103 lines
2.8 KiB
C++
103 lines
2.8 KiB
C++
// Copyright 2015 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_RCLCPP_ANY_SERVICE_CALLBACK_HPP_
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#define RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_
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#include <rclcpp/function_traits.hpp>
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#include <functional>
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#include <memory>
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#include <type_traits>
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#include <rmw/types.h>
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namespace rclcpp
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{
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namespace any_service_callback
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{
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template<typename ServiceT>
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class AnyServiceCallback
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{
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private:
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using SharedPtrCallback = std::function<void(
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const std::shared_ptr<typename ServiceT::Request>,
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std::shared_ptr<typename ServiceT::Response>
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)>;
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using SharedPtrWithRequestHeaderCallback = std::function<void(
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<typename ServiceT::Request>,
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std::shared_ptr<typename ServiceT::Response>
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)>;
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SharedPtrCallback shared_ptr_callback_;
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SharedPtrWithRequestHeaderCallback shared_ptr_with_request_header_callback_;
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public:
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AnyServiceCallback()
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: shared_ptr_callback_(nullptr), shared_ptr_with_request_header_callback_(nullptr)
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{}
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AnyServiceCallback(const AnyServiceCallback &) = default;
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template<
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typename CallbackT,
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typename std::enable_if<
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rclcpp::same_arguments<
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CallbackT,
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SharedPtrCallback
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>::value
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>::type * = nullptr
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>
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void set(CallbackT callback)
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{
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shared_ptr_callback_ = callback;
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}
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template<
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typename CallbackT,
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typename std::enable_if<
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rclcpp::same_arguments<
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CallbackT,
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SharedPtrWithRequestHeaderCallback
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>::value
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>::type * = nullptr
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>
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void set(CallbackT callback)
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{
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shared_ptr_with_request_header_callback_ = callback;
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}
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void dispatch(
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std::shared_ptr<rmw_request_id_t> request_header,
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std::shared_ptr<typename ServiceT::Request> request,
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std::shared_ptr<typename ServiceT::Response> response)
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{
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if (shared_ptr_callback_ != nullptr) {
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(void)request_header;
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shared_ptr_callback_(request, response);
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} else if (shared_ptr_with_request_header_callback_ != nullptr) {
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shared_ptr_with_request_header_callback_(request_header, request, response);
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} else {
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throw std::runtime_error("unexpected request without any callback set");
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}
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}
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};
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} /* namespace any_service_callback */
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} /* namespace rclcpp */
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#endif /* RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_ */
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