rclcpp
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C++ ROS Client Library API
include
rclcpp
node_interfaces
get_node_topics_interface.hpp
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// Copyright 2020 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__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
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#include <memory>
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#include <utility>
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#include <type_traits>
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#include "rcpputils/pointer_traits.hpp"
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#include "
rclcpp/node_interfaces/node_topics_interface.hpp
"
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#include "
rclcpp/node_interfaces/node_topics_interface_traits.hpp
"
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namespace
rclcpp
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{
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namespace
node_interfaces
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{
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namespace
detail
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{
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// If NodeType has a method called get_node_topics_interface() which returns a shared pointer.
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template
<
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typename
NodeType,
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typename
std::enable_if
<has_node_topics_interface<
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typename
rcpputils::remove_pointer<NodeType>::type
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>::value,
int
>::type = 0
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>
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std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
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get_node_topics_interface_from_pointer
(NodeType node_pointer)
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{
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if
(!node_pointer) {
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throw
std::invalid_argument
(
"node cannot be nullptr"
);
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}
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return
node_pointer->get_node_topics_interface();
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}
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}
// namespace detail
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template
<
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typename
NodeType,
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typename
std::enable_if
<
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rcpputils::is_pointer<NodeType>::value,
int
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>::type = 0
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>
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inline
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std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
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get_node_topics_interface
(NodeType && node)
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{
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// Forward pointers to detail implementation directly.
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return
detail::get_node_topics_interface_from_pointer
(node);
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}
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template
<
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typename
NodeType,
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typename
std::enable_if
<
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!rcpputils::is_pointer<NodeType>::value,
int
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>::type = 0
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>
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inline
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std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
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get_node_topics_interface
(NodeType && node)
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{
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// Forward references to detail implementation as a pointer.
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return
detail::get_node_topics_interface_from_pointer
(&node);
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}
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inline
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std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
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get_node_topics_interface
(
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std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
& node_interface)
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{
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return
node_interface;
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}
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}
// namespace node_interfaces
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}
// namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
std::shared_ptr
rclcpp
This header provides the get_node_base_interface() template function.
Definition:
allocator_common.hpp:24
node_topics_interface.hpp
node_topics_interface_traits.hpp
std::enable_if
rclcpp::node_interfaces::detail::get_node_topics_interface_from_pointer
std::shared_ptr< rclcpp::node_interfaces::NodeTopicsInterface > get_node_topics_interface_from_pointer(NodeType node_pointer)
Definition:
get_node_topics_interface.hpp:53
std::invalid_argument
rclcpp::node_interfaces::get_node_topics_interface
std::shared_ptr< rclcpp::node_interfaces::NodeTopicsInterface > get_node_topics_interface(NodeType &&node)
Get the NodeTopicsInterface as a shared pointer from a pointer to a "Node like" object.
Definition:
get_node_topics_interface.hpp:72
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