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Merge pull request #28 from ros2/parameters-api-review-sync

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Skeleton parameters sync API
This commit is contained in:
Esteve Fernandez 2015-05-05 09:59:41 -07:00
commit 3b475de093
1 changed files with 154 additions and 65 deletions
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157
rclcpp/include/rclcpp/parameter.hpp
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@ -19,6 +19,7 @@
#include <rmw/rmw.h>
#include <rclcpp/executors.hpp>
#include <rclcpp/macros.hpp>
#include <rclcpp/node.hpp>
@ -56,42 +57,49 @@ public:
{
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_NOT_SET;
}
ParameterVariant(const std::string & name, const bool bool_value)
explicit ParameterVariant(const std::string & name, const bool bool_value)
: name_(name)
{
value_.bool_value = bool_value;
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_BOOL;
}
ParameterVariant(const std::string & name, const int64_t int_value)
explicit ParameterVariant(const std::string & name, const int int_value)
: name_(name)
{
value_.integer_value = int_value;
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_INTEGER;
}
ParameterVariant(const std::string & name, const double double_value)
explicit ParameterVariant(const std::string & name, const int64_t int_value)
: name_(name)
{
value_.integer_value = int_value;
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_INTEGER;
}
explicit ParameterVariant(const std::string & name, const float double_value)
: name_(name)
{
value_.double_value = double_value;
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_DOUBLE;
}
ParameterVariant(const std::string & name, const std::string & string_value)
explicit ParameterVariant(const std::string & name, const double double_value)
: name_(name)
{
value_.double_value = double_value;
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_DOUBLE;
}
explicit ParameterVariant(const std::string & name, const std::string & string_value)
: name_(name)
{
value_.string_value = string_value;
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_STRING;
}
ParameterVariant(const std::string & name, const std::vector<int8_t> & bytes_value)
explicit ParameterVariant(const std::string & name, const std::vector<uint8_t> & bytes_value)
: name_(name)
{
value_.bytes_value = bytes_value;
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_BYTES;
}
/* Templated getter */
template<typename T>
T
get_value() const;
inline ParameterType get_type() const {return static_cast<ParameterType>(value_.parameter_type); }
inline std::string get_name() const & {return name_; }
@ -101,13 +109,9 @@ public:
return value_;
}
private:
std::string name_;
rcl_interfaces::ParameterValue value_;
};
template<>
inline int64_t ParameterVariant::get_value() const
template<ParameterType type>
typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
get_value() const
{
if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_INTEGER) {
// TODO: use custom exception
@ -115,8 +119,9 @@ inline int64_t ParameterVariant::get_value() const
}
return value_.integer_value;
}
template<>
inline double ParameterVariant::get_value() const
template<ParameterType type>
typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type
get_value() const
{
if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_DOUBLE) {
// TODO: use custom exception
@ -124,8 +129,9 @@ inline double ParameterVariant::get_value() const
}
return value_.double_value;
}
template<>
inline std::string ParameterVariant::get_value() const
template<ParameterType type>
typename std::enable_if<type == ParameterType::PARAMETER_STRING, const std::string &>::type
get_value() const
{
if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_STRING) {
// TODO: use custom exception
@ -133,8 +139,9 @@ inline std::string ParameterVariant::get_value() const
}
return value_.string_value;
}
template<>
inline bool ParameterVariant::get_value() const
template<ParameterType type>
typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type
get_value() const
{
if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_BOOL) {
// TODO: use custom exception
@ -142,8 +149,9 @@ inline bool ParameterVariant::get_value() const
}
return value_.bool_value;
}
template<>
inline std::vector<int8_t> ParameterVariant::get_value() const
template<ParameterType type>
typename std::enable_if<type == ParameterType::PARAMETER_BYTES, std::vector<uint8_t>>::type
get_value() const
{
if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_BYTES) {
// TODO: use custom exception
@ -152,10 +160,27 @@ inline std::vector<int8_t> ParameterVariant::get_value() const
return value_.bytes_value;
}
int64_t as_int() const {return get_value<ParameterType::PARAMETER_INTEGER>(); }
double as_double() const {return get_value<ParameterType::PARAMETER_DOUBLE>(); }
const std::string & as_string() const {return get_value<ParameterType::PARAMETER_STRING>(); }
bool as_bool() const {return get_value<ParameterType::PARAMETER_BOOL>(); }
std::vector<uint8_t> as_bytes() const {return get_value<ParameterType::PARAMETER_BYTES>(); }
private:
std::string name_;
rcl_interfaces::ParameterValue value_;
};
class AsyncParametersClient
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient);
AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node)
: node_(node)
{
@ -191,34 +216,34 @@ public:
return f;
}
std::shared_future<std::vector<rcl_interfaces::ParameterSetResult>>
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>
set_parameters(
std::vector<ParameterVariant> parameters,
std::function<void(
std::shared_future<std::vector<rcl_interfaces::ParameterSetResult>>)> callback = nullptr)
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>)> callback = nullptr)
{
std::shared_future<std::vector<rcl_interfaces::ParameterSetResult>> f;
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>> f;
return f;
}
std::shared_future<rcl_interfaces::ParameterSetResult>
std::shared_future<rcl_interfaces::SetParametersResult>
set_parameters_atomically(
std::vector<ParameterVariant> parameters,
std::function<void(
std::shared_future<rcl_interfaces::ParameterSetResult>)> callback = nullptr)
std::shared_future<rcl_interfaces::SetParametersResult>)> callback = nullptr)
{
std::shared_future<rcl_interfaces::ParameterSetResult> f;
std::shared_future<rcl_interfaces::SetParametersResult> f;
return f;
}
std::shared_future<rcl_interfaces::ParameterListResult>
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::ParameterListResult>)> callback = nullptr)
std::shared_future<rcl_interfaces::ListParametersResult>)> callback = nullptr)
{
std::shared_future<rcl_interfaces::ParameterListResult> f;
std::shared_future<rcl_interfaces::ListParametersResult> f;
return f;
}
@ -233,6 +258,70 @@ private:
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 */