by GitHub
parent 713dd0c184
commit 60996d1e59
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 95 additions and 14 deletions
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46
rclcpp_action/include/rclcpp_action/create_client.hpp
View file

@ -27,7 +27,13 @@ namespace rclcpp_action
{
/// Create an action client.
/**
* \param[in] node The action client will be added to this node.
* This function is equivalent to \sa create_client()` however is using the individual
* node interfaces to create the client.
*
* \param node_base_interface[in] The node base interface of the corresponding node.
* \param node_graph_interface[in] The node graph interface of the corresponding node.
* \param node_logging_interface[in] The node logging interface of the corresponding node.
* \param node_waitables_interface[in] The node waitables interface of the corresponding node.
* \param[in] name The action name.
* \param[in] group The action client will be added to this callback group.
* If `nullptr`, then the action client is added to the default callback group.
@ -35,12 +41,15 @@ namespace rclcpp_action
template<typename ActionT>
typename Client<ActionT>::SharedPtr
create_client(
rclcpp::Node::SharedPtr node,
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
const std::string & name,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
{
std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node =
node->get_node_waitables_interface();
node_waitables_interface;
std::weak_ptr<rclcpp::callback_group::CallbackGroup> weak_group = group;
bool group_is_null = (nullptr == group.get());
@ -71,15 +80,38 @@ create_client(
std::shared_ptr<Client<ActionT>> action_client(
new Client<ActionT>(
node->get_node_base_interface(),
node->get_node_graph_interface(),
node->get_node_logging_interface(),
node_base_interface,
node_graph_interface,
node_logging_interface,
name),
deleter);
node->get_node_waitables_interface()->add_waitable(action_client, group);
node_waitables_interface->add_waitable(action_client, group);
return action_client;
}
/// Create an action client.
/**
* \param[in] node The action client will be added to this node.
* \param[in] name The action name.
* \param[in] group The action client will be added to this callback group.
* If `nullptr`, then the action client is added to the default callback group.
*/
template<typename ActionT>
typename Client<ActionT>::SharedPtr
create_client(
rclcpp::Node::SharedPtr node,
const std::string & name,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
{
return create_client<ActionT>(
node->get_node_base_interface(),
node->get_node_graph_interface(),
node->get_node_logging_interface(),
node->get_node_waitables_interface(),
name,
group);
}
} // namespace rclcpp_action
#endif // RCLCPP_ACTION__CREATE_CLIENT_HPP_

63
rclcpp_action/include/rclcpp_action/create_server.hpp
View file

@ -34,10 +34,15 @@ namespace rclcpp_action
/// Create an action server.
/**
* All provided callback functions must be non-blocking.
* This function is equivalent to \sa create_server()` however is using the individual
* node interfaces to create the server.
*
* \sa Server::Server() for more information.
*
* \param node[in] The action server will be added to this node.
* \param node_base_interface[in] The node base interface of the corresponding node.
* \param node_clock_interface[in] The node clock interface of the corresponding node.
* \param node_logging_interface[in] The node logging interface of the corresponding node.
* \param node_waitables_interface[in] The node waitables interface of the corresponding node.
* \param name[in] The action name.
* \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
* \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
@ -51,7 +56,10 @@ namespace rclcpp_action
template<typename ActionT>
typename Server<ActionT>::SharedPtr
create_server(
rclcpp::Node::SharedPtr node,
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
const std::string & name,
typename Server<ActionT>::GoalCallback handle_goal,
typename Server<ActionT>::CancelCallback handle_cancel,
@ -60,7 +68,7 @@ create_server(
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
{
std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node =
node->get_node_waitables_interface();
node_waitables_interface;
std::weak_ptr<rclcpp::callback_group::CallbackGroup> weak_group = group;
bool group_is_null = (nullptr == group.get());
@ -90,17 +98,58 @@ create_server(
};
std::shared_ptr<Server<ActionT>> action_server(new Server<ActionT>(
node->get_node_base_interface(),
node->get_node_clock_interface(),
node->get_node_logging_interface(),
node_base_interface,
node_clock_interface,
node_logging_interface,
name,
options,
handle_goal,
handle_cancel,
handle_accepted), deleter);
node->get_node_waitables_interface()->add_waitable(action_server, group);
node_waitables_interface->add_waitable(action_server, group);
return action_server;
}
/// Create an action server.
/**
* All provided callback functions must be non-blocking.
*
* \sa Server::Server() for more information.
*
* \param node[in] The action server will be added to this node.
* \param name[in] The action name.
* \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
* \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
* The return from this callback only indicates if the server will try to cancel a goal.
* It does not indicate if the goal was actually canceled.
* \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
* \param[in] options options to pass to the underlying `rcl_action_server_t`.
* \param group[in] The action server will be added to this callback group.
* If `nullptr`, then the action server is added to the default callback group.
*/
template<typename ActionT>
typename Server<ActionT>::SharedPtr
create_server(
rclcpp::Node::SharedPtr node,
const std::string & name,
typename Server<ActionT>::GoalCallback handle_goal,
typename Server<ActionT>::CancelCallback handle_cancel,
typename Server<ActionT>::AcceptedCallback handle_accepted,
const rcl_action_server_options_t & options = rcl_action_server_get_default_options(),
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
{
return create_server<ActionT>(
node->get_node_base_interface(),
node->get_node_clock_interface(),
node->get_node_logging_interface(),
node->get_node_waitables_interface(),
name,
handle_goal,
handle_cancel,
handle_accepted,
options,
group);
}
} // namespace rclcpp_action
#endif // RCLCPP_ACTION__CREATE_SERVER_HPP_