From 993330169a315ca06307485ce138b703cd6e44eb Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 15 Jun 2015 16:30:34 -0700 Subject: [PATCH] Include feedback from https://github.com/ros2/ros2/issues/46 --- rclcpp/include/rclcpp/node_impl.hpp | 10 +++---- rclcpp/include/rclcpp/parameter.hpp | 30 ++++++++++----------- rclcpp/include/rclcpp/parameter_client.hpp | 16 +++++------ rclcpp/include/rclcpp/parameter_service.hpp | 6 ++--- 4 files changed, 31 insertions(+), 31 deletions(-) diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp index d4ac1a6..4680ef1 100644 --- a/rclcpp/include/rclcpp/node_impl.hpp +++ b/rclcpp/include/rclcpp/node_impl.hpp @@ -276,7 +276,7 @@ Node::describe_parameters( { rcl_interfaces::msg::ParameterDescriptor parameter_descriptor; parameter_descriptor.name = kv.first; - parameter_descriptor.parameter_type = kv.second.get_type(); + parameter_descriptor.type = kv.second.get_type(); results.push_back(parameter_descriptor); } } @@ -321,13 +321,13 @@ Node::list_parameters( return false; })) { - result.parameter_names.push_back(kv.first); + result.names.push_back(kv.first); size_t last_separator = kv.first.find_last_of('.'); std::string prefix = kv.first.substr(0, last_separator); - if (std::find(result.parameter_prefixes.cbegin(), result.parameter_prefixes.cend(), - prefix) == result.parameter_prefixes.cend()) + if (std::find(result.prefixes.cbegin(), result.prefixes.cend(), + prefix) == result.prefixes.cend()) { - result.parameter_prefixes.push_back(prefix); + result.prefixes.push_back(prefix); } } } diff --git a/rclcpp/include/rclcpp/parameter.hpp b/rclcpp/include/rclcpp/parameter.hpp index d7b420d..24984fd 100644 --- a/rclcpp/include/rclcpp/parameter.hpp +++ b/rclcpp/include/rclcpp/parameter.hpp @@ -46,52 +46,52 @@ public: ParameterVariant() : name_("") { - value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET; + value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET; } explicit ParameterVariant(const std::string & name, const bool bool_value) : name_(name) { value_.bool_value = bool_value; - value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL; + value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL; } explicit ParameterVariant(const std::string & name, const int int_value) : name_(name) { value_.integer_value = int_value; - value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; } explicit ParameterVariant(const std::string & name, const int64_t int_value) : name_(name) { value_.integer_value = int_value; - value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + value_.type = rcl_interfaces::msg::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::msg::ParameterType::PARAMETER_DOUBLE; + value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; } explicit ParameterVariant(const std::string & name, const double double_value) : name_(name) { value_.double_value = double_value; - value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; + value_.type = rcl_interfaces::msg::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::msg::ParameterType::PARAMETER_STRING; + value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; } explicit ParameterVariant(const std::string & name, const std::vector & bytes_value) : name_(name) { value_.bytes_value = bytes_value; - value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_BYTES; + value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_BYTES; } - inline ParameterType get_type() const {return static_cast(value_.parameter_type); } + inline ParameterType get_type() const {return static_cast(value_.type); } inline std::string get_name() const & {return name_; } @@ -104,7 +104,7 @@ public: typename std::enable_if::type get_value() const { - if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) { + if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) { // TODO: use custom exception throw std::runtime_error("Invalid type"); } @@ -114,7 +114,7 @@ public: typename std::enable_if::type get_value() const { - if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) { + if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) { // TODO: use custom exception throw std::runtime_error("Invalid type"); } @@ -124,7 +124,7 @@ public: typename std::enable_if::type get_value() const { - if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_STRING) { + if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_STRING) { // TODO: use custom exception throw std::runtime_error("Invalid type"); } @@ -134,7 +134,7 @@ public: typename std::enable_if::type get_value() const { - if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) { + if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) { // TODO: use custom exception throw std::runtime_error("Invalid type"); } @@ -145,7 +145,7 @@ public: const std::vector &>::type get_value() const { - if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_BYTES) { + if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BYTES) { // TODO: use custom exception throw std::runtime_error("Invalid type"); } @@ -167,7 +167,7 @@ public: static ParameterVariant from_parameter(const rcl_interfaces::msg::Parameter & parameter) { - switch (parameter.value.parameter_type) { + switch (parameter.value.type) { case PARAMETER_BOOL: return ParameterVariant(parameter.name, parameter.value.bool_value); case PARAMETER_INTEGER: diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp index 5e7c611..bc9c398 100644 --- a/rclcpp/include/rclcpp/parameter_client.hpp +++ b/rclcpp/include/rclcpp/parameter_client.hpp @@ -105,7 +105,7 @@ public: std::shared_future> get_parameter_types( - std::vector parameter_names, + std::vector names, std::function>)> callback = nullptr) { @@ -113,17 +113,17 @@ public: auto future_result = promise_result.get_future().share(); auto request = std::make_shared(); - request->parameter_names = parameter_names; + request->names = names; get_parameter_types_client_->async_send_request( request, [&promise_result, &future_result, &callback]( rclcpp::client::Client::SharedFuture cb_f) { - std::vector parameter_types; - auto & pts = cb_f.get()->parameter_types; - std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types), + std::vector types; + auto & pts = cb_f.get()->types; + std::transform(pts.begin(), pts.end(), std::back_inserter(types), [](uint8_t pt) {return static_cast(pt); }); - promise_result.set_value(parameter_types); + promise_result.set_value(types); if (callback != nullptr) { callback(future_result); } @@ -194,7 +194,7 @@ public: std::shared_future list_parameters( - std::vector parameter_prefixes, + std::vector prefixes, uint64_t depth, std::function)> callback = nullptr) @@ -203,7 +203,7 @@ public: auto future_result = promise_result.get_future().share(); auto request = std::make_shared(); - request->parameter_prefixes = parameter_prefixes; + request->prefixes = prefixes; request->depth = depth; list_parameters_client_->async_send_request( diff --git a/rclcpp/include/rclcpp/parameter_service.hpp b/rclcpp/include/rclcpp/parameter_service.hpp index e4f369f..ea5cdc9 100644 --- a/rclcpp/include/rclcpp/parameter_service.hpp +++ b/rclcpp/include/rclcpp/parameter_service.hpp @@ -67,9 +67,9 @@ public: const std::shared_ptr request, std::shared_ptr response) { - auto types = node->get_parameter_types(request->parameter_names); + auto types = node->get_parameter_types(request->names); std::transform(types.cbegin(), types.cend(), - std::back_inserter(response->parameter_types), [](const uint8_t & type) { + std::back_inserter(response->types), [](const uint8_t & type) { return static_cast(type); }); } @@ -129,7 +129,7 @@ public: const std::shared_ptr request, std::shared_ptr response) { - auto result = node->list_parameters(request->parameter_prefixes, request->depth); + auto result = node->list_parameters(request->prefixes, request->depth); response->result = result; } );