change: derived from shared_base

Author: robert-burger

src/posix_timer.cpp

@@ -66,7 +66,7 @@ timer_base::timer_base(std::shared_ptr<posix_timer> parent, const YAML::Node& co
 //! Initialize timer
 void timer_base::init(void) {
     // add trigger device
-    robotkernel::add_device(shared_from_this());
+    robotkernel::add_device(shared_from_this_as<trigger>());
 
     string pdin_desc = "- double: interval\n";
     pdin = make_shared<robotkernel::triple_buffer>(
@@ -88,7 +88,7 @@ void timer_base::deinit(void) {
     pdin_inspect = nullptr;
 
     // register devices (trigger, process_data)
-    robotkernel::remove_device(shared_from_this());
+    robotkernel::remove_device(shared_from_this_as<trigger>());
     robotkernel::remove_device(pdin);
 
     pdin->reset_provider(prov);
@@ -282,15 +282,15 @@ void posix_timer::init() {
     std::function<void(const YAML::Node& timer_config)> create_timer = [&](const YAML::Node& timer_config) { 
         if (timer_config["mode"]) {
             if (timer_config["mode"].as<string>() == string("nanosleep")) {
-                timers.push_back(std::make_shared<nanosleep>(shared_from_this(), timer_config));
+                timers.push_back(std::make_shared<nanosleep>(shared_from_this_as<posix_timer>(), timer_config));
             } else if (timer_config["mode"].as<string>() == string("timer")) {
-                timers.push_back(std::make_shared<timer>(shared_from_this(), timer_config));
+                timers.push_back(std::make_shared<timer>(shared_from_this_as<posix_timer>(), timer_config));
             } else if (timer_config["mode"].as<string>() == string("busywait")) {
-                timers.push_back(std::make_shared<busywait>(shared_from_this(), timer_config));
+                timers.push_back(std::make_shared<busywait>(shared_from_this_as<posix_timer>(), timer_config));
             }
         } else {
             log(info, "mode not specified, assuming nanosleep mode!\n");
-            timers.push_back(std::make_shared<nanosleep>(shared_from_this(), timer_config));
+            timers.push_back(std::make_shared<nanosleep>(shared_from_this_as<posix_timer>(), timer_config));
         }
     };
 

src/posix_timer.h

@@ -28,6 +28,7 @@
 #include "robotkernel/module_base.h"
 #include "robotkernel/robotkernel.h"
 #include "robotkernel/trigger_base.h"
+#include "robotkernel/helpers.h"
 
 #include "service_provider_process_data_inspection/base.h"
 
@@ -37,7 +38,7 @@ namespace module_posix_timer {
 class posix_timer;
 
 class timer_base : 
-    public std::enable_shared_from_this<timer_base>,
+    public virtual robotkernel::shared_base,
     public robotkernel::runnable,
     public robotkernel::trigger
 {
@@ -111,7 +112,7 @@ class timer : public timer_base {
 
 // forward declaration
 class posix_timer : 
-    public std::enable_shared_from_this<posix_timer>,
+    public virtual robotkernel::shared_base,
     public robotkernel::module_base
 {
     private: