niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

open Node/Publisher API for allowing inheritance (#258)

Browse source 
* (dev) template create_publisher with publisher type

* (dev) template publisher type for dynamic publisher type instantiation

* (dev) make Publisher::publish function virtual

* (fix) uncrustify

* different indentation of long template declaration
This commit is contained in:
Karsten Knese 2016-11-01 15:07:58 -07:00 • committed by GitHub
parent 7494350ad2
commit 7f714a8601
3 changed files with 19 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

12
rclcpp/include/rclcpp/node.hpp
View file

@ -123,8 +123,10 @@ public:
* \param[in] qos_history_depth The depth of the publisher message queue.
* \return Shared pointer to the created publisher.
*/
template<typename MessageT, typename Alloc = std::allocator<void>>
typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
template<
typename MessageT, typename Alloc = std::allocator<void>,
typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
std::shared_ptr<PublisherT>
create_publisher(
const std::string & topic_name, size_t qos_history_depth,
std::shared_ptr<Alloc> allocator = nullptr);
@ -135,8 +137,10 @@ public:
* \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
* \return Shared pointer to the created publisher.
*/
template<typename MessageT, typename Alloc = std::allocator<void>>
typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
template<
typename MessageT, typename Alloc = std::allocator<void>,
typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
std::shared_ptr<PublisherT>
create_publisher(
const std::string & topic_name,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,

14
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -50,8 +50,8 @@ namespace rclcpp
namespace node
{
template<typename MessageT, typename Alloc>
typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
template<typename MessageT, typename Alloc, typename PublisherT>
std::shared_ptr<PublisherT>
Node::create_publisher(
const std::string & topic_name, size_t qos_history_depth,
std::shared_ptr<Alloc> allocator)
@ -61,11 +61,11 @@ Node::create_publisher(
}
rmw_qos_profile_t qos = rmw_qos_profile_default;
qos.depth = qos_history_depth;
return this->create_publisher<MessageT, Alloc>(topic_name, qos, allocator);
return this->create_publisher<MessageT, Alloc, PublisherT>(topic_name, qos, allocator);
}
template<typename MessageT, typename Alloc>
typename publisher::Publisher<MessageT, Alloc>::SharedPtr
template<typename MessageT, typename Alloc, typename PublisherT>
std::shared_ptr<PublisherT>
Node::create_publisher(
const std::string & topic_name, const rmw_qos_profile_t & qos_profile,
std::shared_ptr<Alloc> allocator)
@ -78,12 +78,12 @@ Node::create_publisher(
publisher_options.qos = qos_profile;
auto message_alloc =
std::make_shared<typename publisher::Publisher<MessageT, Alloc>::MessageAlloc>(
std::make_shared<typename PublisherT::MessageAlloc>(
*allocator.get());
publisher_options.allocator = allocator::get_rcl_allocator<MessageT>(
*message_alloc.get());
auto publisher = publisher::Publisher<MessageT, Alloc>::make_shared(
auto publisher = std::make_shared<PublisherT>(
node_handle_, topic_name, publisher_options, message_alloc);
if (use_intra_process_comms_) {

9
rclcpp/include/rclcpp/publisher.hpp
View file

@ -204,13 +204,12 @@ 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.
*/
void
virtual void
publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
{
this->do_inter_process_publish(msg.get());
@ -242,7 +241,7 @@ public:
}
}
void
virtual void
publish(const std::shared_ptr<MessageT> & msg)
{
// Avoid allocating when not using intra process.
@ -261,7 +260,7 @@ public:
return this->publish(unique_msg);
}
void
virtual void
publish(std::shared_ptr<const MessageT> msg)
{
// Avoid allocating when not using intra process.
@ -280,7 +279,7 @@ public:
return this->publish(unique_msg);
}
void
virtual void
publish(const MessageT & msg)
{
// Avoid allocating when not using intra process.