loaned_command_interface.hpp

// Copyright 2020 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.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_
#define HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_
 
#include <functional>
#include <string>
#include <utility>
 
#include "hardware_interface/handle.hpp"
 
namespace hardware_interface
{
class LoanedCommandInterface
{
public:
  using Deleter = std::function<void(void)>;
 
  explicit LoanedCommandInterface(CommandInterface & command_interface)
  : LoanedCommandInterface(command_interface, nullptr)
  {
  }
 
  LoanedCommandInterface(CommandInterface & command_interface, Deleter && deleter)
  : command_interface_(command_interface), deleter_(std::forward<Deleter>(deleter))
  {
  }
 
  LoanedCommandInterface(const LoanedCommandInterface & other) = delete;
 
  LoanedCommandInterface(LoanedCommandInterface && other) = default;
 
  virtual ~LoanedCommandInterface()
  {
    if (deleter_)
    {
      deleter_();
    }
  }
 
  const std::string & get_name() const { return command_interface_.get_name(); }
 
  const std::string & get_interface_name() const { return command_interface_.get_interface_name(); }
 
  const std::string get_full_name() const { return command_interface_.get_full_name(); }
 
  void set_value(double val) { command_interface_.set_value(val); }
 
  double get_value() const { return command_interface_.get_value(); }
 
protected:
  CommandInterface & command_interface_;
  Deleter deleter_;
};
 
}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__LOANED_COMMAND_INTERFACE_HPP_