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Added developer parameter API

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This commit is contained in:
Esteve Fernandez 2015-05-15 14:01:27 -07:00
parent 1e516426d0
commit 5a74f32ba0
2 changed files with 120 additions and 10 deletions
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8
rclcpp/include/rclcpp/parameter.hpp
View file

@ -190,6 +190,14 @@ public:
}
}
rcl_interfaces::Parameter to_parameter()
{
rcl_interfaces::Parameter parameter;
parameter.name = name_;
parameter.value = value_;
return parameter;
}
private:
std::string name_;
rcl_interfaces::ParameterValue value_;

122
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -67,8 +67,35 @@ public:
std::function<void(
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)> callback = nullptr)
{
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>> f;
return f;
std::promise<std::vector<rclcpp::parameter::ParameterVariant>> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::GetParameters::Request>();
request->names = names;
get_parameters_client_->async_send_request(
request,
[&names, &promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
auto & pvalues = cb_f.get()->values;
std::transform(pvalues.begin(), pvalues.end(), std::back_inserter(parameter_variants),
[&names, &pvalues](rcl_interfaces::ParameterValue pvalue) {
auto i = &pvalue - &pvalues[0];
rcl_interfaces::Parameter parameter;
parameter.name = names[i];
parameter.value = pvalue;
return rclcpp::parameter::ParameterVariant::from_parameter(parameter);
});
promise_result.set_value(parameter_variants);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<std::vector<rclcpp::parameter::ParameterType>>
@ -77,8 +104,28 @@ public:
std::function<void(
std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
{
std::shared_future<std::vector<rclcpp::parameter::ParameterType>> f;
return f;
std::promise<std::vector<rclcpp::parameter::ParameterType>> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::GetParameterTypes::Request>();
request->parameter_names = parameter_names;
get_parameter_types_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterType> parameter_types;
auto & pts = cb_f.get()->parameter_types;
std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types),
[](uint8_t pt) {return static_cast<rclcpp::parameter::ParameterType>(pt); });
promise_result.set_value(parameter_types);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>
@ -87,8 +134,27 @@ public:
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::promise<std::vector<rcl_interfaces::SetParametersResult>> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::SetParameters::Request>();
std::transform(parameters.begin(), parameters.end(), std::back_inserter(
request->parameters), [](
rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
set_parameters_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->results);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<rcl_interfaces::SetParametersResult>
@ -97,8 +163,27 @@ public:
std::function<void(
std::shared_future<rcl_interfaces::SetParametersResult>)> callback = nullptr)
{
std::shared_future<rcl_interfaces::SetParametersResult> f;
return f;
std::promise<rcl_interfaces::SetParametersResult> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::SetParametersAtomically::Request>();
std::transform(parameters.begin(), parameters.end(), std::back_inserter(
request->parameters), [](
rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
set_parameters_atomically_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->result);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<rcl_interfaces::ListParametersResult>
@ -108,8 +193,25 @@ public:
std::function<void(
std::shared_future<rcl_interfaces::ListParametersResult>)> callback = nullptr)
{
std::shared_future<rcl_interfaces::ListParametersResult> f;
return f;
std::promise<rcl_interfaces::ListParametersResult> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::ListParameters::Request>();
request->parameter_prefixes = parameter_prefixes;
request->depth = depth;
list_parameters_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->result);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
private: