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Check callback argument types

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This commit is contained in:
Esteve Fernandez 2015-04-30 12:08:59 -07:00
parent 1181daf81e
commit 814f4101db
2 changed files with 42 additions and 43 deletions
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54
rclcpp/include/rclcpp/node.hpp
View file

@ -18,6 +18,7 @@
#include <list>
#include <memory>
#include <string>
#include <tuple>
#include <rclcpp/callback_group.hpp>
#include <rclcpp/client.hpp>
@ -54,16 +55,15 @@ template<typename ReturnTypeT, typename ... Args>
struct function_traits<ReturnTypeT(Args ...)>
{
static constexpr std::size_t arity = sizeof ... (Args);
template<std::size_t N>
using argument_type = typename std::tuple_element<N, std::tuple<Args ...>>::type;
};
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.
*
* This is the single point of entry for creating publishers and subscribers.
@ -160,24 +160,54 @@ private:
rclcpp::callback_group::CallbackGroup::SharedPtr group);
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
2,
typename std::enable_if<
function_traits<FunctorT>::arity == 2 &&
std::is_same<
typename function_traits<FunctorT>::template argument_type<0>,
typename std::shared_ptr<typename ServiceT::Request>
>::value &&
std::is_same<
typename function_traits<FunctorT>::template argument_type<1>,
typename std::shared_ptr<typename ServiceT::Response>
>::value,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback);
FunctorT callback)
{
typename rclcpp::service::Service<ServiceT>::CallbackType callback_without_header =
callback;
return service::Service<ServiceT>::make_shared(
service_handle, service_name, callback_without_header);
}
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
3,
typename std::enable_if<
function_traits<FunctorT>::arity == 3 &&
std::is_same<
typename function_traits<FunctorT>::template argument_type<0>,
std::shared_ptr<rmw_request_id_t>
>::value &&
std::is_same<
typename function_traits<FunctorT>::template argument_type<1>,
typename std::shared_ptr<typename ServiceT::Request>
>::value &&
std::is_same<
typename function_traits<FunctorT>::template argument_type<2>,
typename std::shared_ptr<typename ServiceT::Response>
>::value,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback);
FunctorT callback)
{
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
callback;
return service::Service<ServiceT>::make_shared(
service_handle, service_name, callback_with_header);
}
};
} /* namespace node */

31
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -212,35 +212,4 @@ Node::create_service(
return serv;
}
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
2,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
Node::create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback)
{
typename rclcpp::service::Service<ServiceT>::CallbackType callback_without_header = callback;
return service::Service<ServiceT>::make_shared(
service_handle, service_name, callback_without_header);
}
template<typename ServiceT, typename FunctorT>
typename function_arity<
FunctorT,
3,
typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
Node::create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback)
{
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
callback;
return service::Service<ServiceT>::make_shared(
service_handle, service_name, callback_with_header);
}
#endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */