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rtt_roscomm: fixed compilation of service plugins with Clang #133

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merged 1 commit into from
Oct 18, 2019
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rtt_roscomm: fixed compilation of service plugins with Clang #133

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67 changes: 37 additions & 30 deletions rtt_roscomm/include/rtt_roscomm/rtt_rosservice_proxy.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,9 @@
#include <rtt/internal/GlobalEngine.hpp>
#include <rtt/plugin/ServicePlugin.hpp>

#include <boost/utility/enable_if.hpp>
#include <boost/type_traits/is_void.hpp>

//! Abstract ROS Service Proxy
class ROSServiceProxyBase
{
Expand Down Expand Up @@ -46,7 +49,9 @@ class ROSServiceServerOperationCallerBase {
};

template<class ROS_SERVICE_T, int variant = 0>
struct ROSServiceServerOperationCallerWrapper;
struct ROSServiceServerOperationCallerWrapper {
typedef void ProxyOperationCallerType;
};

// Default implementation of an OperationCaller that fowards ROS service calls to Orocos operations
// that have the default bool(Request&, Response&) signature. You can add more variants of this class
Expand All @@ -66,7 +71,7 @@ struct ROSServiceServerOperationCallerWrapper<ROS_SERVICE_T,0> {
template<class ROS_SERVICE_T, int variant = 0>
class ROSServiceServerOperationCaller : public ROSServiceServerOperationCallerBase<ROS_SERVICE_T> {
public:
using typename ROSServiceServerOperationCallerBase<ROS_SERVICE_T>::Ptr;
typedef typename ROSServiceServerOperationCallerBase<ROS_SERVICE_T>::Ptr Ptr;

//! The wrapper type for this variant
typedef ROSServiceServerOperationCallerWrapper<ROS_SERVICE_T, variant> Wrapper;
Expand All @@ -75,14 +80,7 @@ class ROSServiceServerOperationCaller : public ROSServiceServerOperationCallerBa
typedef typename Wrapper::ProxyOperationCallerType ProxyOperationCallerType;
typedef boost::shared_ptr<ProxyOperationCallerType> ProxyOperationCallerTypePtr;

static Ptr connect(RTT::OperationInterfacePart* operation) {
ProxyOperationCallerTypePtr proxy_operation_caller
= boost::make_shared<ProxyOperationCallerType>(operation->getLocalOperation(), RTT::internal::GlobalEngine::Instance());
if (proxy_operation_caller->ready()) {
return Ptr(new ROSServiceServerOperationCaller<ROS_SERVICE_T, variant>(proxy_operation_caller));
}
return NextVariant<void>::connect(operation);
}
static Ptr connect(RTT::OperationInterfacePart* operation);

virtual bool call(typename ROS_SERVICE_T::Request& request, typename ROS_SERVICE_T::Response& response) const {
// Check if the operation caller is ready, and then call it.
Expand All @@ -91,32 +89,41 @@ class ROSServiceServerOperationCaller : public ROSServiceServerOperationCallerBa
}

private:
template<typename Dummy> struct Void { typedef void type; };
ROSServiceServerOperationCaller(const boost::shared_ptr<ProxyOperationCallerType>& impl)
: proxy_operation_caller_(impl) {}

template<typename R = void, typename Enabled = void> struct EnableIfHasNextVariant { };
ProxyOperationCallerTypePtr proxy_operation_caller_;
};

template<typename R> struct EnableIfHasNextVariant<R,
typename Void<typename ROSServiceServerOperationCallerWrapper<ROS_SERVICE_T, variant + 1>::ProxyOperationCallerType>::type> {
typedef R type;
};
namespace {

template<typename R = void, typename Enabled = void>
struct NextVariant {
static Ptr connect(RTT::OperationInterfacePart*) { return Ptr(); }
};
template<class ROS_SERVICE_T, int variant, typename Enabled = void>
struct ROSServiceServerOperationCallerWrapperNextVariant {
typedef typename ROSServiceServerOperationCallerBase<ROS_SERVICE_T>::Ptr Ptr;
static Ptr connect(RTT::OperationInterfacePart*) { return Ptr(); }
};

template<typename R>
struct NextVariant<R, typename EnableIfHasNextVariant<R>::type> {
static Ptr connect(RTT::OperationInterfacePart* operation) {
return ROSServiceServerOperationCaller<ROS_SERVICE_T, variant + 1>::connect(operation);
}
};
template<class ROS_SERVICE_T, int variant>
struct ROSServiceServerOperationCallerWrapperNextVariant<ROS_SERVICE_T, variant,
typename boost::disable_if<boost::is_void<typename ROSServiceServerOperationCallerWrapper<ROS_SERVICE_T, variant + 1>::ProxyOperationCallerType> >::type> {
typedef typename ROSServiceServerOperationCallerBase<ROS_SERVICE_T>::Ptr Ptr;
static Ptr connect(RTT::OperationInterfacePart* operation) {
return ROSServiceServerOperationCaller<ROS_SERVICE_T, variant + 1>::connect(operation);
}
};

ROSServiceServerOperationCaller(const boost::shared_ptr<ProxyOperationCallerType>& impl)
: proxy_operation_caller_(impl) {}
}

ProxyOperationCallerTypePtr proxy_operation_caller_;
};
template<class ROS_SERVICE_T, int variant>
typename ROSServiceServerOperationCaller<ROS_SERVICE_T, variant>::Ptr
ROSServiceServerOperationCaller<ROS_SERVICE_T, variant>::connect(RTT::OperationInterfacePart* operation) {
ProxyOperationCallerTypePtr proxy_operation_caller
= boost::make_shared<ProxyOperationCallerType>(operation->getLocalOperation(), RTT::internal::GlobalEngine::Instance());
if (proxy_operation_caller->ready()) {
return Ptr(new ROSServiceServerOperationCaller<ROS_SERVICE_T, variant>(proxy_operation_caller));
}
return ROSServiceServerOperationCallerWrapperNextVariant<ROS_SERVICE_T, variant>::connect(operation);
}

template<class ROS_SERVICE_T>
class ROSServiceServerProxy : public ROSServiceServerProxyBase
Expand Down