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change parameter separator to forward slash (#367)

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* change parameter separator to forward slash

* add separator to prefix

* const char separator
This commit is contained in:
Karsten Knese 2017-09-05 11:46:31 -07:00 • committed by GitHub
parent a5f94ac412
commit 2c5ab49e7c
1 changed files with 13 additions and 11 deletions
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24
rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
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@ -22,6 +22,7 @@
#include "rcl_interfaces/srv/list_parameters.hpp" #include "rcl_interfaces/srv/list_parameters.hpp"
#include "rclcpp/create_publisher.hpp" #include "rclcpp/create_publisher.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/qos_profiles.h" #include "rmw/qos_profiles.h"
using rclcpp::node_interfaces::NodeParameters; using rclcpp::node_interfaces::NodeParameters;
@ -197,26 +198,27 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
std::lock_guard<std::mutex> lock(mutex_); std::lock_guard<std::mutex> lock(mutex_);
rcl_interfaces::msg::ListParametersResult result; rcl_interfaces::msg::ListParametersResult result;
// TODO(esteve): define parameter separator, use "." for now const char separator = '/';
for (auto & kv : parameters_) { for (auto & kv : parameters_) {
if (((prefixes.size() == 0) && bool get_all = (prefixes.size() == 0) &&
((depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) || ((depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
(static_cast<uint64_t>(std::count(kv.first.begin(), kv.first.end(), '.')) < depth))) || (static_cast<uint64_t>(std::count(kv.first.begin(), kv.first.end(), separator)) < depth));
(std::any_of(prefixes.cbegin(), prefixes.cend(), [&kv, &depth](const std::string & prefix) { bool prefix_matches = std::any_of(prefixes.cbegin(), prefixes.cend(),
[&kv, &depth, &separator](const std::string & prefix) {
if (kv.first == prefix) { if (kv.first == prefix) {
return true; return true;
} else if (kv.first.find(prefix + ".") == 0) { } else if (kv.first.find(prefix + separator) == 0) {
size_t length = prefix.length(); size_t length = prefix.length();
std::string substr = kv.first.substr(length); std::string substr = kv.first.substr(length);
// Cast as unsigned integer to avoid warning // Cast as unsigned integer to avoid warning
return (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) || return (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
(static_cast<uint64_t>(std::count(substr.begin(), substr.end(), '.')) < depth); (static_cast<uint64_t>(std::count(substr.begin(), substr.end(), separator)) < depth);
} }
return false; return false;
}))) });
{ if (get_all || prefix_matches) {
result.names.push_back(kv.first); result.names.push_back(kv.first);
size_t last_separator = kv.first.find_last_of('.'); size_t last_separator = kv.first.find_last_of(separator);
if (std::string::npos != last_separator) { if (std::string::npos != last_separator) {
std::string prefix = kv.first.substr(0, last_separator); std::string prefix = kv.first.substr(0, last_separator);
if (std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) == if (std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
@ -234,8 +236,8 @@ void
NodeParameters::register_param_change_callback(ParametersCallbackFunction callback) NodeParameters::register_param_change_callback(ParametersCallbackFunction callback)
{ {
if (parameters_callback_) { if (parameters_callback_) {
fprintf(stderr, "Warning: param_change_callback already registered, " RCUTILS_LOG_WARN("param_change_callback already registered, "
"overwriting previous callback\n"); "overwriting previous callback")
} }
parameters_callback_ = callback; parameters_callback_ = callback;
} }