Cannot use free function in rclcpp::create_timer because of invalid static_cast #1915
Description
Bug report
Required Info:
- Operating System:
- Jammy
- Installation type:
- Source
- Version or commit hash:
- DDS implementation:
- Fast-DDS
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
#include <iostream>
#include "rclcpp/rclcpp.hpp"
void timer_callback()
{
std::cerr << "timer ran\n";
}
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<rclcpp::Node>("rclcpp_create_timer");
auto some_timer = rclcpp::create_timer(
node,
node->get_clock(),
rclcpp::Duration(10, 0),
timer_callback);
rclcpp::executors::SingleThreadedExecutor exe;
exe.add_node(node);
exe.spin();
rclcpp::shutdown();
return 0;
}add_executable(rclcpp_create_timer
src/rclcpp_create_timer.cpp)
target_link_libraries(rclcpp_create_timer
rclcpp::rclcpp)Expected behavior
Successful compilation
Actual behavior
Compilation fails.
In file included from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/service.hpp:34,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/callback_group.hpp:25,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/any_executable.hpp:20,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/executor_options.hpp:20,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/executor.hpp:37,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/executors.hpp:21,
from /home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/osrf/ws/ros2/src/ros2/demos/lifecycle/src/rclcpp_create_timer.cpp:2:
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp: In instantiation of ‘rclcpp::GenericTimer<FunctorT, <anonymous> >::GenericTimer(rclcpp::Clock::SharedPtr, std::chrono::nanoseconds, FunctorT&&, rclcpp::Context::SharedPtr) [with FunctorT = void (&)(); typename std::enable_if<(rclcpp::function_traits::same_arguments<FunctorT, std::function<void()> >::value || rclcpp::function_traits::same_arguments<FunctorT, std::function<void(rclcpp::TimerBase&)> >::value)>::type* <anonymous> = 0; rclcpp::Clock::SharedPtr = std::shared_ptr<rclcpp::Clock>; std::chrono::nanoseconds = std::chrono::duration<long int, std::ratio<1, 1000000000> >; rclcpp::Context::SharedPtr = std::shared_ptr<rclcpp::Context>]’:
/usr/include/c++/11/ext/new_allocator.h:162:4: required from ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = rclcpp::GenericTimer<void (&)(), 0>; _Args = {std::shared_ptr<rclcpp::Clock>&, std::chrono::duration<long int, std::ratio<1, 1000000000> >, void (&)(), std::shared_ptr<rclcpp::Context>}; _Tp = rclcpp::GenericTimer<void (&)(), 0>]’
/usr/include/c++/11/bits/alloc_traits.h:516:17: required from ‘static void std::allocator_traits<std::allocator<_CharT> >::construct(std::allocator_traits<std::allocator<_CharT> >::allocator_type&, _Up*, _Args&& ...) [with _Up = rclcpp::GenericTimer<void (&)(), 0>; _Args = {std::shared_ptr<rclcpp::Clock>&, std::chrono::duration<long int, std::ratio<1, 1000000000> >, void (&)(), std::shared_ptr<rclcpp::Context>}; _Tp = rclcpp::GenericTimer<void (&)(), 0>; std::allocator_traits<std::allocator<_CharT> >::allocator_type = std::allocator<rclcpp::GenericTimer<void (&)(), 0> >]’
/usr/include/c++/11/bits/shared_ptr_base.h:519:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {std::shared_ptr<rclcpp::Clock>&, std::chrono::duration<long int, std::ratio<1, 1000000000> >, void (&)(), std::shared_ptr<rclcpp::Context>}; _Tp = rclcpp::GenericTimer<void (&)(), 0>; _Alloc = std::allocator<rclcpp::GenericTimer<void (&)(), 0> >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/11/bits/shared_ptr_base.h:650:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = rclcpp::GenericTimer<void (&)(), 0>; _Alloc = std::allocator<rclcpp::GenericTimer<void (&)(), 0> >; _Args = {std::shared_ptr<rclcpp::Clock>&, std::chrono::duration<long int, std::ratio<1, 1000000000> >, void (&)(), std::shared_ptr<rclcpp::Context>}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/11/bits/shared_ptr_base.h:1342:14: [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/include/c++/11/bits/shared_ptr.h:862:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = rclcpp::GenericTimer<void (&)(), 0>; _Alloc = std::allocator<rclcpp::GenericTimer<void (&)(), 0> >; _Args = {std::shared_ptr<rclcpp::Clock>&, std::chrono::duration<long int, std::ratio<1, 1000000000> >, void (&)(), std::shared_ptr<rclcpp::Context>}]’
/usr/include/c++/11/bits/shared_ptr.h:878:39: required from ‘std::shared_ptr<_Tp> std::make_shared(_Args&& ...) [with _Tp = rclcpp::GenericTimer<void (&)(), 0>; _Args = {std::shared_ptr<rclcpp::Clock>&, std::chrono::duration<long int, std::ratio<1, 1000000000> >, void (&)(), std::shared_ptr<rclcpp::Context>}]’
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:174:3: required from ‘static std::shared_ptr<rclcpp::GenericTimer<FunctorT, <anonymous> > > rclcpp::GenericTimer<FunctorT, <anonymous> >::make_shared(Args&& ...) [with Args = {std::shared_ptr<rclcpp::Clock>&, std::chrono::duration<long int, std::ratio<1, 1000000000> >, void (&)(), std::shared_ptr<rclcpp::Context>}; FunctorT = void (&)(); typename std::enable_if<(rclcpp::function_traits::same_arguments<FunctorT, std::function<void()> >::value || rclcpp::function_traits::same_arguments<FunctorT, std::function<void(rclcpp::TimerBase&)> >::value)>::type* <anonymous> = 0]’
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/create_timer.hpp:44:60: required from ‘rclcpp::TimerBase::SharedPtr rclcpp::create_timer(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface>, rclcpp::Clock::SharedPtr, rclcpp::Duration, CallbackT&&, rclcpp::CallbackGroup::SharedPtr) [with CallbackT = void (&)(); rclcpp::TimerBase::SharedPtr = std::shared_ptr<rclcpp::TimerBase>; rclcpp::Clock::SharedPtr = std::shared_ptr<rclcpp::Clock>; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/create_timer.hpp:64:22: required from ‘rclcpp::TimerBase::SharedPtr rclcpp::create_timer(NodeT, rclcpp::Clock::SharedPtr, rclcpp::Duration, CallbackT&&, rclcpp::CallbackGroup::SharedPtr) [with NodeT = std::shared_ptr<rclcpp::Node>; CallbackT = void (&)(); rclcpp::TimerBase::SharedPtr = std::shared_ptr<rclcpp::TimerBase>; rclcpp::Clock::SharedPtr = std::shared_ptr<rclcpp::Clock>; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
/home/osrf/ws/ros2/src/ros2/demos/lifecycle/src/rclcpp_create_timer.cpp:15:41: required from here
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:189:5: error: invalid ‘static_cast’ from type ‘void (*)()’ to type ‘const void*’
189 | TRACEPOINT(
| ^~~~~~~~~~
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:193:5: error: invalid ‘static_cast’ from type ‘void (*)()’ to type ‘const void*’
193 | TRACEPOINT(
| ^~~~~~~~~~
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp: In instantiation of ‘void rclcpp::GenericTimer<FunctorT, <anonymous> >::execute_callback() [with FunctorT = void (&)(); typename std::enable_if<(rclcpp::function_traits::same_arguments<FunctorT, std::function<void()> >::value || rclcpp::function_traits::same_arguments<FunctorT, std::function<void(rclcpp::TimerBase&)> >::value)>::type* <anonymous> = 0]’:
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:227:3: required from here
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:229:5: error: invalid ‘static_cast’ from type ‘void (*)()’ to type ‘const void*’
229 | TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
| ^~~~~~~~~~
/home/osrf/ws/ros2/install/rclcpp/include/rclcpp/rclcpp/timer.hpp:231:5: error: invalid ‘static_cast’ from type ‘void (*)()’ to type ‘const void*’
231 | TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
| ^~~~~~~~~~
gmake[2]: *** [CMakeFiles/rclcpp_create_timer.dir/build.make:76: CMakeFiles/rclcpp_create_timer.dir/src/rclcpp_create_timer.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:221: CMakeFiles/rclcpp_create_timer.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
Additional information
It looks like the cast added in #1263 tries to convert a function pointer to a void *, which isn't static_cast'able. reinterpret_cast might be required here.
Wrapping timer_callback in std::bind solves the issue.
auto some_timer = rclcpp::create_timer(
node,
node->get_clock(),
rclcpp::Duration(10, 0),
std::bind(timer_callback));