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Merge pull request #27 from ros2/callable-compatible

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Fix std::function disambiguation in Windows
This commit is contained in:
Esteve Fernandez 2015-04-30 15:15:36 -07:00
commit a5138a2bef
2 changed files with 76 additions and 50 deletions
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80
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>
@ -46,6 +47,23 @@ class Executor;
namespace node
{
// TODO: add support for functors, std::function, lambdas and object members
template<typename FunctionT>
struct function_traits;
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 ...)>
{};
/* ROS Node Interface.
*
* This is the single point of entry for creating publishers and subscribers.
@ -109,19 +127,11 @@ public:
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
/* Create and return a Service. */
template<typename ServiceT>
template<typename ServiceT, typename FunctorT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
create_service(
const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackType callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
/* Create and return a Service. */
template<typename ServiceT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
create_service(
const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header,
FunctorT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
private:
@ -148,6 +158,56 @@ private:
const std::string & service_name,
std::shared_ptr<rclcpp::service::ServiceBase> serv_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group);
template<
typename ServiceT,
typename FunctorT,
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>::type * = nullptr>
typename rclcpp::service::Service<ServiceT>::SharedPtr
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 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>::type * = nullptr>
typename rclcpp::service::Service<ServiceT>::SharedPtr
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);
}
};
} /* namespace node */

46
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -182,11 +182,11 @@ Node::create_client(
return cli;
}
template<typename ServiceT>
typename service::Service<ServiceT>::SharedPtr
template<typename ServiceT, typename FunctorT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
Node::create_service(
const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackType callback,
FunctorT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
using rosidl_generator_cpp::get_service_type_support_handle;
@ -196,44 +196,9 @@ Node::create_service(
rmw_service_t * service_handle = rmw_create_service(
this->node_handle_, service_type_support_handle, service_name.c_str());
auto serv = service::Service<ServiceT>::make_shared(
service_handle,
service_name,
callback);
auto serv = create_service_internal<ServiceT>(
service_handle, service_name, callback);
auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
register_service(service_name, serv_base_ptr, group);
return serv;
}
template<typename ServiceT>
typename service::Service<ServiceT>::SharedPtr
Node::create_service(
const std::string & service_name,
typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
using rosidl_generator_cpp::get_service_type_support_handle;
auto service_type_support_handle =
get_service_type_support_handle<ServiceT>();
rmw_service_t * service_handle = rmw_create_service(
this->node_handle_, service_type_support_handle, service_name.c_str());
auto serv = service::Service<ServiceT>::make_shared(
service_handle,
service_name,
callback_with_header);
auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
register_service(service_name, serv_base_ptr, group);
return serv;
}
void
Node::register_service(
const std::string & service_name,
std::shared_ptr<rclcpp::service::ServiceBase> serv_base_ptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
if (group) {
if (!group_in_node(group)) {
// TODO: use custom exception
@ -244,6 +209,7 @@ Node::register_service(
default_callback_group_->add_service(serv_base_ptr);
}
number_of_services_++;
return serv;
}
#endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */