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Program Listing for File lifecycle_node_impl.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_lifecycle_lifecycle_node_impl.hpp>` (``include/rclcpp_lifecycle/lifecycle_node_impl.hpp``)

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

.. code-block:: cpp

   // Copyright 2016 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_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
   #define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
   
   #include <algorithm>
   #include <chrono>
   #include <functional>
   #include <map>
   #include <memory>
   #include <string>
   #include <utility>
   #include <vector>
   
   #include "rcl_interfaces/msg/parameter_descriptor.hpp"
   
   #include "rclcpp/callback_group.hpp"
   #include "rclcpp/create_client.hpp"
   #include "rclcpp/create_generic_publisher.hpp"
   #include "rclcpp/create_generic_subscription.hpp"
   #include "rclcpp/create_publisher.hpp"
   #include "rclcpp/create_service.hpp"
   #include "rclcpp/create_subscription.hpp"
   #include "rclcpp/parameter.hpp"
   #include "rclcpp/publisher_options.hpp"
   #include "rclcpp/qos.hpp"
   #include "rclcpp/subscription_options.hpp"
   #include "rclcpp/type_support_decl.hpp"
   
   #include "rmw/types.h"
   
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
   #include "rclcpp_lifecycle/visibility_control.h"
   
   namespace rclcpp_lifecycle
   {
   
   template<typename MessageT, typename AllocatorT>
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
   LifecycleNode::create_publisher(
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   {
     using PublisherT = rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>;
     auto pub = rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
       *this,
       topic_name,
       qos,
       options);
     this->add_managed_entity(pub);
     return pub;
   }
   
   // TODO(karsten1987): Create LifecycleSubscriber
   template<
     typename MessageT,
     typename CallbackT,
     typename AllocatorT,
     typename SubscriptionT,
     typename MessageMemoryStrategyT>
   std::shared_ptr<SubscriptionT>
   LifecycleNode::create_subscription(
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     CallbackT && callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
     typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
   {
     return rclcpp::create_subscription<MessageT>(
       *this,
       topic_name,
       qos,
       std::forward<CallbackT>(callback),
       options,
       msg_mem_strat);
   }
   
   template<typename DurationRepT, typename DurationT, typename CallbackT>
   typename rclcpp::WallTimer<CallbackT>::SharedPtr
   LifecycleNode::create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
     rclcpp::CallbackGroup::SharedPtr group)
   {
     return rclcpp::create_wall_timer(
       period,
       std::move(callback),
       group,
       this->node_base_.get(),
       this->node_timers_.get());
   }
   
   template<typename DurationRepT, typename DurationT, typename CallbackT>
   typename rclcpp::GenericTimer<CallbackT>::SharedPtr
   LifecycleNode::create_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
     rclcpp::CallbackGroup::SharedPtr group)
   {
     return rclcpp::create_timer(
       this->get_clock(),
       period,
       std::move(callback),
       group,
       this->node_base_.get(),
       this->node_timers_.get());
   }
   
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   LifecycleNode::create_client(
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile,
     rclcpp::CallbackGroup::SharedPtr group)
   {
     return rclcpp::create_client<ServiceT>(
       node_base_, node_graph_, node_services_,
       service_name, qos_profile, group);
   }
   
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   LifecycleNode::create_client(
     const std::string & service_name,
     const rclcpp::QoS & qos,
     rclcpp::CallbackGroup::SharedPtr group)
   {
     return rclcpp::create_client<ServiceT>(
       node_base_, node_graph_, node_services_,
       service_name, qos, group);
   }
   
   template<typename ServiceT, typename CallbackT>
   typename rclcpp::Service<ServiceT>::SharedPtr
   LifecycleNode::create_service(
     const std::string & service_name,
     CallbackT && callback,
     const rmw_qos_profile_t & qos_profile,
     rclcpp::CallbackGroup::SharedPtr group)
   {
     return rclcpp::create_service<ServiceT, CallbackT>(
       node_base_, node_services_,
       service_name, std::forward<CallbackT>(callback), qos_profile, group);
   }
   
   template<typename ServiceT, typename CallbackT>
   typename rclcpp::Service<ServiceT>::SharedPtr
   LifecycleNode::create_service(
     const std::string & service_name,
     CallbackT && callback,
     const rclcpp::QoS & qos,
     rclcpp::CallbackGroup::SharedPtr group)
   {
     return rclcpp::create_service<ServiceT, CallbackT>(
       node_base_, node_services_,
       service_name, std::forward<CallbackT>(callback), qos, group);
   }
   
   template<typename AllocatorT>
   std::shared_ptr<rclcpp::GenericPublisher>
   LifecycleNode::create_generic_publisher(
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   {
     return rclcpp::create_generic_publisher(
       node_topics_,
       // TODO(karsten1987): LifecycleNode is currently not supporting subnamespaces
       // see https://github.com/ros2/rclcpp/issues/1614
       topic_name,
       topic_type,
       qos,
       options
     );
   }
   
   template<typename AllocatorT>
   std::shared_ptr<rclcpp::GenericSubscription>
   LifecycleNode::create_generic_subscription(
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
     std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
   {
     return rclcpp::create_generic_subscription(
       node_topics_,
       // TODO(karsten1987): LifecycleNode is currently not supporting subnamespaces
       // see https://github.com/ros2/rclcpp/issues/1614
       topic_name,
       topic_type,
       qos,
       std::move(callback),
       options
     );
   }
   
   template<typename ParameterT>
   auto
   LifecycleNode::declare_parameter(
     const std::string & name,
     const ParameterT & default_value,
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
     bool ignore_override)
   {
     return this->declare_parameter(
       name,
       rclcpp::ParameterValue(default_value),
       parameter_descriptor,
       ignore_override
     ).get<ParameterT>();
   }
   
   template<typename ParameterT>
   auto
   LifecycleNode::declare_parameter(
     const std::string & name,
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
     bool ignore_override)
   {
     // get advantage of parameter value template magic to get
     // the correct rclcpp::ParameterType from ParameterT
     rclcpp::ParameterValue value{ParameterT{}};
     return this->declare_parameter(
       name,
       value.get_type(),
       parameter_descriptor,
       ignore_override
     ).get<ParameterT>();
   }
   
   template<typename ParameterT>
   std::vector<ParameterT>
   LifecycleNode::declare_parameters(
     const std::string & namespace_,
     const std::map<std::string, ParameterT> & parameters)
   {
     std::vector<ParameterT> result;
     std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
     std::transform(
       parameters.begin(), parameters.end(), std::back_inserter(result),
       [this, &normalized_namespace](auto element) {
         return this->declare_parameter(normalized_namespace + element.first, element.second);
       }
     );
     return result;
   }
   
   template<typename ParameterT>
   std::vector<ParameterT>
   LifecycleNode::declare_parameters(
     const std::string & namespace_,
     const std::map<
       std::string,
       std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
     > & parameters)
   {
     std::vector<ParameterT> result;
     std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
     std::transform(
       parameters.begin(), parameters.end(), std::back_inserter(result),
       [this, &normalized_namespace](auto element) {
         return static_cast<ParameterT>(
           this->declare_parameter(
             normalized_namespace + element.first,
             element.second.first,
             element.second.second)
         );
       }
     );
     return result;
   }
   
   template<typename ParameterT>
   bool
   LifecycleNode::get_parameter(const std::string & name, ParameterT & parameter) const
   {
     rclcpp::Parameter param(name, parameter);
     bool result = get_parameter(name, param);
     parameter = param.get_value<ParameterT>();
   
     return result;
   }
   
   // this is a partially-specialized version of get_parameter above,
   // where our concrete type for ParameterT is std::map, but the to-be-determined
   // type is the value in the map.
   template<typename MapValueT>
   bool
   LifecycleNode::get_parameters(
     const std::string & prefix,
     std::map<std::string, MapValueT> & values) const
   {
     std::map<std::string, rclcpp::Parameter> params;
     bool result = node_parameters_->get_parameters_by_prefix(prefix, params);
     if (result) {
       for (const auto & param : params) {
         values[param.first] = param.second.get_value<MapValueT>();
       }
     }
   
     return result;
   }
   
   template<typename ParameterT>
   bool
   LifecycleNode::get_parameter_or(
     const std::string & name,
     ParameterT & value,
     const ParameterT & alternative_value) const
   {
     bool got_parameter = get_parameter(name, value);
     if (!got_parameter) {
       value = alternative_value;
     }
     return got_parameter;
   }
   
   }  // namespace rclcpp_lifecycle
   #endif  // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_