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Added basic hook for parameter changes (#244)

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* Added basic hook for parameter changes

* Rename hook and add docblock
This commit is contained in:
Rohan Agrawal 2016-07-28 18:01:24 -07:00 • committed by William Woodall
parent 8c5f6e4e06
commit 1402715d76
3 changed files with 30 additions and 4 deletions
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12
rclcpp/include/rclcpp/node.hpp
View file

@ -353,6 +353,14 @@ public:
size_t
count_graph_users();
/// Register the callback for parameter changes
/**
* \param[in] User defined callback function, It is expected to atomically set parameters.
* \note Repeated invocations of this function will overwrite previous callbacks
*/
template<typename CallbackT>
void register_param_change_callback(CallbackT && callback);
std::atomic_bool has_executor;
private:
@ -400,6 +408,10 @@ private:
/* graph_users_count_ is atomic so that it can be accessed without acquiring the graph_mutex_ */
std::atomic_size_t graph_users_count_;
std::function<typename rcl_interfaces::msg::SetParametersResult(
const typename std::vector<rclcpp::parameter::ParameterVariant> &
)> parameters_callback_ = nullptr;
std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;

6
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -362,6 +362,12 @@ Node::create_service(
return serv;
}
template<typename CallbackT>
void Node::register_param_change_callback(CallbackT && callback)
{
this->parameters_callback_ = callback;
}
} // namespace node
} // namespace rclcpp

16
rclcpp/src/rclcpp/node.cpp
View file

@ -189,6 +189,18 @@ Node::set_parameters_atomically(
std::map<std::string, rclcpp::parameter::ParameterVariant> tmp_map;
auto parameter_event = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
// TODO(jacquelinekay): handle parameter constraints
rcl_interfaces::msg::SetParametersResult result;
if (parameters_callback_) {
result = parameters_callback_(parameters);
} else {
result.successful = true;
}
if (!result.successful) {
return result;
}
for (auto p : parameters) {
if (parameters_.find(p.get_name()) == parameters_.end()) {
if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
@ -206,10 +218,6 @@ Node::set_parameters_atomically(
tmp_map.insert(parameters_.begin(), parameters_.end());
std::swap(tmp_map, parameters_);
// TODO(jacquelinekay): handle parameter constraints
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
events_publisher_->publish(parameter_event);
return result;