Program Listing for File create_server.hpp
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// Copyright 2018 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_ACTION__CREATE_SERVER_HPP_
#define RCLCPP_ACTION__CREATE_SERVER_HPP_
#include <memory>
#include <string>
#include "rcl_action/action_server.h"
#include "rclcpp/node.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
#include "rclcpp_action/server.hpp"
#include "rclcpp_action/visibility_control.hpp"
namespace rclcpp_action
{
template<typename ActionT>
typename Server<ActionT>::SharedPtr
create_server(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
const std::string & name,
typename Server<ActionT>::GoalCallback handle_goal,
typename Server<ActionT>::CancelCallback handle_cancel,
typename Server<ActionT>::AcceptedCallback handle_accepted,
const rcl_action_server_options_t & options = rcl_action_server_get_default_options(),
rclcpp::CallbackGroup::SharedPtr group = nullptr)
{
std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node =
node_waitables_interface;
std::weak_ptr<rclcpp::CallbackGroup> weak_group = group;
bool group_is_null = (nullptr == group.get());
auto deleter = [weak_node, weak_group, group_is_null](Server<ActionT> * ptr)
{
if (nullptr == ptr) {
return;
}
auto shared_node = weak_node.lock();
if (shared_node) {
// API expects a shared pointer, give it one with a deleter that does nothing.
std::shared_ptr<Server<ActionT>> fake_shared_ptr(ptr, [](Server<ActionT> *) {});
if (group_is_null) {
// Was added to default group
shared_node->remove_waitable(fake_shared_ptr, nullptr);
} else {
// Was added to a specific group
auto shared_group = weak_group.lock();
if (shared_group) {
shared_node->remove_waitable(fake_shared_ptr, shared_group);
}
}
}
delete ptr;
};
std::shared_ptr<Server<ActionT>> action_server(new Server<ActionT>(
node_base_interface,
node_clock_interface,
node_logging_interface,
name,
options,
handle_goal,
handle_cancel,
handle_accepted), deleter);
node_waitables_interface->add_waitable(action_server, group);
return action_server;
}
template<typename ActionT, typename NodeT>
typename Server<ActionT>::SharedPtr
create_server(
NodeT node,
const std::string & name,
typename Server<ActionT>::GoalCallback handle_goal,
typename Server<ActionT>::CancelCallback handle_cancel,
typename Server<ActionT>::AcceptedCallback handle_accepted,
const rcl_action_server_options_t & options = rcl_action_server_get_default_options(),
rclcpp::CallbackGroup::SharedPtr group = nullptr)
{
return create_server<ActionT>(
node->get_node_base_interface(),
node->get_node_clock_interface(),
node->get_node_logging_interface(),
node->get_node_waitables_interface(),
name,
handle_goal,
handle_cancel,
handle_accepted,
options,
group);
}
} // namespace rclcpp_action
#endif // RCLCPP_ACTION__CREATE_SERVER_HPP_