refactor to use a std::tuple and be immutable#1
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methylDragon merged 2 commits intomethylDragon:ch3/node-handlefrom Dec 14, 2022
Merged
refactor to use a std::tuple and be immutable#1methylDragon merged 2 commits intomethylDragon:ch3/node-handlefrom
methylDragon merged 2 commits intomethylDragon:ch3/node-handlefrom
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Signed-off-by: William Woodall <william@osrfoundation.org>
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| auto base = ni.get<NodeBaseInterface>(); | ||
| base = ni.get_node_base_interface(); | ||
| } | ||
| { | ||
| auto clock = ni.get<NodeClockInterface>(); | ||
| clock = ni.get_node_clock_interface(); | ||
| } | ||
| { | ||
| auto graph = ni.get<NodeGraphInterface>(); | ||
| graph = ni.get_node_graph_interface(); | ||
| } | ||
| { | ||
| auto logging = ni.get<NodeLoggingInterface>(); | ||
| logging = ni.get_node_logging_interface(); | ||
| } | ||
| { | ||
| auto timers = ni.get<NodeTimersInterface>(); | ||
| timers = ni.get_node_timers_interface(); | ||
| } | ||
| { | ||
| auto topics = ni.get<NodeTopicsInterface>(); | ||
| topics = ni.get_node_topics_interface(); | ||
| } | ||
| { | ||
| auto services = ni.get<NodeServicesInterface>(); | ||
| services = ni.get_node_services_interface(); | ||
| } | ||
| { | ||
| auto waitables = ni.get<NodeWaitablesInterface>(); | ||
| waitables = ni.get_node_waitables_interface(); | ||
| } | ||
| { | ||
| auto parameters = ni.get<NodeParametersInterface>(); | ||
| parameters = ni.get_node_parameters_interface(); | ||
| } | ||
| { | ||
| auto time_source = ni.get<NodeTimeSourceInterface>(); | ||
| time_source = ni.get_node_time_source_interface(); |
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I think we should test the obtained interface for functionality in this test or a subsequent one, though I don't think we need to do it for every interface?
(e.g. calling the base interface's get_name)
| 0 != sizeof ...(InterfaceTs), | ||
| "must provide at least one interface as a template argument"); | ||
| static_assert( | ||
| rclcpp::detail::template_unique_v<InterfaceTs ...>, |
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I don't see the need for it now, but I'm leaving a note here for myself in the case that in the future, we want to allow users to aggregate multiple versions of the same interface type.
That is:
NodeInterfaces<NodeBaseInterface, NodeBaseInterface>(base_1, base_2);
We could potentially do it like a colliding hashmap (where we have a linked list or some other indexed sequence container stored in the tuple instead of the ptr to the interface)
rclcpp/include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp
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Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>
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Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>
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Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>
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@methylDragon and I discussed this off-line and I drafted the changes, at least in rclcpp.
I think there might be more changes needed in places it is used. Also, changes to
LifecycleNodemight be needed or no longer needed actually, but I didn't have time to check that. All therclcpptests pass atm at least.