Program Listing for File node_interfaces.hpp
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// Copyright 2022 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__NODE_INTERFACES__NODE_INTERFACES_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_INTERFACES_HPP_
#include <memory>
#include "rclcpp/detail/template_unique.hpp"
#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
#define ALL_RCLCPP_NODE_INTERFACES \
rclcpp::node_interfaces::NodeBaseInterface, \
rclcpp::node_interfaces::NodeClockInterface, \
rclcpp::node_interfaces::NodeGraphInterface, \
rclcpp::node_interfaces::NodeLoggingInterface, \
rclcpp::node_interfaces::NodeParametersInterface, \
rclcpp::node_interfaces::NodeServicesInterface, \
rclcpp::node_interfaces::NodeTimeSourceInterface, \
rclcpp::node_interfaces::NodeTimersInterface, \
rclcpp::node_interfaces::NodeTopicsInterface, \
rclcpp::node_interfaces::NodeTypeDescriptionsInterface, \
rclcpp::node_interfaces::NodeWaitablesInterface
namespace rclcpp
{
namespace node_interfaces
{
template<typename ... InterfaceTs>
class NodeInterfaces
: public detail::NodeInterfacesSupportCheck<
detail::NodeInterfacesStorage<InterfaceTs ...>,
InterfaceTs ...
>,
public detail::NodeInterfacesSupports<
detail::NodeInterfacesStorage<InterfaceTs ...>,
InterfaceTs ...
>
{
static_assert(
0 != sizeof ...(InterfaceTs),
"must provide at least one interface as a template argument");
static_assert(
rclcpp::detail::template_unique_v<InterfaceTs ...>,
"must provide unique template parameters");
using NodeInterfacesSupportsT = detail::NodeInterfacesSupports<
detail::NodeInterfacesStorage<InterfaceTs ...>,
InterfaceTs ...
>;
public:
template<typename NodeT>
NodeInterfaces(NodeT & node) // NOLINT(runtime/explicit)
: NodeInterfacesSupportsT(node)
{}
// Create a NodeInterfaces object with no bound interfaces
NodeInterfaces()
: NodeInterfacesSupportsT()
{}
explicit NodeInterfaces(std::shared_ptr<InterfaceTs>... args)
: NodeInterfacesSupportsT(args ...)
{}
};
} // namespace node_interfaces
} // namespace rclcpp
#endif // RCLCPP__NODE_INTERFACES__NODE_INTERFACES_HPP_