Program Listing for File node_instance_wrapper.hpp
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// 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__