typedefs for all callback types

Signed-off-by: Emerson Knapp <[email protected]>

Author: emersonknapp

rclcpp/include/rclcpp/dynamic_subscription.hpp

@@ -37,13 +37,6 @@
 namespace rclcpp
 {
 
-typedef std::variant<
-    std::function<void (dynamic_typesupport::DynamicMessage::SharedPtr)>,
-    std::function<void (dynamic_typesupport::DynamicMessage::SharedPtr, const MessageInfo &)>,
-    std::function<void (std::shared_ptr<SerializedMessage>)>,
-    std::function<void (std::shared_ptr<SerializedMessage>, const MessageInfo &)>
-> AnyDynamicSubscriptionCallback;
-
 /// %Subscription for messages whose type descriptions are obtained at runtime.
 /**
  * Since the type is not known at compile time, this is not a template, and the dynamic library
@@ -54,6 +47,18 @@ typedef std::variant<
 class DynamicSubscription : public rclcpp::SubscriptionBase
 {
 public:
+  typedef std::function<void (dynamic_typesupport::DynamicMessage::SharedPtr)> DynamicCallback;
+  typedef std::function<void (dynamic_typesupport::DynamicMessage::SharedPtr,
+      const MessageInfo &)> DynamicInfoCallback;
+  typedef std::function<void (std::shared_ptr<SerializedMessage>)> SerializedCallback;
+  typedef std::function<void (std::shared_ptr<SerializedMessage>,
+      const MessageInfo &)> SerializedInfoCallback;
+
+  typedef std::variant<
+      DynamicCallback, DynamicInfoCallback, SerializedCallback, SerializedInfoCallback
+  > AnyCallback;
+
+
   // cppcheck-suppress unknownMacro
   RCLCPP_SMART_PTR_DEFINITIONS(DynamicSubscription)
 
@@ -63,7 +68,7 @@ class DynamicSubscription : public rclcpp::SubscriptionBase
     rclcpp::dynamic_typesupport::DynamicMessageTypeSupport::SharedPtr type_support,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
-    AnyDynamicSubscriptionCallback callback,
+    AnyCallback callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
   : SubscriptionBase(
       node_base,
@@ -165,10 +170,10 @@ class DynamicSubscription : public rclcpp::SubscriptionBase
 private:
   RCLCPP_DISABLE_COPY(DynamicSubscription)
 
-  static bool is_callback_serialized(const rclcpp::AnyDynamicSubscriptionCallback &);
+  static bool is_callback_serialized(const AnyCallback &);
 
   rclcpp::dynamic_typesupport::DynamicMessageTypeSupport::SharedPtr ts_;
-  rclcpp::AnyDynamicSubscriptionCallback callback_;
+  AnyCallback callback_;
 
   rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr serialization_support_;
   rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr dynamic_message_;

rclcpp/src/rclcpp/dynamic_subscription.cpp

@@ -44,13 +44,10 @@ void DynamicSubscription::handle_serialized_message(
   const std::shared_ptr<rclcpp::SerializedMessage> & message,
   const rclcpp::MessageInfo & message_info)
 {
-  using PlainCallback = std::function<void (std::shared_ptr<SerializedMessage>)>;
-  using InfoCallback = std::function<
-    void (std::shared_ptr<SerializedMessage>, const MessageInfo &)>;
-  if (std::holds_alternative<PlainCallback>(callback_)) {
-    std::get<PlainCallback>(callback_)(message);
+  if (std::holds_alternative<DynamicSubscription::SerializedCallback>(callback_)) {
+    std::get<DynamicSubscription::SerializedCallback>(callback_)(message);
   } else {
-    std::get<InfoCallback>(callback_)(message, message_info);
+    std::get<DynamicSubscription::SerializedInfoCallback>(callback_)(message, message_info);
   }
 }
 
@@ -113,25 +110,19 @@ void DynamicSubscription::handle_dynamic_message(
   const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
   const rclcpp::MessageInfo & message_info)
 {
-  using PlainCallback = std::function<void (dynamic_typesupport::DynamicMessage::SharedPtr)>;
-  using InfoCallback = std::function<
-    void (dynamic_typesupport::DynamicMessage::SharedPtr, const MessageInfo &)>;
-  if (std::holds_alternative<PlainCallback>(callback_)) {
-    std::get<PlainCallback>(callback_)(message);
+  if (std::holds_alternative<DynamicSubscription::DynamicCallback>(callback_)) {
+    std::get<DynamicSubscription::DynamicCallback>(callback_)(message);
   } else {
-    std::get<InfoCallback>(callback_)(message, message_info);
+    std::get<DynamicSubscription::DynamicInfoCallback>(callback_)(message, message_info);
   }
 }
 
 bool DynamicSubscription::is_callback_serialized(
-  const rclcpp::AnyDynamicSubscriptionCallback & callback)
+  const DynamicSubscription::AnyCallback & callback)
 {
-  using PlainCallback = std::function<void (std::shared_ptr<SerializedMessage>)>;
-  using InfoCallback =
-    std::function<void (std::shared_ptr<SerializedMessage>, const MessageInfo &)>;
   return
-    std::holds_alternative<PlainCallback>(callback) ||
-    std::holds_alternative<InfoCallback>(callback);
+    std::holds_alternative<DynamicSubscription::SerializedCallback>(callback) ||
+    std::holds_alternative<DynamicSubscription::SerializedInfoCallback>(callback);
 }
 
 }  // namespace rclcpp