.. _program_listing_file_include_rclcpp_components_node_instance_wrapper.hpp:

Program Listing for File node_instance_wrapper.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_components_node_instance_wrapper.hpp>` (``include/rclcpp_components/node_instance_wrapper.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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__