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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@ -101,19 +101,65 @@ configure_file(
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COPYONLY
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)
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# generate header with logging macros
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set(python_code
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set(python_code_logging
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"import em"
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"em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
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string(REPLACE ";" "$<SEMICOLON>" python_code "${python_code}")
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string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
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add_custom_command(OUTPUT include/rclcpp/logging.hpp
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COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
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COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code}"
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COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_logging}"
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DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
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COMMENT "Expanding logging.hpp.em"
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VERBATIM
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)
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list(APPEND ${PROJECT_NAME}_SRCS
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include/rclcpp/logging.hpp)
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file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")
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foreach(interface_file ${interface_files})
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get_filename_component(interface_name ${interface_file} NAME_WE)
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# "watch" template for changes
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configure_file(
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"resource/interface_traits.hpp.em"
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"${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
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COPYONLY
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)
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set(python_${interface_name}_traits
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"import em"
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"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/${interface_name}_traits.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/interface_traits.hpp.em'])")
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string(REPLACE ";" "$<SEMICOLON>" python_${interface_name}_traits "${python_${interface_name}_traits}")
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add_custom_command(OUTPUT include/rclcpp/node_interfaces/${interface_name}_traits.hpp
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COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
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COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_${interface_name}_traits}"
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DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
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COMMENT "Expanding interface_traits.hpp.em into ${interface_name}_traits.hpp"
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VERBATIM
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)
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list(APPEND ${PROJECT_NAME}_SRCS
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include/rclcpp/node_interfaces/${interface_name}_traits.hpp)
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# "watch" template for changes
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configure_file(
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"resource/get_interface.hpp.em"
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"get_${interface_name}.hpp.em.watch"
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COPYONLY
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)
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set(python_get_${interface_name}
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"import em"
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"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/get_${interface_name}.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/get_interface.hpp.em'])")
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string(REPLACE ";" "$<SEMICOLON>" python_get_${interface_name} "${python_get_${interface_name}}")
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add_custom_command(OUTPUT include/rclcpp/node_interfaces/get_${interface_name}.hpp
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COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
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COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_get_${interface_name}}"
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DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/get_${interface_name}.hpp.em.watch"
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COMMENT "Expanding get_interface.hpp.em into get_${interface_file}.hpp"
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VERBATIM
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)
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list(APPEND ${PROJECT_NAME}_SRCS
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include/rclcpp/node_interfaces/get_${interface_name}.hpp)
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endforeach()
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include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
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add_library(${PROJECT_NAME}
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@ -532,6 +578,14 @@ if(BUILD_TESTING)
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target_link_libraries(test_init ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_interface_traits test/test_interface_traits.cpp
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APPEND_LIBRARY_DIRS "${append_library_dirs}")
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if(TARGET test_interface_traits)
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ament_target_dependencies(test_interface_traits
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"rcl")
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target_link_libraries(test_interface_traits ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
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APPEND_LIBRARY_DIRS "${append_library_dirs}")
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if(TARGET test_multi_threaded_executor)
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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,
|
||||
// e.g. const pointer or a shared pointer.
|
||||
template<typename NodeType, typename ReturnType>
|
||||
struct has_get_node_topics_interface
|
||||
{
|
||||
private:
|
||||
template<typename T>
|
||||
static constexpr
|
||||
auto
|
||||
check(T *)->typename std::is_same<
|
||||
decltype(std::declval<T>().get_node_topics_interface()),
|
||||
ReturnType
|
||||
>::type;
|
||||
|
||||
template<typename>
|
||||
static constexpr
|
||||
std::false_type
|
||||
check(...);
|
||||
|
||||
public:
|
||||
using type = decltype(check<NodeType>(nullptr));
|
||||
static constexpr bool value = type::value;
|
||||
};
|
||||
|
||||
// If NodeType is a pointer to NodeTopicsInterface already (just normal function overload).
|
||||
inline
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *
|
||||
get_node_topics_interface_from_pointer(rclcpp::node_interfaces::NodeTopicsInterface * pointer)
|
||||
{
|
||||
return pointer;
|
||||
}
|
||||
|
||||
// If NodeType has a method called get_node_topics_interface() which returns a shared pointer.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<has_get_node_topics_interface<
|
||||
typename std::remove_pointer<NodeType>::type,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
|
||||
>::value, int>::type = 0
|
||||
>
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *
|
||||
get_node_topics_interface_from_pointer(NodeType node_pointer)
|
||||
{
|
||||
return node_pointer->get_node_topics_interface().get();
|
||||
}
|
||||
|
||||
// If NodeType has a method called get_node_topics_interface() which returns a pointer.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<has_get_node_topics_interface<
|
||||
typename std::remove_pointer<NodeType>::type,
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *
|
||||
>::value, int>::type = 0
|
||||
>
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *
|
||||
get_node_topics_interface_from_pointer(NodeType node_pointer)
|
||||
{
|
||||
return node_pointer->get_node_topics_interface();
|
||||
}
|
||||
|
||||
// Forward shared_ptr's to const node pointer signatures.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<std::is_same<
|
||||
NodeType,
|
||||
typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
|
||||
>::value, int>::type = 0
|
||||
>
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *
|
||||
get_node_topics_interface_from_pointer(NodeType node_shared_pointer)
|
||||
{
|
||||
return get_node_topics_interface_from_pointer(node_shared_pointer->get());
|
||||
}
|
||||
|
||||
} // namespace detail
|
||||
|
||||
/// Get the NodeTopicsInterface as a pointer from a pointer to a "Node like" object.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
|
||||
>
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *
|
||||
get_node_topics_interface(NodeType node_pointer)
|
||||
{
|
||||
// Forward pointers to detail implmentation directly.
|
||||
return detail::get_node_topics_interface_from_pointer(node_pointer);
|
||||
}
|
||||
|
||||
/// Get the NodeTopicsInterface as a pointer from a "Node like" object.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<
|
||||
!std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
|
||||
>::type = 0
|
||||
>
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *
|
||||
get_node_topics_interface(NodeType && node_reference)
|
||||
{
|
||||
// Forward references to detail implmentation as a pointer.
|
||||
return detail::get_node_topics_interface_from_pointer(&node_reference);
|
||||
}
|
||||
|
||||
} // namespace node_interfaces
|
||||
} // namespace rclcpp
|
||||
|
||||
#endif // RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
|
||||
111
rclcpp/resource/get_interface.hpp.em
Normal file
111
rclcpp/resource/get_interface.hpp.em
Normal file
|
|
@ -0,0 +1,111 @@
|
|||
// Copyright 2020 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.
|
||||
|
||||
@{
|
||||
uppercase_interface_name = interface_name.upper()
|
||||
}@
|
||||
|
||||
#ifndef RCLCPP__NODE_INTERFACES__GET_@(uppercase_interface_name)_HPP_
|
||||
#define RCLCPP__NODE_INTERFACES__GET_@(uppercase_interface_name)_HPP_
|
||||
|
||||
#include <memory>
|
||||
#include <utility>
|
||||
#include <type_traits>
|
||||
|
||||
#include "rcpputils/pointer_traits.hpp"
|
||||
|
||||
#include "rclcpp/node_interfaces/@(interface_name).hpp"
|
||||
#include "rclcpp/node_interfaces/@(interface_name)_traits.hpp"
|
||||
|
||||
@{
|
||||
interface_typename = ''.join([part.capitalize() for part in interface_name.split('_')])
|
||||
}@
|
||||
|
||||
/// This header provides the get_@(interface_name)() template function.
|
||||
/**
|
||||
* This function is useful for getting the @(interface_typename) pointer from
|
||||
* various kinds of Node-like classes.
|
||||
*
|
||||
* It's able to get a std::shared_ptr to a @(interface_typename) so long as the class
|
||||
* has a method called ``get_@(interface_name)()`` which returns one.
|
||||
*/
|
||||
|
||||
namespace rclcpp
|
||||
{
|
||||
namespace node_interfaces
|
||||
{
|
||||
namespace detail
|
||||
{
|
||||
|
||||
// If NodeType has a method called get_@(interface_name)() which returns a shared pointer.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<has_@(interface_name)<
|
||||
typename rcpputils::remove_pointer<NodeType>::type
|
||||
>::value, int>::type = 0
|
||||
>
|
||||
std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
|
||||
get_@(interface_name)_from_pointer(NodeType node_pointer)
|
||||
{
|
||||
if (!node_pointer) {
|
||||
throw std::invalid_argument("node cannot be nullptr");
|
||||
}
|
||||
return node_pointer->get_@(interface_name)();
|
||||
}
|
||||
|
||||
} // namespace detail
|
||||
|
||||
/// Get the @(interface_typename) as a shared pointer from a pointer to a "Node like" object.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<
|
||||
rcpputils::is_pointer<NodeType>::value, int
|
||||
>::type = 0
|
||||
>
|
||||
inline
|
||||
std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
|
||||
get_@(interface_name)(NodeType && node)
|
||||
{
|
||||
// Forward pointers to detail implementation directly.
|
||||
return detail::get_@(interface_name)_from_pointer(node);
|
||||
}
|
||||
|
||||
/// Get the @(interface_typename) as a shared pointer from a "Node like" object.
|
||||
template<
|
||||
typename NodeType,
|
||||
typename std::enable_if<
|
||||
!rcpputils::is_pointer<NodeType>::value, int
|
||||
>::type = 0
|
||||
>
|
||||
inline
|
||||
std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
|
||||
get_@(interface_name)(NodeType && node)
|
||||
{
|
||||
// Forward references to detail implementation as a pointer.
|
||||
return detail::get_@(interface_name)_from_pointer(&node);
|
||||
}
|
||||
|
||||
/// Keep the @(interface_typename) a shared pointer.
|
||||
inline
|
||||
std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
|
||||
get_@(interface_name)(
|
||||
std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)> & node_interface)
|
||||
{
|
||||
return node_interface;
|
||||
}
|
||||
|
||||
} // namespace node_interfaces
|
||||
} // namespace rclcpp
|
||||
|
||||
#endif // RCLCPP__NODE_INTERFACES__GET_@(uppercase_interface_name)_HPP_
|
||||
47
rclcpp/resource/interface_traits.hpp.em
Normal file
47
rclcpp/resource/interface_traits.hpp.em
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
// Copyright 2020 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.
|
||||
@{
|
||||
uppercase_interface_name = interface_name.upper()
|
||||
interface_typename = ''.join([part.capitalize() for part in interface_name.split('_')])
|
||||
}@
|
||||
|
||||
#ifndef RCLCPP__NODE_INTERFACES__@(uppercase_interface_name)_TRAITS_HPP_
|
||||
#define RCLCPP__NODE_INTERFACES__@(uppercase_interface_name)_TRAITS_HPP_
|
||||
|
||||
#include <functional>
|
||||
#include <type_traits>
|
||||
|
||||
#include "rclcpp/node_interfaces/@(interface_name).hpp"
|
||||
|
||||
namespace rclcpp
|
||||
{
|
||||
namespace node_interfaces
|
||||
{
|
||||
|
||||
template<class T, typename = void>
|
||||
struct has_@(interface_name) : std::false_type
|
||||
{};
|
||||
|
||||
template<class T>
|
||||
struct has_@(interface_name)<
|
||||
T, typename std::enable_if<
|
||||
std::is_same<
|
||||
std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>,
|
||||
decltype(std::declval<T>().get_@(interface_name)())>::value>::type> : std::true_type
|
||||
{};
|
||||
|
||||
} // namespace node_interfaces
|
||||
} // namespace rclcpp
|
||||
|
||||
#endif // RCLCPP__NODE_INTERFACES__@(uppercase_interface_name)_TRAITS_HPP_
|
||||
|
|
@ -47,22 +47,38 @@ protected:
|
|||
rclcpp::Node::SharedPtr TestGetNodeInterfaces::node = nullptr;
|
||||
std::shared_ptr<NodeWrapper> TestGetNodeInterfaces::wrapped_node = nullptr;
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, null_rclcpp_node_shared_ptr) {
|
||||
rclcpp::Node::SharedPtr null_node;
|
||||
EXPECT_THROW(
|
||||
{
|
||||
rclcpp::node_interfaces::get_node_topics_interface(null_node);
|
||||
}, std::invalid_argument);
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, rclcpp_node_shared_ptr) {
|
||||
auto result = rclcpp::node_interfaces::get_node_topics_interface(this->node);
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>,
|
||||
decltype(result)
|
||||
>::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
|
||||
>::value, "expected std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>");
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, null_node_shared_ptr) {
|
||||
std::shared_ptr<NodeWrapper> null_node;
|
||||
EXPECT_THROW(
|
||||
{
|
||||
rclcpp::node_interfaces::get_node_topics_interface(null_node);
|
||||
}, std::invalid_argument);
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, node_shared_ptr) {
|
||||
auto result = rclcpp::node_interfaces::get_node_topics_interface(this->wrapped_node);
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>,
|
||||
decltype(result)
|
||||
>::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
|
||||
>::value, "expected std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>");
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, rclcpp_node_reference) {
|
||||
|
|
@ -70,9 +86,9 @@ TEST_F(TestGetNodeInterfaces, rclcpp_node_reference) {
|
|||
auto result = rclcpp::node_interfaces::get_node_topics_interface(node_reference);
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>,
|
||||
decltype(result)
|
||||
>::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
|
||||
>::value, "expected std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>");
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, node_reference) {
|
||||
|
|
@ -80,9 +96,9 @@ TEST_F(TestGetNodeInterfaces, node_reference) {
|
|||
auto result = rclcpp::node_interfaces::get_node_topics_interface(wrapped_node_reference);
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>,
|
||||
decltype(result)
|
||||
>::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
|
||||
>::value, "expected std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>");
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, rclcpp_node_pointer) {
|
||||
|
|
@ -90,9 +106,17 @@ TEST_F(TestGetNodeInterfaces, rclcpp_node_pointer) {
|
|||
auto result = rclcpp::node_interfaces::get_node_topics_interface(node_pointer);
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>,
|
||||
decltype(result)
|
||||
>::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
|
||||
>::value, "expected std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>");
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, null_rclcpp_node_pointer) {
|
||||
rclcpp::Node * null_node{nullptr};
|
||||
EXPECT_THROW(
|
||||
{
|
||||
rclcpp::node_interfaces::get_node_topics_interface(null_node);
|
||||
}, std::invalid_argument);
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, node_pointer) {
|
||||
|
|
@ -100,9 +124,17 @@ TEST_F(TestGetNodeInterfaces, node_pointer) {
|
|||
auto result = rclcpp::node_interfaces::get_node_topics_interface(wrapped_node_pointer);
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>,
|
||||
decltype(result)
|
||||
>::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
|
||||
>::value, "expected std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>");
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, null_node_pointer) {
|
||||
NodeWrapper * null_node{nullptr};
|
||||
EXPECT_THROW(
|
||||
{
|
||||
rclcpp::node_interfaces::get_node_topics_interface(null_node);
|
||||
}, std::invalid_argument);
|
||||
}
|
||||
|
||||
TEST_F(TestGetNodeInterfaces, interface_shared_pointer) {
|
||||
|
|
@ -111,7 +143,7 @@ TEST_F(TestGetNodeInterfaces, interface_shared_pointer) {
|
|||
auto result = rclcpp::node_interfaces::get_node_topics_interface(interface_shared_ptr);
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rclcpp::node_interfaces::NodeTopicsInterface *,
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>,
|
||||
decltype(result)
|
||||
>::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
|
||||
>::value, "expected std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>");
|
||||
}
|
||||
|
|
|
|||
77
rclcpp/test/test_interface_traits.cpp
Normal file
77
rclcpp/test/test_interface_traits.cpp
Normal file
|
|
@ -0,0 +1,77 @@
|
|||
// Copyright 2019 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 <memory>
|
||||
#include <utility>
|
||||
|
||||
#include "rclcpp/contexts/default_context.hpp"
|
||||
#include "rclcpp/node_interfaces/node_base_interface_traits.hpp"
|
||||
#include "rclcpp/node_interfaces/node_base.hpp"
|
||||
#include "rclcpp/node.hpp"
|
||||
|
||||
class MyNode
|
||||
{
|
||||
public:
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> get_node_base_interface() const
|
||||
{
|
||||
rclcpp::NodeOptions options;
|
||||
return std::make_shared<rclcpp::node_interfaces::NodeBase>(
|
||||
"my_node_name",
|
||||
"my_node_namespace",
|
||||
rclcpp::contexts::default_context::get_global_default_context(),
|
||||
*options.get_rcl_node_options(),
|
||||
false);
|
||||
}
|
||||
};
|
||||
|
||||
class WrongNode
|
||||
{
|
||||
public:
|
||||
std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> not_get_node_base_interface()
|
||||
{
|
||||
return nullptr;
|
||||
}
|
||||
};
|
||||
|
||||
template<class T, typename std::enable_if<
|
||||
rclcpp::node_interfaces::has_node_base_interface<T>::value
|
||||
>::type * = nullptr>
|
||||
void get_node_name(const T & nodelike)
|
||||
{
|
||||
ASSERT_STREQ("my_node_name", nodelike.get_node_base_interface()->get_name());
|
||||
}
|
||||
|
||||
class TestInterfaceTraits : public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
static void SetUpTestCase()
|
||||
{
|
||||
rclcpp::init(0, nullptr);
|
||||
}
|
||||
|
||||
static void TearDownTestCase()
|
||||
{
|
||||
rclcpp::shutdown();
|
||||
}
|
||||
};
|
||||
|
||||
TEST_F(TestInterfaceTraits, has_node_base_interface) {
|
||||
ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<MyNode>::value);
|
||||
ASSERT_FALSE(rclcpp::node_interfaces::has_node_base_interface<WrongNode>::value);
|
||||
ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<rclcpp::Node>::value);
|
||||
|
||||
get_node_name(MyNode());
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue