build_handler_factory_template.hpp

// Copyright 2024 Robin Müller
//
// 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
//
//      https://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.
 
#pragma once
 
#include "auto_apms_behavior_tree/build_handler/build_handler_factory_interface.hpp"
 
namespace auto_apms_behavior_tree
{
 
template <typename T>
class TreeBuildHandlerFactoryTemplate : public TreeBuildHandlerFactoryInterface
{
  static_assert(
    std::is_convertible_v<T *, TreeBuildHandler *>,
    "Cannot convert T* to TreeBuildHandler*. Did you forget to specify the keyword 'public' when inheriting? --> class "
    "T : public TreeBuildHandler");
 
  static_assert(
    std::is_constructible_v<T, rclcpp::Node::SharedPtr, core::NodeRegistrationLoader::SharedPtr>,
    "You must implement a constructor with signature TreeBuildHandler(rclcpp::Node::SharedPtr ros_node_ptr, "
    "NodeLoader::SharedPtr tree_node_loader_ptr).");
 
public:
  TreeBuildHandlerFactoryTemplate() = default;
  virtual ~TreeBuildHandlerFactoryTemplate() = default;
 
  TreeBuildHandler::SharedPtr makeShared(
    rclcpp::Node::SharedPtr ros_node_ptr, core::NodeRegistrationLoader::SharedPtr tree_node_loader_ptr) override final
  {
    return std::make_shared<T>(ros_node_ptr, tree_node_loader_ptr);
  }
 
  TreeBuildHandler::UniquePtr makeUnique(
    rclcpp::Node::SharedPtr ros_node_ptr, core::NodeRegistrationLoader::SharedPtr tree_node_loader_ptr) override final
  {
    return std::make_unique<T>(ros_node_ptr, tree_node_loader_ptr);
  }
};
 
}  // namespace auto_apms_behavior_tree