From b3e526ce3cf8dddaa2f8bcae1a7410b7057c0462 Mon Sep 17 00:00:00 2001 From: claireyywang <22240514+claireyywang@users.noreply.github.com> Date: Tue, 26 May 2020 11:47:53 -0700 Subject: [PATCH 1/5] add add_on and remove_on Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com> --- .../rclcpp_lifecycle/lifecycle_node.hpp | 20 +++++++++++++++++++ rclcpp_lifecycle/src/lifecycle_node.cpp | 11 ++++++++++ 2 files changed, 31 insertions(+) diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp index 5eed721..416bf5b 100644 --- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp +++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp @@ -447,9 +447,29 @@ public: rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector & prefixes, uint64_t depth) const; + using OnSetParametersCallbackHandle = + rclcpp::node_interfaces::OnSetParametersCallbackHandle; using OnParametersSetCallbackType = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType; + /// Add a callback for when parameters are being set. + /** + * \sa rclcpp::Node::add_on_set_parameters_callback + */ + RCLCPP_LIFECYCLE_PUBLIC + rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr + add_on_set_parameters_callback( + rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback); + + /// Remove a callback registered with `add_on_set_parameters_callback`. + /** + * \sa rclcpp::Node::remove_on_set_parameters_callback + */ + RCLCPP_LIFECYCLE_PUBLIC + void + remove_on_set_parameters_callback( + const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle * const handler); + /// Register a callback to be called anytime a parameter is about to be changed. /** * \sa rclcpp::Node::set_on_parameters_set_callback diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp index bf78419..cdba353 100644 --- a/rclcpp_lifecycle/src/lifecycle_node.cpp +++ b/rclcpp_lifecycle/src/lifecycle_node.cpp @@ -255,6 +255,17 @@ LifecycleNode::list_parameters( return node_parameters_->list_parameters(prefixes, depth); } +rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr +LifecycleNode::add_on_set_parameters_callback(OnParametersSetCallbackType callback) +{ + return node_parameters_->add_on_set_parameters_callback(callback); +} + +void +LifecycleNode::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback) +{ + return node_parameters_->remove_on_set_parameters_callback(callback); + rclcpp::Node::OnParametersSetCallbackType LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback) { From 9de9c466b5def3d920fa4be022d0b49495564fab Mon Sep 17 00:00:00 2001 From: claireyywang <22240514+claireyywang@users.noreply.github.com> Date: Tue, 26 May 2020 12:17:41 -0700 Subject: [PATCH 2/5] add } Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com> --- rclcpp_lifecycle/src/lifecycle_node.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp index cdba353..09e5ed0 100644 --- a/rclcpp_lifecycle/src/lifecycle_node.cpp +++ b/rclcpp_lifecycle/src/lifecycle_node.cpp @@ -265,6 +265,7 @@ void LifecycleNode::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback) { return node_parameters_->remove_on_set_parameters_callback(callback); +} rclcpp::Node::OnParametersSetCallbackType LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback) From 63a48a19988d31c669462abc4178ce010278d409 Mon Sep 17 00:00:00 2001 From: claireyywang <22240514+claireyywang@users.noreply.github.com> Date: Tue, 26 May 2020 13:28:25 -0700 Subject: [PATCH 3/5] remove return from void fn Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com> --- rclcpp/src/rclcpp/node.cpp | 2 +- rclcpp_lifecycle/src/lifecycle_node.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp index b1f9e66..0823705 100644 --- a/rclcpp/src/rclcpp/node.cpp +++ b/rclcpp/src/rclcpp/node.cpp @@ -331,7 +331,7 @@ Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * co rclcpp::Node::OnParametersSetCallbackType Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback) { - return node_parameters_->set_on_parameters_set_callback(callback); + node_parameters_->set_on_parameters_set_callback(callback); } std::vector diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp index 09e5ed0..a658740 100644 --- a/rclcpp_lifecycle/src/lifecycle_node.cpp +++ b/rclcpp_lifecycle/src/lifecycle_node.cpp @@ -264,7 +264,7 @@ LifecycleNode::add_on_set_parameters_callback(OnParametersSetCallbackType callba void LifecycleNode::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback) { - return node_parameters_->remove_on_set_parameters_callback(callback); + node_parameters_->remove_on_set_parameters_callback(callback); } rclcpp::Node::OnParametersSetCallbackType From e76a1bbc3cd15d13a41c47d734c7b28d75522d60 Mon Sep 17 00:00:00 2001 From: claireyywang <22240514+claireyywang@users.noreply.github.com> Date: Tue, 26 May 2020 14:36:40 -0700 Subject: [PATCH 4/5] revert Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com> --- rclcpp/src/rclcpp/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp index 0823705..b1f9e66 100644 --- a/rclcpp/src/rclcpp/node.cpp +++ b/rclcpp/src/rclcpp/node.cpp @@ -331,7 +331,7 @@ Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * co rclcpp::Node::OnParametersSetCallbackType Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback) { - node_parameters_->set_on_parameters_set_callback(callback); + return node_parameters_->set_on_parameters_set_callback(callback); } std::vector From 223aeecb53b3a850e687d2fc929aae9b937bfab2 Mon Sep 17 00:00:00 2001 From: claireyywang <22240514+claireyywang@users.noreply.github.com> Date: Tue, 26 May 2020 14:39:11 -0700 Subject: [PATCH 5/5] reduce line length Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com> --- rclcpp_lifecycle/src/lifecycle_node.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp index a658740..2ca04f0 100644 --- a/rclcpp_lifecycle/src/lifecycle_node.cpp +++ b/rclcpp_lifecycle/src/lifecycle_node.cpp @@ -262,7 +262,8 @@ LifecycleNode::add_on_set_parameters_callback(OnParametersSetCallbackType callba } void -LifecycleNode::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback) +LifecycleNode::remove_on_set_parameters_callback( + const OnSetParametersCallbackHandle * const callback) { node_parameters_->remove_on_set_parameters_callback(callback); }