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any_service_callback.hpp
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123 lines (109 loc) · 3.55 KB
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// Copyright 2015 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__ANY_SERVICE_CALLBACK_HPP_
#define RCLCPP__ANY_SERVICE_CALLBACK_HPP_
#include <functional>
#include <memory>
#include <stdexcept>
#include <type_traits>
#include "rclcpp/function_traits.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rmw/types.h"
#include "tracetools/tracetools.h"
#include "tracetools/utils.hpp"
namespace rclcpp
{
template<typename ServiceT>
class AnyServiceCallback
{
private:
using SharedPtrCallback = std::function<
void (
const std::shared_ptr<typename ServiceT::Request>,
std::shared_ptr<typename ServiceT::Response>
)>;
using SharedPtrWithRequestHeaderCallback = std::function<
void (
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<typename ServiceT::Request>,
std::shared_ptr<typename ServiceT::Response>
)>;
SharedPtrCallback shared_ptr_callback_;
SharedPtrWithRequestHeaderCallback shared_ptr_with_request_header_callback_;
public:
AnyServiceCallback()
: shared_ptr_callback_(nullptr), shared_ptr_with_request_header_callback_(nullptr)
{}
AnyServiceCallback(const AnyServiceCallback &) = default;
template<
typename CallbackT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<
CallbackT,
SharedPtrCallback
>::value
>::type * = nullptr
>
void set(CallbackT callback)
{
shared_ptr_callback_ = callback;
}
template<
typename CallbackT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<
CallbackT,
SharedPtrWithRequestHeaderCallback
>::value
>::type * = nullptr
>
void set(CallbackT callback)
{
shared_ptr_with_request_header_callback_ = callback;
}
void dispatch(
std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<typename ServiceT::Request> request,
std::shared_ptr<typename ServiceT::Response> response)
{
TRACEPOINT(callback_start, static_cast<const void *>(this), false);
if (shared_ptr_callback_ != nullptr) {
(void)request_header;
shared_ptr_callback_(request, response);
} else if (shared_ptr_with_request_header_callback_ != nullptr) {
shared_ptr_with_request_header_callback_(request_header, request, response);
} else {
throw std::runtime_error("unexpected request without any callback set");
}
TRACEPOINT(callback_end, static_cast<const void *>(this));
}
void register_callback_for_tracing()
{
#ifndef TRACETOOLS_DISABLED
if (shared_ptr_callback_) {
TRACEPOINT(
rclcpp_callback_register,
static_cast<const void *>(this),
tracetools::get_symbol(shared_ptr_callback_));
} else if (shared_ptr_with_request_header_callback_) {
TRACEPOINT(
rclcpp_callback_register,
static_cast<const void *>(this),
tracetools::get_symbol(shared_ptr_with_request_header_callback_));
}
#endif // TRACETOOLS_DISABLED
}
};
} // namespace rclcpp
#endif // RCLCPP__ANY_SERVICE_CALLBACK_HPP_