subscription_callback_type_helper.hpp

// Copyright 2021 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__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_
#define RCLCPP__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_
 
#include <memory>
#include <type_traits>
 
#include "rclcpp/function_traits.hpp"
#include "rclcpp/message_info.hpp"
 
namespace rclcpp
{
namespace detail
{
 
 
template<typename MessageT, typename CallbackT, typename Enable = void>
struct SubscriptionCallbackTypeHelper
{
  using callback_type = typename rclcpp::function_traits::as_std_function<CallbackT>::type;
};
 
template<typename MessageT, typename CallbackT>
struct SubscriptionCallbackTypeHelper<
  MessageT,
  CallbackT,
  typename std::enable_if_t<
    rclcpp::function_traits::same_arguments<
      CallbackT,
      std::function<void(std::shared_ptr<const MessageT>)>
    >::value
  >
>
{
  using callback_type = std::function<void (std::shared_ptr<const MessageT>)>;
};
 
template<typename MessageT, typename CallbackT>
struct SubscriptionCallbackTypeHelper<
  MessageT,
  CallbackT,
  typename std::enable_if_t<
    rclcpp::function_traits::same_arguments<
      CallbackT,
      std::function<void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>
    >::value
  >
>
{
  using callback_type =
    std::function<void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
};
 
template<typename MessageT, typename CallbackT>
struct SubscriptionCallbackTypeHelper<
  MessageT,
  CallbackT,
  typename std::enable_if_t<
    rclcpp::function_traits::same_arguments<
      CallbackT,
      std::function<void(const std::shared_ptr<const MessageT> &)>
    >::value
  >
>
{
  using callback_type = std::function<void (const std::shared_ptr<const MessageT> &)>;
};
 
template<typename MessageT, typename CallbackT>
struct SubscriptionCallbackTypeHelper<
  MessageT,
  CallbackT,
  typename std::enable_if_t<
    rclcpp::function_traits::same_arguments<
      CallbackT,
      std::function<void(const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>
    >::value
  >
>
{
  using callback_type =
    std::function<void (const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>;
};
 
template<typename MessageT, typename CallbackT>
struct SubscriptionCallbackTypeHelper<
  MessageT,
  CallbackT,
  typename std::enable_if_t<
    rclcpp::function_traits::same_arguments<
      CallbackT,
      std::function<void(std::shared_ptr<MessageT>)>
    >::value
  >
>
{
  using callback_type = std::function<void (std::shared_ptr<MessageT>)>;
};
 
template<typename MessageT, typename CallbackT>
struct SubscriptionCallbackTypeHelper<
  MessageT,
  CallbackT,
  typename std::enable_if_t<
    rclcpp::function_traits::same_arguments<
      CallbackT,
      std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
    >::value
  >
>
{
  using callback_type =
    std::function<void (std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
};
 
}  // namespace detail
}  // namespace rclcpp
 
#endif  // RCLCPP__DETAIL__SUBSCRIPTION_CALLBACK_TYPE_HELPER_HPP_