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Move message dispatching logic to AnySubscriptionCallback

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This commit is contained in:
Esteve Fernandez 2015-10-19 17:52:36 -07:00
parent ad609d79d4
commit e3f095de04
2 changed files with 66 additions and 51 deletions
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80
rclcpp/include/rclcpp/any_subscription_callback.hpp
View file

@ -30,7 +30,7 @@ namespace any_subscription_callback
{
template<typename MessageT>
struct AnySubscriptionCallback
class AnySubscriptionCallback
{
using SharedPtrCallback = std::function<void(const std::shared_ptr<MessageT>)>;
using SharedPtrWithInfoCallback =
@ -42,17 +42,18 @@ struct AnySubscriptionCallback
using UniquePtrWithInfoCallback =
std::function<void(std::unique_ptr<MessageT>, const rmw_message_info_t &)>;
SharedPtrCallback shared_ptr_callback;
SharedPtrWithInfoCallback shared_ptr_with_info_callback;
ConstSharedPtrCallback const_shared_ptr_callback;
ConstSharedPtrWithInfoCallback const_shared_ptr_with_info_callback;
UniquePtrCallback unique_ptr_callback;
UniquePtrWithInfoCallback unique_ptr_with_info_callback;
SharedPtrCallback shared_ptr_callback_;
SharedPtrWithInfoCallback shared_ptr_with_info_callback_;
ConstSharedPtrCallback const_shared_ptr_callback_;
ConstSharedPtrWithInfoCallback const_shared_ptr_with_info_callback_;
UniquePtrCallback unique_ptr_callback_;
UniquePtrWithInfoCallback unique_ptr_with_info_callback_;
public:
AnySubscriptionCallback()
: shared_ptr_callback(nullptr), shared_ptr_with_info_callback(nullptr),
const_shared_ptr_callback(nullptr), const_shared_ptr_with_info_callback(nullptr),
unique_ptr_callback(nullptr), unique_ptr_with_info_callback(nullptr)
: shared_ptr_callback_(nullptr), shared_ptr_with_info_callback_(nullptr),
const_shared_ptr_callback_(nullptr), const_shared_ptr_with_info_callback_(nullptr),
unique_ptr_callback_(nullptr), unique_ptr_with_info_callback_(nullptr)
{}
AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
@ -68,7 +69,7 @@ struct AnySubscriptionCallback
>
void set(CallbackT callback)
{
shared_ptr_callback = callback;
shared_ptr_callback_ = callback;
}
template<
@ -83,7 +84,7 @@ struct AnySubscriptionCallback
>
void set(CallbackT callback)
{
shared_ptr_with_info_callback = callback;
shared_ptr_with_info_callback_ = callback;
}
template<
@ -97,7 +98,7 @@ struct AnySubscriptionCallback
>
void set(CallbackT callback)
{
const_shared_ptr_callback = callback;
const_shared_ptr_callback_ = callback;
}
template<
@ -112,7 +113,7 @@ struct AnySubscriptionCallback
>
void set(CallbackT callback)
{
const_shared_ptr_with_info_callback = callback;
const_shared_ptr_with_info_callback_ = callback;
}
template<
@ -126,7 +127,7 @@ struct AnySubscriptionCallback
>
void set(CallbackT callback)
{
unique_ptr_callback = callback;
unique_ptr_callback_ = callback;
}
template<
@ -141,7 +142,54 @@ struct AnySubscriptionCallback
>
void set(CallbackT callback)
{
unique_ptr_with_info_callback = callback;
unique_ptr_with_info_callback_ = callback;
}
void dispatch(
std::shared_ptr<MessageT> message, const rmw_message_info_t & message_info)
{
(void)message_info;
if (shared_ptr_callback_) {
shared_ptr_callback_(message);
} else if (shared_ptr_with_info_callback_) {
shared_ptr_with_info_callback_(message, message_info);
} else if (const_shared_ptr_callback_) {
const_shared_ptr_callback_(message);
} else if (const_shared_ptr_with_info_callback_) {
const_shared_ptr_with_info_callback_(message, message_info);
} else if (unique_ptr_callback_) {
unique_ptr_callback_(std::unique_ptr<MessageT>(new MessageT(*message)));
} else if (unique_ptr_with_info_callback_) {
unique_ptr_with_info_callback_(std::unique_ptr<MessageT>(new MessageT(*
message)), message_info);
} else {
throw std::runtime_error("unexpected message without any callback set");
}
}
void dispatch_intra_process(
std::unique_ptr<MessageT> & message, const rmw_message_info_t & message_info)
{
(void)message_info;
if (shared_ptr_callback_) {
typename MessageT::SharedPtr shared_message = std::move(message);
shared_ptr_callback_(shared_message);
} else if (shared_ptr_with_info_callback_) {
typename MessageT::SharedPtr shared_message = std::move(message);
shared_ptr_with_info_callback_(shared_message, message_info);
} else if (const_shared_ptr_callback_) {
typename MessageT::ConstSharedPtr const_shared_message = std::move(message);
const_shared_ptr_callback_(const_shared_message);
} else if (const_shared_ptr_with_info_callback_) {
typename MessageT::ConstSharedPtr const_shared_message = std::move(message);
const_shared_ptr_with_info_callback_(const_shared_message, message_info);
} else if (unique_ptr_callback_) {
unique_ptr_callback_(std::move(message));
} else if (unique_ptr_with_info_callback_) {
unique_ptr_with_info_callback_(std::move(message), message_info);
} else {
throw std::runtime_error("unexpected message without any callback set");
}
}
};

37
rclcpp/include/rclcpp/subscription.hpp
View file

@ -203,22 +203,7 @@ public:
}
}
auto typed_message = std::static_pointer_cast<MessageT>(message);
if (any_callback_.shared_ptr_callback) {
any_callback_.shared_ptr_callback(typed_message);
} else if (any_callback_.shared_ptr_with_info_callback) {
any_callback_.shared_ptr_with_info_callback(typed_message, message_info);
} else if (any_callback_.const_shared_ptr_callback) {
any_callback_.const_shared_ptr_callback(typed_message);
} else if (any_callback_.const_shared_ptr_with_info_callback) {
any_callback_.const_shared_ptr_with_info_callback(typed_message, message_info);
} else if (any_callback_.unique_ptr_callback) {
any_callback_.unique_ptr_callback(std::unique_ptr<MessageT>(new MessageT(*typed_message)));
} else if (any_callback_.unique_ptr_with_info_callback) {
any_callback_.unique_ptr_with_info_callback(std::unique_ptr<MessageT>(new MessageT(*
typed_message)), message_info);
} else {
throw std::runtime_error("unexpected message without any callback set");
}
any_callback_.dispatch(typed_message, message_info);
}
void return_message(std::shared_ptr<void> & message)
@ -250,25 +235,7 @@ public:
// TODO(wjwwood): should we notify someone of this? log error, log warning?
return;
}
if (any_callback_.shared_ptr_callback) {
typename MessageT::SharedPtr shared_msg = std::move(msg);
any_callback_.shared_ptr_callback(shared_msg);
} else if (any_callback_.shared_ptr_with_info_callback) {
typename MessageT::SharedPtr shared_msg = std::move(msg);
any_callback_.shared_ptr_with_info_callback(shared_msg, message_info);
} else if (any_callback_.const_shared_ptr_callback) {
typename MessageT::ConstSharedPtr const_shared_msg = std::move(msg);
any_callback_.const_shared_ptr_callback(const_shared_msg);
} else if (any_callback_.const_shared_ptr_with_info_callback) {
typename MessageT::ConstSharedPtr const_shared_msg = std::move(msg);
any_callback_.const_shared_ptr_with_info_callback(const_shared_msg, message_info);
} else if (any_callback_.unique_ptr_callback) {
any_callback_.unique_ptr_callback(std::move(msg));
} else if (any_callback_.unique_ptr_with_info_callback) {
any_callback_.unique_ptr_with_info_callback(std::move(msg), message_info);
} else {
throw std::runtime_error("unexpected message without any callback set");
}
any_callback_.dispatch_intra_process(msg, message_info);
}
private: