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parameter client takes node interfaces (#368)

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* parameter client takes node interfaces

* correct wrong copy paste

* correctly fetch node name

* use node_topics_interface for creating parameter event

* fix typos
This commit is contained in:
Karsten Knese 2017-09-05 15:04:36 -07:00 • committed by GitHub
parent 2c5ab49e7c
commit 1c42a75f43
2 changed files with 99 additions and 17 deletions
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36
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -15,6 +15,7 @@
#ifndef RCLCPP__PARAMETER_CLIENT_HPP_
#define RCLCPP__PARAMETER_CLIENT_HPP_
#include <memory>
#include <string>
#include <utility>
#include <vector>
@ -29,6 +30,7 @@
#include "rcl_interfaces/srv/set_parameters.hpp"
#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
#include "rclcpp/executors.hpp"
#include "rclcpp/create_subscription.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/parameter.hpp"
@ -46,6 +48,15 @@ class AsyncParametersClient
public:
RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
RCLCPP_PUBLIC
AsyncParametersClient(
const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
AsyncParametersClient(
const rclcpp::node::Node::SharedPtr node,
@ -93,12 +104,29 @@ public:
void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)
> callback = nullptr);
template<typename CallbackT>
template<
typename CallbackT,
typename Alloc = std::allocator<void>,
typename SubscriptionT =
rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent, Alloc>>
typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
on_parameter_event(CallbackT && callback)
{
return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
"parameter_events", std::forward<CallbackT>(callback), rmw_qos_profile_parameter_events);
using rclcpp::message_memory_strategy::MessageMemoryStrategy;
auto msg_mem_strat =
MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent, Alloc>::create_default();
return rclcpp::create_subscription<
rcl_interfaces::msg::ParameterEvent, CallbackT, Alloc, SubscriptionT>(
this->node_topics_interface_.get(),
"parameter_events",
std::forward<CallbackT>(callback),
rmw_qos_profile_default,
nullptr, // group,
false, // ignore_local_publications,
false, // use_intra_process_comms_,
msg_mem_strat,
std::make_shared<Alloc>());
}
RCLCPP_PUBLIC
@ -121,7 +149,7 @@ protected:
wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
private:
const rclcpp::node::Node::SharedPtr node_;
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
get_parameter_types_client_;

80
rclcpp/src/rclcpp/parameter_client.cpp
View file

@ -25,28 +25,82 @@ using rclcpp::parameter_client::AsyncParametersClient;
using rclcpp::parameter_client::SyncParametersClient;
AsyncParametersClient::AsyncParametersClient(
const rclcpp::node::Node::SharedPtr node,
const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: node_(node)
: node_topics_interface_(node_topics_interface)
{
if (remote_node_name != "") {
remote_node_name_ = remote_node_name;
} else {
remote_node_name_ = node_->get_name();
remote_node_name_ = node_base_interface->get_name();
}
get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
remote_node_name_ + "/" + parameter_service_names::get_parameters, qos_profile);
get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
remote_node_name_ + "/" + parameter_service_names::get_parameter_types, qos_profile);
set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
remote_node_name_ + "/" + parameter_service_names::set_parameters, qos_profile);
list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
remote_node_name_ + "/" + parameter_service_names::list_parameters, qos_profile);
describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
remote_node_name_ + "/" + parameter_service_names::describe_parameters, qos_profile);
rcl_client_options_t options = rcl_client_get_default_options();
options.qos = qos_profile;
using rclcpp::client::Client;
using rclcpp::client::ClientBase;
get_parameters_client_ = Client<rcl_interfaces::srv::GetParameters>::make_shared(
node_base_interface.get(),
node_graph_interface,
remote_node_name_ + "/" + parameter_service_names::get_parameters,
options);
auto get_parameters_base = std::dynamic_pointer_cast<ClientBase>(get_parameters_client_);
node_services_interface->add_client(get_parameters_base, nullptr);
get_parameter_types_client_ = Client<rcl_interfaces::srv::GetParameterTypes>::make_shared(
node_base_interface.get(),
node_graph_interface,
remote_node_name_ + "/" + parameter_service_names::get_parameter_types,
options);
auto get_parameter_types_base =
std::dynamic_pointer_cast<ClientBase>(get_parameter_types_client_);
node_services_interface->add_client(get_parameter_types_base, nullptr);
set_parameters_client_ = Client<rcl_interfaces::srv::SetParameters>::make_shared(
node_base_interface.get(),
node_graph_interface,
remote_node_name_ + "/" + parameter_service_names::set_parameters,
options);
auto set_parameters_base = std::dynamic_pointer_cast<ClientBase>(set_parameters_client_);
node_services_interface->add_client(set_parameters_base, nullptr);
list_parameters_client_ = Client<rcl_interfaces::srv::ListParameters>::make_shared(
node_base_interface.get(),
node_graph_interface,
remote_node_name_ + "/" + parameter_service_names::list_parameters,
options);
auto list_parameters_base = std::dynamic_pointer_cast<ClientBase>(list_parameters_client_);
node_services_interface->add_client(list_parameters_base, nullptr);
describe_parameters_client_ = Client<rcl_interfaces::srv::DescribeParameters>::make_shared(
node_base_interface.get(),
node_graph_interface,
remote_node_name_ + "/" + parameter_service_names::describe_parameters,
options);
auto describe_parameters_base =
std::dynamic_pointer_cast<ClientBase>(describe_parameters_client_);
node_services_interface->add_client(describe_parameters_base, nullptr);
}
AsyncParametersClient::AsyncParametersClient(
const rclcpp::node::Node::SharedPtr node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: AsyncParametersClient(
node->get_node_base_interface(),
node->get_node_topics_interface(),
node->get_node_graph_interface(),
node->get_node_services_interface(),
remote_node_name,
qos_profile)
{}
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
AsyncParametersClient::get_parameters(
const std::vector<std::string> & names,