refactored the smart ptr class macros

Author: wjwwood

rclcpp/include/rclcpp/any_executable.hpp

@@ -1,4 +1,4 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
+// Copyright 2015 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.
@@ -27,11 +27,11 @@ namespace executor
 
 struct AnyExecutable
 {
-  RCLCPP_MAKE_SHARED_DEFINITIONS(AnyExecutable);
+  RCLCPP_SMART_PTR_DEFINITIONS(AnyExecutable);
   AnyExecutable()
   : subscription(0), timer(0), callback_group(0), node(0)
   {}
-  // Either the subscription or the timer will be set, but not both
+  // Only one of the following pointers will be set.
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
   rclcpp::timer::TimerBase::SharedPtr timer;
   rclcpp::service::ServiceBase::SharedPtr service;

rclcpp/include/rclcpp/callback_group.hpp

@@ -52,7 +52,7 @@ class CallbackGroup
   friend class rclcpp::executor::Executor;
 
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(CallbackGroup);
+  RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup);
 
   CallbackGroup(CallbackGroupType group_type)
   : type_(group_type), can_be_taken_from_(true)

rclcpp/include/rclcpp/client.hpp

@@ -45,7 +45,7 @@ class ClientBase
   friend class rclcpp::executor::Executor;
 
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(ClientBase);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase);
 
   ClientBase(
     std::shared_ptr<rmw_node_t> node_handle,
@@ -99,7 +99,7 @@ class Client : public ClientBase
 
   typedef std::function<void (SharedFuture)> CallbackType;
 
-  RCLCPP_MAKE_SHARED_DEFINITIONS(Client);
+  RCLCPP_SMART_PTR_DEFINITIONS(Client);
 
   Client(
     std::shared_ptr<rmw_node_t> node_handle,

rclcpp/include/rclcpp/context.hpp

@@ -28,7 +28,7 @@ namespace context
 class Context
 {
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(Context);
+  RCLCPP_SMART_PTR_DEFINITIONS(Context);
 
   Context() {}
 

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -27,7 +27,7 @@ namespace default_context
 class DefaultContext : public rclcpp::context::Context
 {
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(DefaultContext);
+  RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext);
 
   DefaultContext() {}
 

rclcpp/include/rclcpp/executor.hpp

@@ -40,7 +40,7 @@ class Executor
   friend class memory_strategy::MemoryStrategy;
 
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(Executor);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor);
 
   explicit Executor(memory_strategy::MemoryStrategy::SharedPtr ms =
     memory_strategy::create_default_strategy())

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -38,7 +38,7 @@ namespace multi_threaded_executor
 class MultiThreadedExecutor : public executor::Executor
 {
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(MultiThreadedExecutor);
+  RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor);
 
   MultiThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
     memory_strategy::create_default_strategy())

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -39,7 +39,7 @@ namespace single_threaded_executor
 class SingleThreadedExecutor : public executor::Executor
 {
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(SingleThreadedExecutor);
+  RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor);
 
   SingleThreadedExecutor(memory_strategy::MemoryStrategy::SharedPtr ms =
     memory_strategy::create_default_strategy())

rclcpp/include/rclcpp/macros.hpp

@@ -23,21 +23,64 @@
   Class(const Class &) = delete; \
   Class & operator=(const Class &) = delete;
 
-/* Defines a make_shared static function on the class using perfect forwarding.
+/* Defines aliases and static functions for using the Class with smart pointers.
  *
  * Use in the public section of the class.
  * Make sure to include <memory> in the header when using this.
  */
-#define RCLCPP_MAKE_SHARED_DEFINITIONS(Class) \
-  typedef std::shared_ptr<Class> SharedPtr; \
- \
+#define RCLCPP_SMART_PTR_DEFINITIONS(Class) \
+  RCLCPP_SHARED_PTR_DEFINITIONS(Class) \
+  RCLCPP_WEAK_PTR_DEFINITIONS(Class) \
+  RCLCPP_UNIQUE_PTR_DEFINITIONS(Class)
+
+/* Defines aliases and static functions for using the Class with smart pointers.
+ *
+ * Same as RCLCPP_SMART_PTR_DEFINITIONS expect it excludes the static
+ * Class::make_unique() method definition which does not work on classes which
+ * are not CopyConstructable.
+ *
+ * Use in the public section of the class.
+ * Make sure to include <memory> in the header when using this.
+ */
+#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Class) \
+  RCLCPP_SHARED_PTR_DEFINITIONS(Class) \
+  RCLCPP_WEAK_PTR_DEFINITIONS(Class) \
+  __RCLCPP_UNIQUE_PTR_ALIAS(Class)
+
+#define __RCLCPP_SHARED_PTR_ALIAS(Class) using SharedPtr = std::shared_ptr<Class>;
+
+#define __RCLCPP_MAKE_SHARED_DEFINITION(Class) \
   template<typename ... Args> \
   static std::shared_ptr<Class> \
   make_shared(Args && ... args) \
   { \
     return std::make_shared<Class>(std::forward<Args>(args) ...); \
   }
 
+/// Defines aliases and static functions for using the Class with shared_ptrs.
+#define RCLCPP_SHARED_PTR_DEFINITIONS(Class) \
+  __RCLCPP_SHARED_PTR_ALIAS(Class) \
+  __RCLCPP_MAKE_SHARED_DEFINITION(Class)
+
+#define __RCLCPP_WEAK_PTR_ALIAS(Class) using WeakPtr = std::weak_ptr<Class>;
+
+/// Defines aliases and static functions for using the Class with weak_ptrs.
+#define RCLCPP_WEAK_PTR_DEFINITIONS(Class) __RCLCPP_WEAK_PTR_ALIAS(Class)
+
+#define __RCLCPP_UNIQUE_PTR_ALIAS(Class) using UniquePtr = std::unique_ptr<Class>;
+
+#define __RCLCPP_MAKE_UNIQUE_DEFINITION(Class) \
+  template<typename ... Args> \
+  static std::unique_ptr<Class> \
+  make_unique(Args && ... args) \
+  { \
+    return std::unique_ptr<Class>(new Class(std::forward<Args>(args) ...)); \
+  }
+/// Defines aliases and static functions for using the Class with unique_ptrs.
+#define RCLCPP_UNIQUE_PTR_DEFINITIONS(Class) \
+  __RCLCPP_UNIQUE_PTR_ALIAS(Class) \
+  __RCLCPP_MAKE_UNIQUE_DEFINITION(Class)
+
 #define RCLCPP_INFO(Args) std::cout << Args << std::endl;
 
 #endif /* RCLCPP_RCLCPP_MACROS_HPP_ */

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -36,7 +36,7 @@ class MemoryStrategy
   friend class executor::Executor;
 
 public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(MemoryStrategy);
+  RCLCPP_SMART_PTR_DEFINITIONS(MemoryStrategy);
   virtual void ** borrow_handles(HandleType type, size_t number_of_handles)
   {
     (void)type;