coroutine_callback_helpers.hpp

#ifndef MRS_LIB_INTERNAL_COROUTINE_CALLBACK_HELPERS_HPP_
#define MRS_LIB_INTERNAL_COROUTINE_CALLBACK_HELPERS_HPP_
 
 
#include <rclcpp/callback_group.hpp>
 
 
namespace mrs_lib::internal
{
 
  inline bool is_callback_group_coro_compatible(const std::shared_ptr<rclcpp::CallbackGroup>& callback_group)
  {
    return callback_group->type() == rclcpp::CallbackGroupType::Reentrant;
  }
 
  inline void require_callback_group_coro_compatible(const std::shared_ptr<rclcpp::CallbackGroup>& callback_group)
  {
    if (callback_group == nullptr || callback_group->type() != rclcpp::CallbackGroupType::Reentrant)
    {
      std::string msg = "Coroutine callbacks must be used with reentrant callback group.";
      RCLCPP_ERROR(rclcpp::get_logger("mrs_lib"), "%s", msg.c_str());
      throw std::logic_error(msg);
    }
  }
 
} // namespace mrs_lib::internal
 
#endif // MRS_LIB_INTERNAL_COROUTINE_CALLBACK_HELPERS_HPP_