From 346f17aff0883688159433547e18af663228afc3 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Tue, 5 May 2015 17:01:34 -0700
Subject: [PATCH] Split parameter.hpp into parameter_client.hpp

---
 rclcpp/include/rclcpp/node.hpp      |  24 ++++-
 rclcpp/include/rclcpp/parameter.hpp | 151 ----------------------------
 rclcpp/include/rclcpp/rclcpp.hpp    |   1 +
 3 files changed, 21 insertions(+), 155 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 888b962..d31ad89 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -29,6 +29,9 @@
 #include <rclcpp/subscription.hpp>
 #include <rclcpp/timer.hpp>
 
+
+#include <rcl_interfaces/SetParameters.h>
+
 // Forward declaration of ROS middleware class
 namespace rmw
 {
@@ -146,6 +149,20 @@ public:
     FunctorT callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
+  const std::vector<rcl_interfaces::SetParametersResult> set_parameters(
+    const std::vector<rcl_interfaces::Parameter> & parameters)
+  {
+    std::vector<rcl_interfaces::SetParametersResult> results;
+    for (auto p : parameters) {
+//      parameters_[p.name] = ParameterVariant::from_parameter_value(p.value);
+      rcl_interfaces::SetParametersResult result;
+      result.successful = true;
+      // TODO: handle parameter constraints
+      results.push_back(result);
+    }
+    return results;
+  }
+
 private:
   RCLCPP_DISABLE_COPY(Node);
 
@@ -166,10 +183,9 @@ private:
   size_t number_of_services_;
   size_t number_of_clients_;
 
-  void register_service(
-    const std::string & service_name,
-    std::shared_ptr<rclcpp::service::ServiceBase> serv_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group);
+  std::mutex mutex_;
+
+//  std::map<std::string, ParameterVariant> parameters_;
 
   template<
     typename ServiceT,
diff --git a/rclcpp/include/rclcpp/parameter.hpp b/rclcpp/include/rclcpp/parameter.hpp
index 266eb45..bb27281 100644
--- a/rclcpp/include/rclcpp/parameter.hpp
+++ b/rclcpp/include/rclcpp/parameter.hpp
@@ -19,10 +19,6 @@
 
 #include <rmw/rmw.h>
 
-#include <rclcpp/executors.hpp>
-#include <rclcpp/macros.hpp>
-#include <rclcpp/node.hpp>
-
 #include <rcl_interfaces/GetParameters.h>
 #include <rcl_interfaces/GetParameterTypes.h>
 #include <rcl_interfaces/Parameter.h>
@@ -179,153 +175,6 @@ private:
   rcl_interfaces::ParameterValue value_;
 };
 
-class AsyncParametersClient
-{
-
-public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient);
-
-  AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node)
-  : node_(node)
-  {
-    get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>(
-      "get_parameters");
-    get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>(
-      "get_parameter_types");
-    set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>(
-      "set_parameters");
-    list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>(
-      "list_parameters");
-    describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>(
-      "describe_parameters");
-  }
-
-  std::shared_future<std::vector<ParameterVariant>>
-  get_parameters(
-    std::vector<std::string> names,
-    std::function<void(
-      std::shared_future<std::vector<ParameterVariant>>)> callback = nullptr)
-  {
-    std::shared_future<std::vector<ParameterVariant>> f;
-    return f;
-  }
-
-  std::shared_future<std::vector<ParameterType>>
-  get_parameter_types(
-    std::vector<std::string> parameter_names,
-    std::function<void(
-      std::shared_future<std::vector<ParameterType>>)> callback = nullptr)
-  {
-    std::shared_future<std::vector<ParameterType>> f;
-    return f;
-  }
-
-  std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>
-  set_parameters(
-    std::vector<ParameterVariant> parameters,
-    std::function<void(
-      std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>)> callback = nullptr)
-  {
-    std::shared_future<std::vector<rcl_interfaces::SetParametersResult>> f;
-    return f;
-  }
-
-  std::shared_future<rcl_interfaces::SetParametersResult>
-  set_parameters_atomically(
-    std::vector<ParameterVariant> parameters,
-    std::function<void(
-      std::shared_future<rcl_interfaces::SetParametersResult>)> callback = nullptr)
-  {
-    std::shared_future<rcl_interfaces::SetParametersResult> f;
-    return f;
-  }
-
-  std::shared_future<rcl_interfaces::ListParametersResult>
-  list_parameters(
-    std::vector<std::string> parameter_prefixes,
-    uint64_t depth,
-    std::function<void(
-      std::shared_future<rcl_interfaces::ListParametersResult>)> callback = nullptr)
-  {
-    std::shared_future<rcl_interfaces::ListParametersResult> f;
-    return f;
-  }
-
-private:
-  const rclcpp::node::Node::SharedPtr node_;
-  rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedPtr get_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedPtr get_parameter_types_client_;
-  rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedPtr set_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedPtr
-    set_parameters_atomically_client_;
-  rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_;
-};
-
-class SyncParametersClient
-{
-public:
-  RCLCPP_MAKE_SHARED_DEFINITIONS(SyncParametersClient);
-
-  SyncParametersClient(
-    rclcpp::node::Node::SharedPtr & node)
-  : node_(node)
-  {
-    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-    async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
-  }
-
-  SyncParametersClient(
-    rclcpp::executor::Executor::SharedPtr & executor,
-    rclcpp::node::Node::SharedPtr & node)
-  : executor_(executor), node_(node)
-  {
-    async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
-  }
-
-  std::vector<ParameterVariant>
-  get_parameters(std::vector<std::string> parameter_names)
-  {
-    auto f = async_parameters_client_->get_parameters(parameter_names);
-    return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
-  }
-
-  std::vector<ParameterType>
-  get_parameter_types(std::vector<std::string> parameter_names)
-  {
-    auto f = async_parameters_client_->get_parameter_types(parameter_names);
-    return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
-  }
-
-  std::vector<rcl_interfaces::SetParametersResult>
-  set_parameters(std::vector<ParameterVariant> parameters)
-  {
-    auto f = async_parameters_client_->set_parameters(parameters);
-    return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
-  }
-
-  rcl_interfaces::SetParametersResult
-  set_parameters_atomically(std::vector<ParameterVariant> parameters)
-  {
-    auto f = async_parameters_client_->set_parameters_atomically(parameters);
-    return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
-  }
-
-  rcl_interfaces::ListParametersResult
-  list_parameters(
-    std::vector<std::string> parameter_prefixes,
-    uint64_t depth)
-  {
-    auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
-    return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
-  }
-
-private:
-  rclcpp::executor::Executor::SharedPtr executor_;
-  rclcpp::node::Node::SharedPtr node_;
-  AsyncParametersClient::SharedPtr async_parameters_client_;
-};
-
 } /* namespace parameter */
 
 } /* namespace rclcpp */
diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
index ac907d6..a9d484f 100644
--- a/rclcpp/include/rclcpp/rclcpp.hpp
+++ b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -20,6 +20,7 @@
 
 #include <rclcpp/node.hpp>
 #include <rclcpp/parameter.hpp>
+#include <rclcpp/parameter_client.hpp>
 #include <rclcpp/executors.hpp>
 #include <rclcpp/rate.hpp>
 #include <rclcpp/utilities.hpp>