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Add missing template functionality to lifecycle_node. (#707)

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* Add missing template functionality to lifecycle_node.

Recent changes to the node_parameters interface was accompanied by additions to the
node.hpp header and implementation files. However, these additions were not also made
to the corresponding lifecycle node files. This PR includes the changes required for
the lifecycle node.

Going forward, I suggest that any code like this that supplements the basic node interfaces
should either be factored out into a separate header that both node and lifecycle_node
include, or that the supplemental code simply be included in the appropriate node_interface
file directly, if possible. That way we can avoid code duplication and its symptoms which
is node and lifecycle_node getting out of sync (which they have several times).

Signed-off-by: Michael Jeronimo <michael.jeronimo@intel.com>

* consolidate documentation to just be in rclcpp/node.hpp

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

* fix visibility macros

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

* deprecation methods that were also deprecated in rclcpp::Node

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

* fixup variable name

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

* add missing template method implementations

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

* add more methods that were not ported to lifecycle node originally

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

* fix cpplint

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
Michael Jeronimo 2019-05-15 15:15:40 -07:00 • committed by William Woodall
parent b17bbf31b3
commit 1081e75079
4 changed files with 267 additions and 41 deletions
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49
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -154,6 +154,33 @@ LifecycleNode::create_callback_group(
return node_base_->create_callback_group(group_type);
}
const rclcpp::ParameterValue &
LifecycleNode::declare_parameter(
const std::string & name,
const rclcpp::ParameterValue & default_value,
const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
{
return this->node_parameters_->declare_parameter(name, default_value, parameter_descriptor);
}
void
LifecycleNode::undeclare_parameter(const std::string & name)
{
this->node_parameters_->undeclare_parameter(name);
}
bool
LifecycleNode::has_parameter(const std::string & name) const
{
return this->node_parameters_->has_parameter(name);
}
rcl_interfaces::msg::SetParametersResult
LifecycleNode::set_parameter(const rclcpp::Parameter & parameter)
{
return this->set_parameters_atomically({parameter});
}
bool
LifecycleNode::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
@ -187,13 +214,27 @@ LifecycleNode::get_parameter(const std::string & name) const
return node_parameters_->get_parameter(name);
}
bool LifecycleNode::get_parameter(
bool
LifecycleNode::get_parameter(
const std::string & name,
rclcpp::Parameter & parameter) const
{
return node_parameters_->get_parameter(name, parameter);
}
rcl_interfaces::msg::ParameterDescriptor
LifecycleNode::describe_parameter(const std::string & name) const
{
auto result = node_parameters_->describe_parameters({name});
if (0 == result.size()) {
throw rclcpp::exceptions::ParameterNotDeclaredException(name);
}
if (result.size() > 1) {
throw std::runtime_error("number of described parameters unexpectedly more than one");
}
return result.front();
}
std::vector<rcl_interfaces::msg::ParameterDescriptor>
LifecycleNode::describe_parameters(
const std::vector<std::string> & names) const
@ -215,6 +256,12 @@ LifecycleNode::list_parameters(
return node_parameters_->list_parameters(prefixes, depth);
}
rclcpp::Node::OnParametersSetCallbackType
LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
{
return node_parameters_->set_on_parameters_set_callback(callback);
}
std::vector<std::string>
LifecycleNode::get_node_names() const
{