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Merge pull request #40 from ros2/parameters-roundup

Browse source 
Include feedback from https://github.com/ros2/ros2/issues/46
This commit is contained in:
Esteve Fernandez 2015-06-16 11:05:42 -07:00
commit 5c6c61662a
4 changed files with 31 additions and 31 deletions
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10
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -276,7 +276,7 @@ Node::describe_parameters(
{ {
rcl_interfaces::msg::ParameterDescriptor parameter_descriptor; rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
parameter_descriptor.name = kv.first; 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); results.push_back(parameter_descriptor);
} }
} }
@ -321,13 +321,13 @@ Node::list_parameters(
return false; return false;
})) }))
{ {
result.parameter_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('.');
std::string prefix = kv.first.substr(0, last_separator); std::string prefix = kv.first.substr(0, last_separator);
if (std::find(result.parameter_prefixes.cbegin(), result.parameter_prefixes.cend(), if (std::find(result.prefixes.cbegin(), result.prefixes.cend(),
prefix) == result.parameter_prefixes.cend()) prefix) == result.prefixes.cend())
{ {
result.parameter_prefixes.push_back(prefix); result.prefixes.push_back(prefix);
} }
} }
} }

30
rclcpp/include/rclcpp/parameter.hpp
View file

@ -46,52 +46,52 @@ public:
ParameterVariant() ParameterVariant()
: name_("") : 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) explicit ParameterVariant(const std::string & name, const bool bool_value)
: name_(name) : name_(name)
{ {
value_.bool_value = bool_value; 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) explicit ParameterVariant(const std::string & name, const int int_value)
: name_(name) : name_(name)
{ {
value_.integer_value = int_value; 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) explicit ParameterVariant(const std::string & name, const int64_t int_value)
: name_(name) : name_(name)
{ {
value_.integer_value = int_value; 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) explicit ParameterVariant(const std::string & name, const float double_value)
: name_(name) : name_(name)
{ {
value_.double_value = double_value; 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) explicit ParameterVariant(const std::string & name, const double double_value)
: name_(name) : name_(name)
{ {
value_.double_value = double_value; 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) explicit ParameterVariant(const std::string & name, const std::string & string_value)
: name_(name) : name_(name)
{ {
value_.string_value = string_value; 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<uint8_t> & bytes_value) explicit ParameterVariant(const std::string & name, const std::vector<uint8_t> & bytes_value)
: name_(name) : name_(name)
{ {
value_.bytes_value = bytes_value; 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<ParameterType>(value_.parameter_type); } inline ParameterType get_type() const {return static_cast<ParameterType>(value_.type); }
inline std::string get_name() const & {return name_; } inline std::string get_name() const & {return name_; }
@ -104,7 +104,7 @@ public:
typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
get_value() const 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 // TODO: use custom exception
throw std::runtime_error("Invalid type"); throw std::runtime_error("Invalid type");
} }
@ -114,7 +114,7 @@ public:
typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type
get_value() const 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 // TODO: use custom exception
throw std::runtime_error("Invalid type"); throw std::runtime_error("Invalid type");
} }
@ -124,7 +124,7 @@ public:
typename std::enable_if<type == ParameterType::PARAMETER_STRING, const std::string &>::type typename std::enable_if<type == ParameterType::PARAMETER_STRING, const std::string &>::type
get_value() const 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 // TODO: use custom exception
throw std::runtime_error("Invalid type"); throw std::runtime_error("Invalid type");
} }
@ -134,7 +134,7 @@ public:
typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type
get_value() const 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 // TODO: use custom exception
throw std::runtime_error("Invalid type"); throw std::runtime_error("Invalid type");
} }
@ -145,7 +145,7 @@ public:
const std::vector<uint8_t> &>::type const std::vector<uint8_t> &>::type
get_value() const 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 // TODO: use custom exception
throw std::runtime_error("Invalid type"); throw std::runtime_error("Invalid type");
} }
@ -167,7 +167,7 @@ public:
static ParameterVariant from_parameter(const rcl_interfaces::msg::Parameter & parameter) static ParameterVariant from_parameter(const rcl_interfaces::msg::Parameter & parameter)
{ {
switch (parameter.value.parameter_type) { switch (parameter.value.type) {
case PARAMETER_BOOL: case PARAMETER_BOOL:
return ParameterVariant(parameter.name, parameter.value.bool_value); return ParameterVariant(parameter.name, parameter.value.bool_value);
case PARAMETER_INTEGER: case PARAMETER_INTEGER:

16
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -105,7 +105,7 @@ public:
std::shared_future<std::vector<rclcpp::parameter::ParameterType>> std::shared_future<std::vector<rclcpp::parameter::ParameterType>>
get_parameter_types( get_parameter_types(
std::vector<std::string> parameter_names, std::vector<std::string> names,
std::function<void( std::function<void(
std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr) std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
{ {
@ -113,17 +113,17 @@ public:
auto future_result = promise_result.get_future().share(); auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>(); auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
request->parameter_names = parameter_names; request->names = names;
get_parameter_types_client_->async_send_request( get_parameter_types_client_->async_send_request(
request, request,
[&promise_result, &future_result, &callback]( [&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f) { rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterType> parameter_types; std::vector<rclcpp::parameter::ParameterType> types;
auto & pts = cb_f.get()->parameter_types; auto & pts = cb_f.get()->types;
std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types), std::transform(pts.begin(), pts.end(), std::back_inserter(types),
[](uint8_t pt) {return static_cast<rclcpp::parameter::ParameterType>(pt); }); [](uint8_t pt) {return static_cast<rclcpp::parameter::ParameterType>(pt); });
promise_result.set_value(parameter_types); promise_result.set_value(types);
if (callback != nullptr) { if (callback != nullptr) {
callback(future_result); callback(future_result);
} }
@ -194,7 +194,7 @@ public:
std::shared_future<rcl_interfaces::msg::ListParametersResult> std::shared_future<rcl_interfaces::msg::ListParametersResult>
list_parameters( list_parameters(
std::vector<std::string> parameter_prefixes, std::vector<std::string> prefixes,
uint64_t depth, uint64_t depth,
std::function<void( std::function<void(
std::shared_future<rcl_interfaces::msg::ListParametersResult>)> callback = nullptr) std::shared_future<rcl_interfaces::msg::ListParametersResult>)> callback = nullptr)
@ -203,7 +203,7 @@ public:
auto future_result = promise_result.get_future().share(); auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::srv::ListParameters::Request>(); auto request = std::make_shared<rcl_interfaces::srv::ListParameters::Request>();
request->parameter_prefixes = parameter_prefixes; request->prefixes = prefixes;
request->depth = depth; request->depth = depth;
list_parameters_client_->async_send_request( list_parameters_client_->async_send_request(

6
rclcpp/include/rclcpp/parameter_service.hpp
View file

@ -67,9 +67,9 @@ public:
const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request, const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response) std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> 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::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<rclcpp::parameter::ParameterType>(type); return static_cast<rclcpp::parameter::ParameterType>(type);
}); });
} }
@ -129,7 +129,7 @@ public:
const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request, const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response) std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response)
{ {
auto result = node->list_parameters(request->parameter_prefixes, request->depth); auto result = node->list_parameters(request->prefixes, request->depth);
response->result = result; response->result = result;
} }
); );