Generate node interfaces' getters and traits. (#1069)
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> Co-authored-by: Karsten Knese <karsten@openrobotics.org>
This commit is contained in:
Michel Hidalgo
GitHub
parent
c9319dafc2
commit
bb8c8ff2c0
9 changed files with 340 additions and 466 deletions
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@ -32,8 +32,8 @@ namespace rclcpp
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template<typename CallbackT>
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typename rclcpp::TimerBase::SharedPtr
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create_timer(
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node_interfaces::NodeBaseInterface * node_base,
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node_interfaces::NodeTimersInterface * node_timers,
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std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
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std::shared_ptr<node_interfaces::NodeTimersInterface> node_timers,
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rclcpp::Clock::SharedPtr clock,
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rclcpp::Duration period,
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CallbackT && callback,
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@ -1,149 +0,0 @@
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
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#include <memory>
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#include <utility>
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#include <type_traits>
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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/// This header provides the get_node_base_interface() template function.
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/**
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* This function is useful for getting the NodeBaseInterface pointer from
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* various kinds of Node-like classes.
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*
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* It's able to get the NodeBaseInterface pointer so long as the class
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* has a method called ``get_node_base_interface()`` which returns
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* either a pointer (const or not) to a NodeBaseInterface or a
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* std::shared_ptr to a NodeBaseInterface.
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*/
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namespace rclcpp
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{
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namespace node_interfaces
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{
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namespace detail
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{
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// This is a meta-programming checker for if a given Node-like object has a
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// getter called get_node_base_interface() which returns various types,
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// e.g. const pointer or a shared pointer.
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template<typename NodeType, typename ReturnType>
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struct has_get_node_base_interface
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{
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private:
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template<typename T>
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static constexpr
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auto
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check(T *)->typename std::is_same<
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decltype(std::declval<T>().get_node_base_interface()),
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ReturnType
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>::type;
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template<typename>
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static constexpr
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std::false_type
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check(...);
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public:
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using type = decltype(check<NodeType>(nullptr));
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static constexpr bool value = type::value;
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};
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// If NodeType is a pointer to NodeBaseInterface already (just normal function overload).
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inline
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(rclcpp::node_interfaces::NodeBaseInterface * pointer)
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{
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return pointer;
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}
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// If NodeType has a method called get_node_base_interface() which returns a shared pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_base_interface<
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typename std::remove_pointer<NodeType>::type,
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std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_base_interface().get();
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}
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// If NodeType has a method called get_node_base_interface() which returns a pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_base_interface<
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typename std::remove_pointer<NodeType>::type,
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rclcpp::node_interfaces::NodeBaseInterface *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_base_interface();
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}
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// Forward shared_ptr's to const node pointer signatures.
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template<
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typename NodeType,
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typename std::enable_if<std::is_same<
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NodeType,
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typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(NodeType node_shared_pointer)
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{
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return get_node_base_interface_from_pointer(node_shared_pointer->get());
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}
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} // namespace detail
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/// Get the NodeBaseInterface as a pointer from a pointer to a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface(NodeType node_pointer)
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{
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// Forward pointers to detail implmentation directly.
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return detail::get_node_base_interface_from_pointer(node_pointer);
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}
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/// Get the NodeBaseInterface as a pointer from a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<
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!std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
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>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface(NodeType && node_reference)
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{
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// Forward references to detail implmentation as a pointer.
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return detail::get_node_base_interface_from_pointer(&node_reference);
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}
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
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@ -1,149 +0,0 @@
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
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#include <memory>
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#include <utility>
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#include <type_traits>
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#include "rclcpp/node_interfaces/node_timers_interface.hpp"
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/// This header provides the get_node_timers_interface() template function.
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/**
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* This function is useful for getting the NodeTimersInterface pointer from
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* various kinds of Node-like classes.
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*
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* It's able to get the NodeTimersInterface pointer so long as the class
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* has a method called ``get_node_timers_interface()`` which returns
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* either a pointer (const or not) to a NodeTimersInterface or a
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* std::shared_ptr to a NodeTimersInterface.
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*/
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namespace rclcpp
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{
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namespace node_interfaces
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{
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namespace detail
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{
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// This is a meta-programming checker for if a given Node-like object has a
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// getter called get_node_timers_interface() which returns various types,
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// e.g. const pointer or a shared pointer.
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template<typename NodeType, typename ReturnType>
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struct has_get_node_timers_interface
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{
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private:
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template<typename T>
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static constexpr
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auto
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check(T *)->typename std::is_same<
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decltype(std::declval<T>().get_node_timers_interface()),
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ReturnType
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>::type;
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template<typename>
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static constexpr
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std::false_type
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check(...);
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public:
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using type = decltype(check<NodeType>(nullptr));
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static constexpr bool value = type::value;
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};
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// If NodeType is a pointer to NodeTimersInterface already (just normal function overload).
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inline
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(rclcpp::node_interfaces::NodeTimersInterface * pointer)
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{
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return pointer;
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}
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// If NodeType has a method called get_node_timers_interface() which returns a shared pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_timers_interface<
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typename std::remove_pointer<NodeType>::type,
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std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface>
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_timers_interface().get();
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}
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// If NodeType has a method called get_node_timers_interface() which returns a pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_timers_interface<
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typename std::remove_pointer<NodeType>::type,
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rclcpp::node_interfaces::NodeTimersInterface *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_timers_interface();
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}
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// Forward shared_ptr's to const node pointer signatures.
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template<
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typename NodeType,
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typename std::enable_if<std::is_same<
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NodeType,
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typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(NodeType node_shared_pointer)
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{
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return get_node_timers_interface_from_pointer(node_shared_pointer->get());
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}
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} // namespace detail
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/// Get the NodeTimersInterface as a pointer from a pointer to a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface(NodeType node_pointer)
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{
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// Forward pointers to detail implmentation directly.
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return detail::get_node_timers_interface_from_pointer(node_pointer);
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}
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/// Get the NodeTimersInterface as a pointer from a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<
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!std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
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>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface(NodeType && node_reference)
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{
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// Forward references to detail implmentation as a pointer.
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return detail::get_node_timers_interface_from_pointer(&node_reference);
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}
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
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@ -1,149 +0,0 @@
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
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#include <memory>
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#include <utility>
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#include <type_traits>
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#include "rclcpp/node_interfaces/node_topics_interface.hpp"
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/// This header provides the get_node_topics_interface() template function.
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/**
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* This function is useful for getting the NodeTopicsInterface pointer from
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* various kinds of Node-like classes.
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*
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* It's able to get the NodeTopicsInterface pointer so long as the class
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* has a method called ``get_node_topics_interface()`` which returns
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* either a pointer (const or not) to a NodeTopicsInterface or a
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* std::shared_ptr to a NodeTopicsInterface.
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*/
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namespace rclcpp
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{
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namespace node_interfaces
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{
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namespace detail
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{
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// This is a meta-programming checker for if a given Node-like object has a
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// getter called get_node_topics_interface() which returns various types,
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// e.g. const pointer or a shared pointer.
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template<typename NodeType, typename ReturnType>
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struct has_get_node_topics_interface
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{
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private:
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template<typename T>
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static constexpr
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auto
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check(T *)->typename std::is_same<
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decltype(std::declval<T>().get_node_topics_interface()),
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ReturnType
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>::type;
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template<typename>
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static constexpr
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std::false_type
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check(...);
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public:
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using type = decltype(check<NodeType>(nullptr));
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static constexpr bool value = type::value;
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};
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// If NodeType is a pointer to NodeTopicsInterface already (just normal function overload).
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inline
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rclcpp::node_interfaces::NodeTopicsInterface *
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get_node_topics_interface_from_pointer(rclcpp::node_interfaces::NodeTopicsInterface * pointer)
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{
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return pointer;
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}
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// If NodeType has a method called get_node_topics_interface() which returns a shared pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_topics_interface<
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typename std::remove_pointer<NodeType>::type,
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std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTopicsInterface *
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get_node_topics_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_topics_interface().get();
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}
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// If NodeType has a method called get_node_topics_interface() which returns a pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_topics_interface<
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typename std::remove_pointer<NodeType>::type,
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rclcpp::node_interfaces::NodeTopicsInterface *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTopicsInterface *
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get_node_topics_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_topics_interface();
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}
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// Forward shared_ptr's to const node pointer signatures.
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template<
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typename NodeType,
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typename std::enable_if<std::is_same<
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NodeType,
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typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTopicsInterface *
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get_node_topics_interface_from_pointer(NodeType node_shared_pointer)
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{
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return get_node_topics_interface_from_pointer(node_shared_pointer->get());
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}
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} // namespace detail
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/// Get the NodeTopicsInterface as a pointer from a pointer to a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTopicsInterface *
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get_node_topics_interface(NodeType node_pointer)
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{
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// Forward pointers to detail implmentation directly.
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return detail::get_node_topics_interface_from_pointer(node_pointer);
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}
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/// Get the NodeTopicsInterface as a pointer from a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<
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!std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
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>::type = 0
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>
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rclcpp::node_interfaces::NodeTopicsInterface *
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get_node_topics_interface(NodeType && node_reference)
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{
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// Forward references to detail implmentation as a pointer.
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return detail::get_node_topics_interface_from_pointer(&node_reference);
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}
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
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