node_interfaces_helpers.hpp

// Copyright 2022 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.
 
#ifndef RCLCPP__NODE_INTERFACES__DETAIL__NODE_INTERFACES_HELPERS_HPP_
#define RCLCPP__NODE_INTERFACES__DETAIL__NODE_INTERFACES_HELPERS_HPP_
 
#include <memory>
#include <tuple>
#include <type_traits>
#include <utility>
 
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
namespace node_interfaces
{
namespace detail
{
 
// Support and Helper template classes for the NodeInterfaces class.
 
template<typename NodeT, typename ... Ts>
std::tuple<std::shared_ptr<Ts>...>
init_tuple(NodeT & n);
 
template<typename ... InterfaceTs>
struct NodeInterfacesStorage
{
  template<typename NodeT>
  NodeInterfacesStorage(NodeT & node)  // NOLINT(runtime/explicit)
  : interfaces_(init_tuple<decltype(node), InterfaceTs ...>(node))
  {}
 
  explicit NodeInterfacesStorage(std::shared_ptr<InterfaceTs>... args)
  : interfaces_(args ...)
  {}
 
  template<typename NodeInterfaceT>
  std::shared_ptr<NodeInterfaceT>
  get()
  {
    static_assert(
      (std::is_same_v<NodeInterfaceT, InterfaceTs>|| ...),
      "NodeInterfaces class does not contain given NodeInterfaceT");
    return std::get<std::shared_ptr<NodeInterfaceT>>(interfaces_);
  }
 
  template<typename NodeInterfaceT>
  std::shared_ptr<const NodeInterfaceT>
  get() const
  {
    static_assert(
      (std::is_same_v<NodeInterfaceT, InterfaceTs>|| ...),
      "NodeInterfaces class does not contain given NodeInterfaceT");
    return std::get<std::shared_ptr<NodeInterfaceT>>(interfaces_);
  }
 
protected:
  std::tuple<std::shared_ptr<InterfaceTs>...> interfaces_;
};
 
 
template<typename StorageClassT, typename ... Ts>
struct NodeInterfacesSupports;
 
 
template<typename StorageClassT, typename ... InterfaceTs>
struct NodeInterfacesSupportCheck;
 
template<typename StorageClassT, typename NextInterfaceT, typename ... RemainingInterfaceTs>
struct NodeInterfacesSupportCheck<StorageClassT, NextInterfaceT, RemainingInterfaceTs ...>
  : public NodeInterfacesSupportCheck<StorageClassT, RemainingInterfaceTs ...>
{
  static_assert(
    NodeInterfacesSupports<StorageClassT, NextInterfaceT>::is_supported::value,
    "given NodeInterfaceT is not supported by rclcpp::node_interfaces::NodeInterfaces");
};
 
template<typename StorageClassT>
struct NodeInterfacesSupportCheck<StorageClassT>
{};
 
template<typename StorageClassT, typename ... RemainingInterfaceTs>
struct NodeInterfacesSupports
{
  // Specializations need to set this to std::true_type in addition to other interfaces.
  using is_supported = std::false_type;
};
 
template<typename StorageClassT>
struct NodeInterfacesSupports<StorageClassT>
  : public StorageClassT
{
  template<typename ... ArgsT>
  explicit NodeInterfacesSupports(ArgsT && ... args)
  : StorageClassT(std::forward<ArgsT>(args) ...)
  {}
};
 
// Helper functions to initialize the tuple in NodeInterfaces.
 
template<typename StorageClassT, typename ElementT, typename TupleT, typename NodeT>
void
init_element(TupleT & t, NodeT & n)
{
  std::get<std::shared_ptr<ElementT>>(t) =
    NodeInterfacesSupports<StorageClassT, ElementT>::get_from_node_like(n);
}
 
template<typename NodeT, typename ... Ts>
std::tuple<std::shared_ptr<Ts>...>
init_tuple(NodeT & n)
{
  using StorageClassT = NodeInterfacesStorage<Ts ...>;
  std::tuple<std::shared_ptr<Ts>...> t;
  (init_element<StorageClassT, Ts>(t, n), ...);
  return t;
}
 
 
#define RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(NodeInterfaceType, NodeInterfaceName) \
  namespace rclcpp::node_interfaces::detail { \
  template<typename StorageClassT, typename ... RemainingInterfaceTs> \
  struct NodeInterfacesSupports< \
    StorageClassT, \
    NodeInterfaceType, \
    RemainingInterfaceTs ...> \
    : public NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...> \
  { \
    using is_supported = std::true_type; \
 \
    template<typename NodeT> \
    static \
    std::shared_ptr<NodeInterfaceType> \
    get_from_node_like(NodeT & node_like) \
    { \
      return node_like.get_node_ ## NodeInterfaceName ## _interface(); \
    } \
 \
    /* Perfect forwarding constructor to get arguments down to StorageClassT (eventually). */ \
    template<typename ... ArgsT> \
    explicit NodeInterfacesSupports(ArgsT && ... args) \
      : NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...>( \
        std::forward<ArgsT>(args) ...) \
    {} \
 \
    std::shared_ptr<NodeInterfaceType> \
    get_node_ ## NodeInterfaceName ## _interface() \
    { \
      return StorageClassT::template get<NodeInterfaceType>(); \
    } \
 \
    std::shared_ptr<const NodeInterfaceType> \
    get_node_ ## NodeInterfaceName ## _interface() const \
    { \
      return StorageClassT::template get<NodeInterfaceType>(); \
    } \
  }; \
  }  // namespace rclcpp::node_interfaces::detail
 
}  // namespace detail
}  // namespace node_interfaces
}  // namespace rclcpp
 
#endif  // RCLCPP__NODE_INTERFACES__DETAIL__NODE_INTERFACES_HELPERS_HPP_