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Merge pull request #87 from ros2/refactor_smart_ptr_macros

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refactored the smart ptr class macros
This commit is contained in:
William Woodall 2015-08-14 15:28:24 -07:00
commit adfee27b59
20 changed files with 74 additions and 35 deletions
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6
rclcpp/include/rclcpp/any_executable.hpp
View file

@ -1,4 +1,4 @@
// Copyright 2014 Open Source Robotics Foundation, Inc.
// 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.
@ -27,11 +27,11 @@ namespace executor
struct AnyExecutable
{
RCLCPP_MAKE_SHARED_DEFINITIONS(AnyExecutable);
RCLCPP_SMART_PTR_DEFINITIONS(AnyExecutable);
AnyExecutable()
: subscription(0), timer(0), callback_group(0), node(0)
{}
// Either the subscription or the timer will be set, but not both
// Only one of the following pointers will be set.
rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
rclcpp::timer::TimerBase::SharedPtr timer;
rclcpp::service::ServiceBase::SharedPtr service;

2
rclcpp/include/rclcpp/callback_group.hpp
View file

@ -52,7 +52,7 @@ class CallbackGroup
friend class rclcpp::executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(CallbackGroup);
RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup);
CallbackGroup(CallbackGroupType group_type)
: type_(group_type), can_be_taken_from_(true)

4
rclcpp/include/rclcpp/client.hpp
View file

@ -45,7 +45,7 @@ class ClientBase
friend class rclcpp::executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(ClientBase);
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase);
ClientBase(
std::shared_ptr<rmw_node_t> node_handle,
@ -99,7 +99,7 @@ public:
typedef std::function<void (SharedFuture)> CallbackType;
RCLCPP_MAKE_SHARED_DEFINITIONS(Client);
RCLCPP_SMART_PTR_DEFINITIONS(Client);
Client(
std::shared_ptr<rmw_node_t> node_handle,

2
rclcpp/include/rclcpp/context.hpp
View file

@ -28,7 +28,7 @@ namespace context
class Context
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(Context);
RCLCPP_SMART_PTR_DEFINITIONS(Context);
Context() {}

2
rclcpp/include/rclcpp/contexts/default_context.hpp
View file

@ -27,7 +27,7 @@ namespace default_context
class DefaultContext : public rclcpp::context::Context
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(DefaultContext);
RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext);
DefaultContext() {}

2
rclcpp/include/rclcpp/executor.hpp
View file

@ -40,7 +40,7 @@ class Executor
friend class memory_strategy::MemoryStrategy;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(Executor);
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor);
explicit Executor(memory_strategy::MemoryStrategy::SharedPtr ms =
memory_strategy::create_default_strategy())

2
rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
View file

@ -38,7 +38,7 @@ namespace multi_threaded_executor
class MultiThreadedExecutor : public executor::Executor
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(MultiThreadedExecutor);
RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor);
MultiThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
memory_strategy::create_default_strategy())

2
rclcpp/include/rclcpp/executors/single_threaded_executor.hpp
View file

@ -39,7 +39,7 @@ namespace single_threaded_executor
class SingleThreadedExecutor : public executor::Executor
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(SingleThreadedExecutor);
RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor);
SingleThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
memory_strategy::create_default_strategy())

51
rclcpp/include/rclcpp/macros.hpp
View file

@ -23,14 +23,33 @@
Class(const Class &) = delete; \
Class & operator=(const Class &) = delete;
/* Defines a make_shared static function on the class using perfect forwarding.
/* Defines aliases and static functions for using the Class with smart pointers.
*
* Use in the public section of the class.
* Make sure to include <memory> in the header when using this.
*/
#define RCLCPP_MAKE_SHARED_DEFINITIONS(Class) \
typedef std::shared_ptr<Class> SharedPtr; \
\
#define RCLCPP_SMART_PTR_DEFINITIONS(Class) \
RCLCPP_SHARED_PTR_DEFINITIONS(Class) \
RCLCPP_WEAK_PTR_DEFINITIONS(Class) \
RCLCPP_UNIQUE_PTR_DEFINITIONS(Class)
/* Defines aliases and static functions for using the Class with smart pointers.
*
* Same as RCLCPP_SMART_PTR_DEFINITIONS expect it excludes the static
* Class::make_unique() method definition which does not work on classes which
* are not CopyConstructable.
*
* Use in the public section of the class.
* Make sure to include <memory> in the header when using this.
*/
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Class) \
RCLCPP_SHARED_PTR_DEFINITIONS(Class) \
RCLCPP_WEAK_PTR_DEFINITIONS(Class) \
__RCLCPP_UNIQUE_PTR_ALIAS(Class)
#define __RCLCPP_SHARED_PTR_ALIAS(Class) using SharedPtr = std::shared_ptr<Class>;
#define __RCLCPP_MAKE_SHARED_DEFINITION(Class) \
template<typename ... Args> \
static std::shared_ptr<Class> \
make_shared(Args && ... args) \
@ -38,6 +57,30 @@
return std::make_shared<Class>(std::forward<Args>(args) ...); \
}
/// Defines aliases and static functions for using the Class with shared_ptrs.
#define RCLCPP_SHARED_PTR_DEFINITIONS(Class) \
__RCLCPP_SHARED_PTR_ALIAS(Class) \
__RCLCPP_MAKE_SHARED_DEFINITION(Class)
#define __RCLCPP_WEAK_PTR_ALIAS(Class) using WeakPtr = std::weak_ptr<Class>;
/// Defines aliases and static functions for using the Class with weak_ptrs.
#define RCLCPP_WEAK_PTR_DEFINITIONS(Class) __RCLCPP_WEAK_PTR_ALIAS(Class)
#define __RCLCPP_UNIQUE_PTR_ALIAS(Class) using UniquePtr = std::unique_ptr<Class>;
#define __RCLCPP_MAKE_UNIQUE_DEFINITION(Class) \
template<typename ... Args> \
static std::unique_ptr<Class> \
make_unique(Args && ... args) \
{ \
return std::unique_ptr<Class>(new Class(std::forward<Args>(args) ...)); \
}
/// Defines aliases and static functions for using the Class with unique_ptrs.
#define RCLCPP_UNIQUE_PTR_DEFINITIONS(Class) \
__RCLCPP_UNIQUE_PTR_ALIAS(Class) \
__RCLCPP_MAKE_UNIQUE_DEFINITION(Class)
#define RCLCPP_INFO(Args) std::cout << Args << std::endl;
#endif /* RCLCPP_RCLCPP_MACROS_HPP_ */

2
rclcpp/include/rclcpp/memory_strategy.hpp
View file

@ -36,7 +36,7 @@ class MemoryStrategy
friend class executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(MemoryStrategy);
RCLCPP_SMART_PTR_DEFINITIONS(MemoryStrategy);
virtual void ** borrow_handles(HandleType type, size_t number_of_handles)
{
(void)type;

2
rclcpp/include/rclcpp/message_memory_strategy.hpp
View file

@ -29,7 +29,7 @@ class MessageMemoryStrategy
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(MessageMemoryStrategy);
RCLCPP_SMART_PTR_DEFINITIONS(MessageMemoryStrategy);
static SharedPtr create_default()
{

2
rclcpp/include/rclcpp/node.hpp
View file

@ -100,7 +100,7 @@ class Node
friend class rclcpp::executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(Node);
RCLCPP_SMART_PTR_DEFINITIONS(Node);
/* Create a node based on the node name. */
Node(const std::string & node_name);

4
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -44,7 +44,7 @@ class AsyncParametersClient
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient);
RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient);
AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node,
const std::string & remote_node_name = "")
@ -252,7 +252,7 @@ private:
class SyncParametersClient
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(SyncParametersClient);
RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient);
SyncParametersClient(
rclcpp::node::Node::SharedPtr & node)

2
rclcpp/include/rclcpp/parameter_service.hpp
View file

@ -41,7 +41,7 @@ class ParameterService
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(ParameterService);
RCLCPP_SMART_PTR_DEFINITIONS(ParameterService);
ParameterService(const rclcpp::node::Node::SharedPtr & node)
: node_(node)

2
rclcpp/include/rclcpp/publisher.hpp
View file

@ -39,7 +39,7 @@ namespace publisher
class Publisher
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(Publisher);
RCLCPP_SMART_PTR_DEFINITIONS(Publisher);
Publisher(std::shared_ptr<rmw_node_t> node_handle, rmw_publisher_t * publisher_handle)
: node_handle_(node_handle), publisher_handle_(publisher_handle)

4
rclcpp/include/rclcpp/rate.hpp
View file

@ -30,7 +30,7 @@ namespace rate
class RateBase
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(RateBase);
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase);
virtual bool sleep() = 0;
virtual bool is_steady() = 0;
@ -45,7 +45,7 @@ template<class Clock = std::chrono::high_resolution_clock>
class GenericRate : public RateBase
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(GenericRate);
RCLCPP_SMART_PTR_DEFINITIONS(GenericRate);
GenericRate(double rate)
: GenericRate<Clock>(

4
rclcpp/include/rclcpp/service.hpp
View file

@ -44,7 +44,7 @@ class ServiceBase
friend class rclcpp::executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(ServiceBase);
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase);
ServiceBase(
std::shared_ptr<rmw_node_t> node_handle,
@ -105,7 +105,7 @@ public:
const std::shared_ptr<rmw_request_id_t> &,
const std::shared_ptr<typename ServiceT::Request> &,
std::shared_ptr<typename ServiceT::Response> &)> CallbackWithHeaderType;
RCLCPP_MAKE_SHARED_DEFINITIONS(Service);
RCLCPP_SMART_PTR_DEFINITIONS(Service);
Service(
std::shared_ptr<rmw_node_t> node_handle,

2
rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp
View file

@ -32,7 +32,7 @@ class MessagePoolMemoryStrategy
: public message_memory_strategy::MessageMemoryStrategy<MessageT>
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(MessagePoolMemoryStrategy);
RCLCPP_SMART_PTR_DEFINITIONS(MessagePoolMemoryStrategy);
MessagePoolMemoryStrategy()
: next_array_index_(0)
{

6
rclcpp/include/rclcpp/subscription.hpp
View file

@ -44,8 +44,7 @@ class SubscriptionBase
friend class rclcpp::executor::Executor;
public:
typedef std::weak_ptr<SubscriptionBase> WeakPtr;
RCLCPP_MAKE_SHARED_DEFINITIONS(SubscriptionBase);
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase);
SubscriptionBase(
std::shared_ptr<rmw_node_t> node_handle,
@ -98,8 +97,7 @@ class Subscription : public SubscriptionBase
{
public:
typedef std::function<void (const std::shared_ptr<MessageT> &)> CallbackType;
RCLCPP_MAKE_SHARED_DEFINITIONS(Subscription);
typedef std::weak_ptr<Subscription> WeakPtr;
RCLCPP_SMART_PTR_DEFINITIONS(Subscription);
Subscription(
std::shared_ptr<rmw_node_t> node_handle,

6
rclcpp/include/rclcpp/timer.hpp
View file

@ -47,8 +47,7 @@ class TimerBase
friend class rclcpp::executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(TimerBase);
typedef std::weak_ptr<TimerBase> WeakPtr;
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase);
TimerBase(std::chrono::nanoseconds period, CallbackType callback)
: period_(period),
@ -89,8 +88,7 @@ class GenericTimer : public TimerBase
friend class rclcpp::executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(GenericTimer);
typedef std::weak_ptr<GenericTimer> WeakPtr;
RCLCPP_SMART_PTR_DEFINITIONS(GenericTimer);
GenericTimer(std::chrono::nanoseconds period, CallbackType callback)
: TimerBase(period, callback), loop_rate_(period)