Breaking out the base class (and make one, where non exists) into a s…

…eparate header file breaks the circular dependency.
107-systems · Jan 11, 2023 · 51823ce · 51823ce
1 parent b1d09cb
commit 51823ce
Show file tree

Hide file tree

Showing 10 changed files with 188 additions and 79 deletions.
diff --git a/src/Node.hpp b/src/Node.hpp
@@ -21,10 +21,10 @@
 #include <memory>
 #include <functional>
 
-#include "Publisher.hpp"
-#include "Subscription.hpp"
-#include "ServiceClient.hpp"
-#include "ServiceServer.hpp"
+#include "PublisherBase.hpp"
+#include "SubscriptionBase.h"
+#include "ServiceClientBase.hpp"
+#include "ServiceServerBase.hpp"
 #include "CircularBuffer.hpp"
 
 #include "libo1heap/o1heap.h"

diff --git a/src/Node.ipp b/src/Node.ipp
@@ -5,6 +5,15 @@
  * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
  */
 
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "Publisher.hpp"
+#include "Subscription.hpp"
+#include "ServiceClient.hpp"
+#include "ServiceServer.hpp"
+
 /**************************************************************************************
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/

diff --git a/src/Publisher.hpp b/src/Publisher.hpp
@@ -12,13 +12,7 @@
  * INCLUDE
  **************************************************************************************/
 
-#include "libcanard/canard.h"
-
-/**************************************************************************************
- * FORWARD DECLARATION
- **************************************************************************************/
-
-class Node;
+#include "PublisherBase.hpp"
 
 /**************************************************************************************
  * NAMESPACE
@@ -32,7 +26,7 @@ namespace impl
  **************************************************************************************/
 
 template <typename T>
-class Publisher
+class Publisher : public PublisherBase<T>
 {
 public:
   Publisher(Node & node_hdl, CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec)
@@ -41,8 +35,9 @@ class Publisher
   , _tx_timeout_usec{tx_timeout_usec}
   , _transfer_id{0}
   { }
+  virtual ~Publisher() { }
 
-  bool publish(T const & msg);
+  virtual bool publish(T const & msg) override;
 
 private:
   Node & _node_hdl;
@@ -57,13 +52,6 @@ class Publisher
 
 } /* impl */
 
-/**************************************************************************************
- * TYPEDEF
- **************************************************************************************/
-
-template <typename T>
-using Publisher = std::shared_ptr<impl::Publisher<T>>;
-
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION
  **************************************************************************************/

diff --git a/src/PublisherBase.hpp b/src/PublisherBase.hpp
@@ -0,0 +1,55 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020-2023 LXRobotics.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+#ifndef INC_107_ARDUINO_CYPHAL_PUBLISHER_BASE_H
+#define INC_107_ARDUINO_CYPHAL_PUBLISHER_BASE_H
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "Node.hpp"
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace impl
+{
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+template <typename T>
+class PublisherBase
+{
+public:
+  PublisherBase() { }
+  virtual ~PublisherBase() { }
+  PublisherBase(PublisherBase const &) = delete;
+  PublisherBase(PublisherBase &&) = delete;
+  PublisherBase &operator=(PublisherBase const &) = delete;
+  PublisherBase &operator=(PublisherBase &&) = delete;
+
+  virtual bool publish(T const & msg) = 0;
+};
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* impl */
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+template <typename T>
+using Publisher = std::shared_ptr<impl::PublisherBase<T>>;
+
+#endif /* INC_107_ARDUINO_CYPHAL_PUBLISHER_BASE_H */
diff --git a/src/ServiceClient.hpp b/src/ServiceClient.hpp
@@ -14,15 +14,9 @@
 
 #include <memory>
 
-#include "SubscriptionBase.h"
+#include "ServiceClientBase.hpp"
 
-#include "libcanard/canard.h"
-
-/**************************************************************************************
- * FORWARD DECLARATION
- **************************************************************************************/
-
-class Node;
+#include "Node.hpp"
 
 /**************************************************************************************
  * NAMESPACE
@@ -35,15 +29,6 @@ namespace impl
  * CLASS DECLARATION
  **************************************************************************************/
 
-template <typename T_REQ>
-class ServiceClientBase : public SubscriptionBase
-{
-public:
-  ServiceClientBase() : SubscriptionBase{CanardTransferKindResponse} { }
-  virtual ~ServiceClientBase() { }
-  virtual bool request(CanardNodeID const remote_node_id, T_REQ const & req) = 0;
-};
-
 template<typename T_REQ, typename T_RSP, typename OnResponseCb>
 class ServiceClient : public ServiceClientBase<T_REQ>
 {
@@ -76,13 +61,6 @@ class ServiceClient : public ServiceClientBase<T_REQ>
 
 } /* impl */
 
-/**************************************************************************************
- * TYPEDEF
- **************************************************************************************/
-
-template <typename T_REQ>
-using ServiceClient = std::shared_ptr<impl::ServiceClientBase<T_REQ>>;
-
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION
  **************************************************************************************/

diff --git a/src/ServiceClientBase.hpp b/src/ServiceClientBase.hpp
@@ -0,0 +1,52 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020-2023 LXRobotics.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+#ifndef INC_107_ARDUINO_CYPHAL_SERVICE_CLIENT_BASE_HPP
+#define INC_107_ARDUINO_CYPHAL_SERVICE_CLIENT_BASE_HPP
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <memory>
+
+#include "SubscriptionBase.h"
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace impl
+{
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+template <typename T_REQ>
+class ServiceClientBase : public SubscriptionBase
+{
+public:
+  ServiceClientBase() : SubscriptionBase{CanardTransferKindResponse} { }
+  virtual ~ServiceClientBase() { }
+  virtual bool request(CanardNodeID const remote_node_id, T_REQ const & req) = 0;
+};
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* impl */
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+template <typename T_REQ>
+using ServiceClient = std::shared_ptr<impl::ServiceClientBase<T_REQ>>;
+
+#endif /* INC_107_ARDUINO_CYPHAL_SERVICE_CLIENT_BASE_HPP */
diff --git a/src/ServiceServer.hpp b/src/ServiceServer.hpp
@@ -14,15 +14,7 @@
 
 #include <memory>
 
-#include "SubscriptionBase.h"
-
-#include "libcanard/canard.h"
-
-/**************************************************************************************
- * FORWARD DECLARATION
- **************************************************************************************/
-
-class Node;
+#include "ServiceServerBase.hpp"
 
 /**************************************************************************************
  * NAMESPACE
@@ -35,12 +27,6 @@ namespace impl
  * CLASS DECLARATION
  **************************************************************************************/
 
-class ServiceServerBase : public SubscriptionBase
-{
-public:
-  ServiceServerBase() : SubscriptionBase{CanardTransferKindRequest} { }
-};
-
 template<typename T_REQ, typename T_RSP, typename OnRequestCb>
 class ServiceServer : public ServiceServerBase
 {
@@ -70,12 +56,6 @@ class ServiceServer : public ServiceServerBase
 
 } /* impl */
 
-/**************************************************************************************
- * TYPEDEF
- **************************************************************************************/
-
-using ServiceServer = std::shared_ptr<impl::ServiceServerBase>;
-
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION
  **************************************************************************************/

diff --git a/src/ServiceServerBase.hpp b/src/ServiceServerBase.hpp
@@ -0,0 +1,50 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020-2023 LXRobotics.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+#ifndef INC_107_ARDUINO_CYPHAL_SERVICE_SERVER_BASE_HPP
+#define INC_107_ARDUINO_CYPHAL_SERVICE_SERVER_BASE_HPP
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <memory>
+
+#include "SubscriptionBase.h"
+
+#include "Node.hpp"
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace impl
+{
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+class ServiceServerBase : public SubscriptionBase
+{
+public:
+  ServiceServerBase() : SubscriptionBase{CanardTransferKindRequest} { }
+};
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* impl */
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+using ServiceServer = std::shared_ptr<impl::ServiceServerBase>;
+
+#endif /* INC_107_ARDUINO_CYPHAL_SERVICE_SERVER_BASE_HPP */
diff --git a/src/Subscription.hpp b/src/Subscription.hpp
@@ -16,14 +16,6 @@
 
 #include "SubscriptionBase.h"
 
-#include "libcanard/canard.h"
-
-/**************************************************************************************
- * FORWARD DECLARATION
- **************************************************************************************/
-
-class Node;
-
 /**************************************************************************************
  * NAMESPACE
  **************************************************************************************/
@@ -63,12 +55,6 @@ class Subscription : public SubscriptionBase
 
 } /* impl */
 
-/**************************************************************************************
- * TYPEDEF
- **************************************************************************************/
-
-using Subscription = std::shared_ptr<impl::SubscriptionBase>;
-
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION
  **************************************************************************************/

diff --git a/src/SubscriptionBase.h b/src/SubscriptionBase.h
@@ -12,8 +12,12 @@
  * INCLUDE
  **************************************************************************************/
 
+#include <memory>
+
 #include "libcanard/canard.h"
 
+#include "Node.hpp"
+
 /**************************************************************************************
  * NAMESPACE
  **************************************************************************************/
@@ -58,4 +62,11 @@ class SubscriptionBase
 
 } /* impl */
 
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+using Subscription = std::shared_ptr<impl::SubscriptionBase>;
+
+
 #endif /* INC_107_ARDUINO_CYPHAL_CANARDSUBSCRIPTION_H */