niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Replace node constructor arguments with NodeOptions (#622)

Browse source 
* Start work on creaating NodeOptions structure.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Continue work on NodeOptions.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update tests for NodeOptions impl.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update documentation and copy/assignment.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update rclcpp_lifecycle to conform to new API.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Use builder pattern with NodeOptions.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Documentation updates.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update rclcpp_lifecycle to use NodeOptions.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* change to parameter idiom only, from builder pattern

Signed-off-by: William Woodall <william@osrfoundation.org>

* Update rclcpp/include/rclcpp/node_options.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

Signed-off-by: William Woodall <william@osrfoundation.org>

* follow up with more resets of the rcl_node_options_t

Signed-off-by: William Woodall <william@osrfoundation.org>

* todo about get env

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
Michael Carroll 2019-02-06 01:10:43 -06:00 • committed by William Woodall
parent c7ac39a0e6
commit 0f9098e9b6
11 changed files with 506 additions and 194 deletions
Download patch file Download diff file Expand all files Collapse all files

29
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -45,30 +45,19 @@ namespace rclcpp_lifecycle
LifecycleNode::LifecycleNode(
const std::string & node_name,
const std::string & namespace_,
bool use_intra_process_comms)
const rclcpp::NodeOptions & options)
: LifecycleNode(
node_name,
namespace_,
rclcpp::contexts::default_context::get_global_default_context(),
{},
{},
true,
use_intra_process_comms,
true)
"",
options)
{}
LifecycleNode::LifecycleNode(
const std::string & node_name,
const std::string & namespace_,
rclcpp::Context::SharedPtr context,
const std::vector<std::string> & arguments,
const std::vector<rclcpp::Parameter> & initial_parameters,
bool use_global_arguments,
bool use_intra_process_comms,
bool start_parameter_services)
const rclcpp::NodeOptions & options)
: node_base_(new rclcpp::node_interfaces::NodeBase(
node_name, namespace_, context, arguments, use_global_arguments)),
node_name, namespace_, options)),
node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
@ -86,12 +75,12 @@ LifecycleNode::LifecycleNode(
node_topics_,
node_services_,
node_clock_,
initial_parameters,
use_intra_process_comms,
start_parameter_services
options.initial_parameters(),
options.use_intra_process_comms(),
options.start_parameter_services()
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
use_intra_process_comms_(use_intra_process_comms),
use_intra_process_comms_(options.use_intra_process_comms()),
impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
{
impl_->init();