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Move type checking to a static_assert #38

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Jun 10, 2015
Merged

Move type checking to a static_assert #38

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23 changes: 22 additions & 1 deletion rclcpp/include/rclcpp/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,13 @@ class Executor;
namespace node
{

/* NOTE(esteve):
* We support service callbacks that can optionally take the request id,
* which should be possible with two overloaded create_service methods,
* but unfortunately std::function's constructor on VS2015 is too greedy,
* so we need a mechanism for checking the arity and the type of each argument
* in a callback function.
*/
template<typename FunctionT>
struct function_traits
{
Expand Down Expand Up @@ -242,20 +249,34 @@ class Node
typename function_traits<FunctorT>::template argument_type<1>,
typename std::shared_ptr<typename ServiceT::Request>
>::value
>::type * = nullptr,
>::type * = nullptr
/*
TODO(esteve): reenable this block of code when VS2015 gets better support
for SFINAE and remove the static_assert from the body of this method. For
more info about the current support for SFINAE in VS2015 RC:

http://blogs.msdn.com/b/vcblog/archive/2015/04/29/c-11-14-17-features-in-vs-2015-rc.aspx
,
typename std::enable_if<
std::is_same<
typename function_traits<FunctorT>::template argument_type<2>,
typename std::shared_ptr<typename ServiceT::Response>
>::value
>::type * = nullptr
*/
>
typename rclcpp::service::Service<ServiceT>::SharedPtr
create_service_internal(
rmw_service_t * service_handle,
const std::string & service_name,
FunctorT callback)
{
static_assert(
std::is_same<
typename function_traits<FunctorT>::template argument_type<2>,
typename std::shared_ptr<typename ServiceT::Response>
>::value, "Third argument must be of type std::shared_ptr<ServiceT::Response>");

typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
callback;
return service::Service<ServiceT>::make_shared(
Expand Down