node_instance_wrapper.hpp

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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.
 
#ifndef RCLCPP_COMPONENTS__NODE_INSTANCE_WRAPPER_HPP__
#define RCLCPP_COMPONENTS__NODE_INSTANCE_WRAPPER_HPP__
 
#include <functional>
#include <memory>
 
#include "rclcpp/node_interfaces/node_base_interface.hpp"
 
namespace rclcpp_components
{
class NodeInstanceWrapper
{
public:
  using NodeBaseInterfaceGetter = std::function<
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr(const std::shared_ptr<void> &)>;
 
  NodeInstanceWrapper()
  : node_instance_(nullptr)
  {}
 
  NodeInstanceWrapper(
    std::shared_ptr<void> node_instance,
    NodeBaseInterfaceGetter node_base_interface_getter)
  : node_instance_(node_instance), node_base_interface_getter_(node_base_interface_getter)
  {}
 
 
  const std::shared_ptr<void>
  get_node_instance() const
  {
    return node_instance_;
  }
 
 
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
  get_node_base_interface()
  {
    return node_base_interface_getter_(node_instance_);
  }
 
private:
  std::shared_ptr<void> node_instance_;
  NodeBaseInterfaceGetter node_base_interface_getter_;
};
}  // namespace rclcpp_components
 
#endif  // RCLCPP_COMPONENTS__NODE_INSTANCE_WRAPPER_HPP__