Added tests for rclcpp::function_traits and work around expression SFINAE

rclcpp/CMakeLists.txt

@@ -22,6 +22,7 @@ if(AMENT_ENABLE_TESTING)
 
   include_directories(include)
 
+  ament_add_gtest(test_function_traits test/test_function_traits.cpp)
   ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
   ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
   if(TARGET test_intra_process_manager)

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -57,34 +57,42 @@ struct AnySubscriptionCallback
 
   AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
 
-  template<typename CallbackT,
-  typename std::enable_if<
-    function_traits<CallbackT>::arity == 1
-  >::type * = nullptr,
-  typename std::enable_if<
-    std::is_same<
-      typename function_traits<CallbackT>::template argument_type<0>,
-      typename std::shared_ptr<MessageT>
-    >::value
-  >::type * = nullptr
+  template<
+    typename CallbackT,
+    std::size_t Arity = 1
   >
-  void set(CallbackT callback)
+  typename std::enable_if<rclcpp::arity_comparator<Arity, CallbackT>::value, void>::type
+  set(
+    CallbackT callback,
+    typename std::enable_if<
+      std::is_same<
+        typename function_traits<CallbackT>::template argument_type<0>,
+        typename std::shared_ptr<MessageT>
+      >::value
+    >::type * = nullptr)
   {
     shared_ptr_callback = callback;
   }
 
-  template<typename CallbackT,
-  typename std::enable_if<
-    function_traits<CallbackT>::arity == 2
-  >::type * = nullptr,
-  typename std::enable_if<
-    std::is_same<
-      typename function_traits<CallbackT>::template argument_type<0>,
-      typename std::shared_ptr<MessageT>
-    >::value
-  >::type * = nullptr
+  template<
+    typename CallbackT,
+    std::size_t Arity = 2
   >
-  void set(CallbackT callback)
+  typename std::enable_if<rclcpp::arity_comparator<Arity, CallbackT>::value, void>::type
+  set(
+    CallbackT callback,
+    typename std::enable_if<
+      std::is_same<
+        typename function_traits<CallbackT>::template argument_type<0>,
+        typename std::shared_ptr<MessageT>
+      >::value
+    >::type * = nullptr,
+    typename std::enable_if<
+      std::is_same<
+        typename function_traits<CallbackT>::template argument_type<1>,
+        rmw_message_info_t
+      >::value
+    >::type * = nullptr)
   {
     static_assert(std::is_same<
         typename function_traits<CallbackT>::template argument_type<1>,

rclcpp/include/rclcpp/function_traits.hpp

@@ -58,6 +58,12 @@ struct function_traits<ReturnTypeT (ClassT::*)(Args ...) const>
   : public function_traits<ReturnTypeT(ClassT &, Args ...)>
 {};
 
+template<std::size_t Arity, typename FunctorT>
+struct arity_comparator
+{
+  static constexpr bool value = (Arity == function_traits<FunctorT>::arity);
+};
+
 } /* namespace rclcpp */
 
 #endif /* RCLCPP_RCLCPP_FUNCTION_TRAITS_HPP_ */

rclcpp/include/rclcpp/node.hpp

@@ -250,9 +250,17 @@ private:
   template<
     typename ServiceT,
     typename FunctorT,
-    typename std::enable_if<
-      function_traits<FunctorT>::arity == 2
-    >::type * = nullptr,
+    std::size_t Arity = 2
+  >
+  typename std::enable_if<
+    rclcpp::arity_comparator<Arity, FunctorT>::value,
+    typename rclcpp::service::Service<ServiceT>::SharedPtr
+  >::type
+  create_service_internal(
+    std::shared_ptr<rmw_node_t> node_handle,
+    rmw_service_t * service_handle,
+    const std::string & service_name,
+    FunctorT callback,
     typename std::enable_if<
       std::is_same<
         typename function_traits<FunctorT>::template argument_type<0>,
@@ -264,14 +272,7 @@ private:
         typename function_traits<FunctorT>::template argument_type<1>,
         typename std::shared_ptr<typename ServiceT::Response>
       >::value
-    >::type * = nullptr
-  >
-  typename rclcpp::service::Service<ServiceT>::SharedPtr
-  create_service_internal(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_service_t * service_handle,
-    const std::string & service_name,
-    FunctorT callback)
+    >::type * = nullptr)
   {
     typename rclcpp::service::Service<ServiceT>::CallbackType callback_without_header =
       callback;
@@ -282,9 +283,17 @@ private:
   template<
     typename ServiceT,
     typename FunctorT,
-    typename std::enable_if<
-      function_traits<FunctorT>::arity == 3
-    >::type * = nullptr,
+    std::size_t Arity = 3
+  >
+  typename std::enable_if<
+    arity_comparator<Arity, FunctorT>::value,
+    typename rclcpp::service::Service<ServiceT>::SharedPtr
+  >::type
+  create_service_internal(
+    std::shared_ptr<rmw_node_t> node_handle,
+    rmw_service_t * service_handle,
+    const std::string & service_name,
+    FunctorT callback,
     typename std::enable_if<
       std::is_same<
         typename function_traits<FunctorT>::template argument_type<0>,
@@ -296,35 +305,14 @@ private:
         typename function_traits<FunctorT>::template argument_type<1>,
         typename std::shared_ptr<typename ServiceT::Request>
       >::value
-    >::type * = nullptr
-/*
-   TODO(esteve): reenable this block of code when VS2015 gets better support
-   for SFINAE and remove the static_assert from the body of this method. For
-   more info about the current support for SFINAE in VS2015 RC:
-
-   http://blogs.msdn.com/b/vcblog/archive/2015/04/29/c-11-14-17-features-in-vs-2015-rc.aspx
-   ,
+    >::type * = nullptr,
     typename std::enable_if<
       std::is_same<
         typename function_traits<FunctorT>::template argument_type<2>,
         typename std::shared_ptr<typename ServiceT::Response>
       >::value
-    >::type * = nullptr
- */
-  >
-  typename rclcpp::service::Service<ServiceT>::SharedPtr
-  create_service_internal(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_service_t * service_handle,
-    const std::string & service_name,
-    FunctorT callback)
+    >::type * = nullptr)
   {
-    static_assert(
-      std::is_same<
-        typename function_traits<FunctorT>::template argument_type<2>,
-        typename std::shared_ptr<typename ServiceT::Response>
-      >::value, "Third argument must be of type std::shared_ptr<ServiceT::Response>");
-
     typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
       callback;
     return service::Service<ServiceT>::make_shared(

rclcpp/test/test_function_traits.cpp

@@ -0,0 +1,328 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <rclcpp/function_traits.hpp>
+
+int func_no_args()
+{
+  return 0;
+}
+
+int func_one_int(int)
+{
+  return 1;
+}
+
+int func_two_ints(int, int)
+{
+  return 2;
+}
+
+int func_one_int_one_char(int, char)
+{
+  return 3;
+}
+
+struct FunctionObjectNoArgs
+{
+  int operator()() const
+  {
+    return 0;
+  }
+};
+
+struct FunctionObjectOneInt
+{
+  int operator()(int) const
+  {
+    return 1;
+  }
+};
+
+struct FunctionObjectTwoInts
+{
+  int operator()(int, int) const
+  {
+    return 2;
+  }
+};
+
+struct FunctionObjectOneIntOneChar
+{
+  int operator()(int, char) const
+  {
+    return 3;
+  }
+};
+
+template<
+  typename FunctorT,
+  std::size_t Arity = 1
+>
+typename std::enable_if<rclcpp::arity_comparator<Arity, FunctorT>::value, int>::type
+func_accept_callback(FunctorT callback,
+  typename std::enable_if<
+    std::is_same<
+      int,
+      typename rclcpp::function_traits<FunctorT>::template argument_type<0>
+    >::value
+  >::type * = nullptr
+)
+{
+  int a = 4;
+  return callback(a);
+}
+
+template<
+  typename FunctorT,
+  std::size_t Arity = 2
+>
+typename std::enable_if<rclcpp::arity_comparator<Arity, FunctorT>::value, int>::type
+func_accept_callback(FunctorT callback,
+  typename std::enable_if<
+    std::is_same<
+      int,
+      typename rclcpp::function_traits<FunctorT>::template argument_type<0>
+    >::value
+  >::type * = nullptr,
+  typename std::enable_if<
+    std::is_same<
+      int,
+      typename rclcpp::function_traits<FunctorT>::template argument_type<1>
+    >::value
+  >::type * = nullptr)
+{
+  int a = 5;
+  int b = 6;
+  return callback(a, b);
+}
+
+template<
+  typename FunctorT,
+  std::size_t Arity = 2
+>
+typename std::enable_if<rclcpp::arity_comparator<Arity, FunctorT>::value, int>::type
+func_accept_callback(FunctorT callback,
+  typename std::enable_if<
+    std::is_same<
+      int,
+      typename rclcpp::function_traits<FunctorT>::template argument_type<0>
+    >::value
+  >::type * = nullptr,
+  typename std::enable_if<
+    std::is_same<
+      char,
+      typename rclcpp::function_traits<FunctorT>::template argument_type<1>
+    >::value
+  >::type * = nullptr)
+{
+  int a = 7;
+  char b = 8;
+  return callback(a, b);
+}
+
+/*
+   Tests that funcion_traits calculates arity of several functors.
+ */
+TEST(TestFunctionTraits, arity) {
+  // Test regular functions
+  static_assert(
+    rclcpp::function_traits<decltype(func_no_args)>::arity == 0,
+    "Functor does not accept arguments");
+
+  static_assert(
+    rclcpp::function_traits<decltype(func_one_int)>::arity == 1,
+    "Functor only accepts one argument");
+
+  static_assert(
+    rclcpp::function_traits<decltype(func_two_ints)>::arity == 2,
+    "Functor only accepts two arguments");
+
+  static_assert(
+    rclcpp::function_traits<decltype(func_one_int_one_char)>::arity == 2,
+    "Functor only accepts two arguments");
+
+  // Test lambdas
+  auto lambda_no_args = []() {
+      return 0;
+    };
+
+  auto lambda_one_int = [](int) {
+      return 1;
+    };
+
+  auto lambda_two_ints = [](int, int) {
+      return 2;
+    };
+
+  auto lambda_one_int_one_char = [](int, char) {
+      return 3;
+    };
+
+  static_assert(
+    rclcpp::function_traits<decltype(lambda_no_args)>::arity == 0,
+    "Functor does not accept arguments");
+
+  static_assert(
+    rclcpp::function_traits<decltype(lambda_one_int)>::arity == 1,
+    "Functor only accepts one argument");
+
+  static_assert(
+    rclcpp::function_traits<decltype(lambda_two_ints)>::arity == 2,
+    "Functor only accepts two arguments");
+
+  static_assert(
+    rclcpp::function_traits<decltype(lambda_one_int_one_char)>::arity == 2,
+    "Functor only accepts two arguments");
+
+  // Test objects that have a call operator
+  static_assert(
+    rclcpp::function_traits<FunctionObjectNoArgs>::arity == 0,
+    "Functor does not accept arguments");
+
+  static_assert(
+    rclcpp::function_traits<FunctionObjectOneInt>::arity == 1,
+    "Functor only accepts one argument");
+
+  static_assert(
+    rclcpp::function_traits<FunctionObjectTwoInts>::arity == 2,
+    "Functor only accepts two arguments");
+
+  static_assert(
+    rclcpp::function_traits<FunctionObjectOneIntOneChar>::arity == 2,
+    "Functor only accepts two arguments");
+}
+
+/*
+   Tests that funcion_traits deducts the type of the arguments of several functors.
+ */
+TEST(TestFunctionTraits, argument_types) {
+  // Test regular functions
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(func_one_int)>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(func_two_ints)>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(func_two_ints)>::template argument_type<1>
+    >::value, "Functor accepts an int as second argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(func_one_int_one_char)>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      char,
+      rclcpp::function_traits<decltype(func_one_int_one_char)>::template argument_type<1>
+    >::value, "Functor accepts a char as second argument");
+
+  // Test lambdas
+  auto lambda_one_int = [](int) {
+      return 1;
+    };
+
+  auto lambda_two_ints = [](int, int) {
+      return 2;
+    };
+
+  auto lambda_one_int_one_char = [](int, char) {
+      return 3;
+    };
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(lambda_one_int)>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(lambda_two_ints)>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(lambda_two_ints)>::template argument_type<1>
+    >::value, "Functor accepts an int as second argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<decltype(lambda_one_int_one_char)>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      char,
+      rclcpp::function_traits<decltype(lambda_one_int_one_char)>::template argument_type<1>
+    >::value, "Functor accepts a char as second argument");
+
+  // Test objects that have a call operator
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<FunctionObjectOneInt>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<FunctionObjectTwoInts>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<FunctionObjectTwoInts>::template argument_type<1>
+    >::value, "Functor accepts an int as second argument");
+
+  static_assert(
+    std::is_same<
+      int,
+      rclcpp::function_traits<FunctionObjectOneIntOneChar>::template argument_type<0>
+    >::value, "Functor accepts an int as first argument");
+
+  static_assert(
+    std::is_same<
+      char,
+      rclcpp::function_traits<FunctionObjectOneIntOneChar>::template argument_type<1>
+    >::value, "Functor accepts a char as second argument");
+}
+
+/*
+   Tests that functions are matched via SFINAE.
+ */
+TEST(TestFunctionTraits, sfinae_match) {
+  EXPECT_EQ(1, func_accept_callback(func_one_int));
+
+  EXPECT_EQ(2, func_accept_callback(func_two_ints));
+
+  EXPECT_EQ(3, func_accept_callback(func_one_int_one_char));
+}