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Signed-off-by: Karsten Knese <karsten@openrobotics.org>
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| // 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. | ||
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| #ifndef RCLCPP__NODE_INTERFACES__INTERFACE_TRAITS_HPP_ | ||
| #define RCLCPP__NODE_INTERFACES__INTERFACE_TRAITS_HPP_ | ||
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| #include <functional> | ||
| #include <type_traits> | ||
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| @{ | ||
| node_interfaces = [ | ||
| 'node_base_interface', | ||
| 'node_clock_interface', | ||
| 'node_graph_interface', | ||
| 'node_logging_interface', | ||
| 'node_parameters_interface', | ||
| 'node_services_interface', | ||
| 'node_time_source_interface', | ||
| 'node_timers_interface', | ||
| 'node_topics_interface', | ||
| 'node_waitables_interface', | ||
| ] | ||
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| node_interface_types = [ | ||
| 'NodeBaseInterface', | ||
| 'NodeClockInterface', | ||
| 'NodeGraphInterface', | ||
| 'NodeLoggingInterface', | ||
| 'NodeParametersInterface', | ||
| 'NodeServicesInterface', | ||
| 'NodeTimeSourceInterface', | ||
| 'NodeTimersInterface', | ||
| 'NodeTopicsInterface', | ||
| 'NodeWaitablesInterface', | ||
| ] | ||
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| assert (len(node_interfaces) == len(node_interface_types)) | ||
| }@ | ||
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| @[for interface_ in node_interfaces]@ | ||
| #include "rclcpp/node_interfaces/@(interface_).hpp" | ||
| @[end for]@ | ||
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| namespace rclcpp | ||
| { | ||
| namespace node_interfaces | ||
| { | ||
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| @[for (interface_, type_) in zip(node_interfaces, node_interface_types)]@ | ||
| using @(interface_)_getter_t = std::shared_ptr<rclcpp::node_interfaces::@(type_)>; | ||
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| template<class T, typename = void> | ||
| struct has_@(interface_) : std::false_type | ||
| {}; | ||
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| template<class T> | ||
| struct has_@(interface_)< | ||
| T, typename std::enable_if< | ||
| std::is_same< | ||
| @(interface_)_getter_t, decltype(std::declval<T>().get_@(interface_)())>::value>::type> : std::true_type | ||
| {}; | ||
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| @[end for]@ | ||
| } // namespace node_interfaces | ||
| } // namespace rclcpp | ||
| #endif // RCLCPP__NODE_INTERFACES__INTERFACE_TRAITS_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| // 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. | ||
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| #include <gtest/gtest.h> | ||
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| #include "rclcpp/node_interfaces/interface_traits.hpp" | ||
| #include "rclcpp/node_interfaces/node_base.hpp" | ||
| #include "rclcpp/node.hpp" | ||
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| class MyNode | ||
| { | ||
| public: | ||
| std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> get_node_base_interface() const | ||
| { | ||
| return std::make_shared<rclcpp::node_interfaces::NodeBase>("my_node_name", "my_node_namespace", nullptr, rclcpp::NodeOptions()); | ||
| } | ||
| }; | ||
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| class WrongNode | ||
| { | ||
| public: | ||
| std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> not_get_node_base_interface() | ||
| { | ||
| return nullptr; | ||
| } | ||
| }; | ||
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| 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()); | ||
| } | ||
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| TEST(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); | ||
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| get_node_name(MyNode()); | ||
| } | ||
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