loaned_state_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_STATE_INTERFACE_HPP_
#define HARDWARE_INTERFACE__LOANED_STATE_INTERFACE_HPP_
 
#include <functional>
#include <string>
#include <utility>
 
#include "hardware_interface/handle.hpp"
 
namespace hardware_interface
{
class LoanedStateInterface
{
public:
  using Deleter = std::function<void(void)>;
 
  explicit LoanedStateInterface(StateInterface & state_interface)
  : LoanedStateInterface(state_interface, nullptr)
  {
  }
 
  LoanedStateInterface(StateInterface & state_interface, Deleter && deleter)
  : state_interface_(state_interface), deleter_(std::forward<Deleter>(deleter))
  {
  }
 
  LoanedStateInterface(const LoanedStateInterface & other) = delete;
 
  LoanedStateInterface(LoanedStateInterface && other) = default;
 
  virtual ~LoanedStateInterface()
  {
    if (deleter_)
    {
      deleter_();
    }
  }
 
  const std::string & get_name() const { return state_interface_.get_name(); }
 
  const std::string & get_interface_name() const { return state_interface_.get_interface_name(); }
 
  const std::string get_full_name() const { return state_interface_.get_full_name(); }
 
  double get_value() const { return state_interface_.get_value(); }
 
protected:
  StateInterface & state_interface_;
  Deleter deleter_;
};
 
}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__LOANED_STATE_INTERFACE_HPP_