utilities.hpp

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// Copyright 2014 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__UTILITIES_HPP_
#define RCLCPP__UTILITIES_HPP_

#include <chrono>
#include <functional>
#include <limits>
#include <vector>

#include "rclcpp/visibility_control.hpp"

#include "rcl/guard_condition.h"
#include "rcl/wait.h"

#include "rmw/macros.h"
#include "rmw/rmw.h"

#ifdef ANDROID
#include <string>
#include <sstream>

namespace std
{
template<typename T>
std::string to_string(T value)
{
  std::ostringstream os;
  os << value;
  return os.str();
}
}
#endif

namespace rclcpp
{

RCLCPP_PUBLIC
void
init(int argc, char const * const argv[]);


RCLCPP_PUBLIC
std::vector<std::string>
init_and_remove_ros_arguments(int argc, char const * const argv[]);


RCLCPP_PUBLIC
std::vector<std::string>
remove_ros_arguments(int argc, char const * const argv[]);


RCLCPP_PUBLIC
bool
ok();

RCLCPP_PUBLIC
void
shutdown();


RCLCPP_PUBLIC
void
on_shutdown(std::function<void(void)> callback);


RCLCPP_PUBLIC
rcl_guard_condition_t *
get_sigint_guard_condition(rcl_wait_set_t * wait_set);


RCLCPP_PUBLIC
void
release_sigint_guard_condition(rcl_wait_set_t * wait_set);


RCLCPP_PUBLIC
bool
sleep_for(const std::chrono::nanoseconds & nanoseconds);


template<typename T>
bool
add_will_overflow(const T x, const T y)
{
  return (y > 0) && (x > (std::numeric_limits<T>::max() - y));
}


template<typename T>
bool
add_will_underflow(const T x, const T y)
{
  return (y < 0) && (x < (std::numeric_limits<T>::min() - y));
}


template<typename T>
bool
sub_will_overflow(const T x, const T y)
{
  return (y < 0) && (x > (std::numeric_limits<T>::max() + y));
}


template<typename T>
bool
sub_will_underflow(const T x, const T y)
{
  return (y > 0) && (x < (std::numeric_limits<T>::min() + y));
}

}  // namespace rclcpp

#endif  // RCLCPP__UTILITIES_HPP_