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refactor message generation (ros2/ros2#48)

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This commit is contained in:
Dirk Thomas 2015-05-29 08:46:15 -07:00
parent b7c3b7cf0f
commit 6534a2734f
5 changed files with 125 additions and 128 deletions
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12
rclcpp/include/rclcpp/node.hpp
View file

@ -20,6 +20,10 @@
#include <string> #include <string>
#include <tuple> #include <tuple>
#include <rcl_interfaces/msg/list_parameters_result.hpp>
#include <rcl_interfaces/msg/parameter_descriptor.hpp>
#include <rcl_interfaces/msg/set_parameters_result.hpp>
#include <rclcpp/callback_group.hpp> #include <rclcpp/callback_group.hpp>
#include <rclcpp/client.hpp> #include <rclcpp/client.hpp>
#include <rclcpp/context.hpp> #include <rclcpp/context.hpp>
@ -148,22 +152,22 @@ public:
FunctorT callback, FunctorT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr); rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
std::vector<rcl_interfaces::SetParametersResult> set_parameters( std::vector<rcl_interfaces::msg::SetParametersResult> set_parameters(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters); const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
rcl_interfaces::SetParametersResult set_parameters_atomically( rcl_interfaces::msg::SetParametersResult set_parameters_atomically(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters); const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
std::vector<rclcpp::parameter::ParameterVariant> get_parameters( std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
const std::vector<std::string> & names) const; const std::vector<std::string> & names) const;
std::vector<rcl_interfaces::ParameterDescriptor> describe_parameters( std::vector<rcl_interfaces::msg::ParameterDescriptor> describe_parameters(
const std::vector<std::string> & names) const; const std::vector<std::string> & names) const;
std::vector<uint8_t> get_parameter_types( std::vector<uint8_t> get_parameter_types(
const std::vector<std::string> & names) const; const std::vector<std::string> & names) const;
rcl_interfaces::ListParametersResult list_parameters( rcl_interfaces::msg::ListParametersResult list_parameters(
const std::vector<std::string> & prefixes, uint64_t depth) const; const std::vector<std::string> & prefixes, uint64_t depth) const;
private: private:

22
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -213,15 +213,15 @@ Node::create_service(
return serv; return serv;
} }
std::vector<rcl_interfaces::SetParametersResult> std::vector<rcl_interfaces::msg::SetParametersResult>
Node::set_parameters( Node::set_parameters(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters) const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
{ {
std::lock_guard<std::mutex> lock(mutex_); std::lock_guard<std::mutex> lock(mutex_);
std::vector<rcl_interfaces::SetParametersResult> results; std::vector<rcl_interfaces::msg::SetParametersResult> results;
for (auto p : parameters) { for (auto p : parameters) {
parameters_[p.get_name()] = p; parameters_[p.get_name()] = p;
rcl_interfaces::SetParametersResult result; rcl_interfaces::msg::SetParametersResult result;
result.successful = true; result.successful = true;
// TODO: handle parameter constraints // TODO: handle parameter constraints
results.push_back(result); results.push_back(result);
@ -229,7 +229,7 @@ Node::set_parameters(
return results; return results;
} }
rcl_interfaces::SetParametersResult rcl_interfaces::msg::SetParametersResult
Node::set_parameters_atomically( Node::set_parameters_atomically(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters) const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
{ {
@ -241,7 +241,7 @@ Node::set_parameters_atomically(
tmp_map.insert(parameters_.begin(), parameters_.end()); tmp_map.insert(parameters_.begin(), parameters_.end());
std::swap(tmp_map, parameters_); std::swap(tmp_map, parameters_);
// TODO: handle parameter constraints // TODO: handle parameter constraints
rcl_interfaces::SetParametersResult result; rcl_interfaces::msg::SetParametersResult result;
result.successful = true; result.successful = true;
return result; return result;
} }
@ -263,18 +263,18 @@ Node::get_parameters(
return results; return results;
} }
std::vector<rcl_interfaces::ParameterDescriptor> std::vector<rcl_interfaces::msg::ParameterDescriptor>
Node::describe_parameters( Node::describe_parameters(
const std::vector<std::string> & names) const const std::vector<std::string> & names) const
{ {
std::lock_guard<std::mutex> lock(mutex_); std::lock_guard<std::mutex> lock(mutex_);
std::vector<rcl_interfaces::ParameterDescriptor> results; std::vector<rcl_interfaces::msg::ParameterDescriptor> results;
for (auto & kv : parameters_) { for (auto & kv : parameters_) {
if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) { if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
return name == kv.first; return name == kv.first;
})) }))
{ {
rcl_interfaces::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.parameter_type = kv.second.get_type();
results.push_back(parameter_descriptor); results.push_back(parameter_descriptor);
@ -296,18 +296,18 @@ Node::get_parameter_types(
{ {
results.push_back(kv.second.get_type()); results.push_back(kv.second.get_type());
} else { } else {
results.push_back(rcl_interfaces::ParameterType::PARAMETER_NOT_SET); results.push_back(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
} }
} }
return results; return results;
} }
rcl_interfaces::ListParametersResult rcl_interfaces::msg::ListParametersResult
Node::list_parameters( Node::list_parameters(
const std::vector<std::string> & prefixes, uint64_t depth) const const std::vector<std::string> & prefixes, uint64_t depth) const
{ {
std::lock_guard<std::mutex> lock(mutex_); std::lock_guard<std::mutex> lock(mutex_);
rcl_interfaces::ListParametersResult result; rcl_interfaces::msg::ListParametersResult result;
// TODO: define parameter separator, use "." for now // TODO: define parameter separator, use "." for now
for (auto & kv : parameters_) { for (auto & kv : parameters_) {

60
rclcpp/include/rclcpp/parameter.hpp
View file

@ -19,15 +19,9 @@
#include <rmw/rmw.h> #include <rmw/rmw.h>
#include <rcl_interfaces/GetParameters.h> #include <rcl_interfaces/msg/parameter.hpp>
#include <rcl_interfaces/GetParameterTypes.h> #include <rcl_interfaces/msg/parameter_type.hpp>
#include <rcl_interfaces/Parameter.h> #include <rcl_interfaces/msg/parameter_value.hpp>
#include <rcl_interfaces/ParameterDescriptor.h>
#include <rcl_interfaces/ParameterType.h>
#include <rcl_interfaces/SetParameters.h>
#include <rcl_interfaces/SetParametersAtomically.h>
#include <rcl_interfaces/ListParameters.h>
#include <rcl_interfaces/DescribeParameters.h>
namespace rclcpp namespace rclcpp
{ {
@ -37,12 +31,12 @@ namespace parameter
enum ParameterType enum ParameterType
{ {
PARAMETER_NOT_SET=rcl_interfaces::ParameterType::PARAMETER_NOT_SET, PARAMETER_NOT_SET=rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET,
PARAMETER_BOOL=rcl_interfaces::ParameterType::PARAMETER_BOOL, PARAMETER_BOOL=rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
PARAMETER_INTEGER=rcl_interfaces::ParameterType::PARAMETER_INTEGER, PARAMETER_INTEGER=rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
PARAMETER_DOUBLE=rcl_interfaces::ParameterType::PARAMETER_DOUBLE, PARAMETER_DOUBLE=rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
PARAMETER_STRING=rcl_interfaces::ParameterType::PARAMETER_STRING, PARAMETER_STRING=rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
PARAMETER_BYTES=rcl_interfaces::ParameterType::PARAMETER_BYTES, PARAMETER_BYTES=rcl_interfaces::msg::ParameterType::PARAMETER_BYTES,
}; };
// Structure to store an arbitrary parameter with templated get/set methods // Structure to store an arbitrary parameter with templated get/set methods
@ -52,56 +46,56 @@ public:
ParameterVariant() ParameterVariant()
: name_("") : name_("")
{ {
value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_NOT_SET; value_.parameter_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::ParameterType::PARAMETER_BOOL; value_.parameter_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::ParameterType::PARAMETER_INTEGER; value_.parameter_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::ParameterType::PARAMETER_INTEGER; value_.parameter_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::ParameterType::PARAMETER_DOUBLE; value_.parameter_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::ParameterType::PARAMETER_DOUBLE; value_.parameter_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::ParameterType::PARAMETER_STRING; value_.parameter_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::ParameterType::PARAMETER_BYTES; value_.parameter_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_.parameter_type); }
inline std::string get_name() const & {return name_; } inline std::string get_name() const & {return name_; }
inline rcl_interfaces::ParameterValue get_parameter_value() const inline rcl_interfaces::msg::ParameterValue get_parameter_value() const
{ {
return value_; return value_;
} }
@ -110,7 +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::ParameterType::PARAMETER_INTEGER) { if (value_.parameter_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");
} }
@ -120,7 +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::ParameterType::PARAMETER_DOUBLE) { if (value_.parameter_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");
} }
@ -130,7 +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::ParameterType::PARAMETER_STRING) { if (value_.parameter_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");
} }
@ -140,7 +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::ParameterType::PARAMETER_BOOL) { if (value_.parameter_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");
} }
@ -151,7 +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::ParameterType::PARAMETER_BYTES) { if (value_.parameter_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");
} }
@ -171,7 +165,7 @@ public:
return get_value<ParameterType::PARAMETER_BYTES>(); return get_value<ParameterType::PARAMETER_BYTES>();
} }
static ParameterVariant from_parameter(const rcl_interfaces::Parameter & parameter) static ParameterVariant from_parameter(const rcl_interfaces::msg::Parameter & parameter)
{ {
switch (parameter.value.parameter_type) { switch (parameter.value.parameter_type) {
case PARAMETER_BOOL: case PARAMETER_BOOL:
@ -191,9 +185,9 @@ public:
} }
} }
rcl_interfaces::Parameter to_parameter() rcl_interfaces::msg::Parameter to_parameter()
{ {
rcl_interfaces::Parameter parameter; rcl_interfaces::msg::Parameter parameter;
parameter.name = name_; parameter.name = name_;
parameter.value = value_; parameter.value = value_;
return parameter; return parameter;
@ -201,7 +195,7 @@ public:
private: private:
std::string name_; std::string name_;
rcl_interfaces::ParameterValue value_; rcl_interfaces::msg::ParameterValue value_;
}; };
} /* namespace parameter */ } /* namespace parameter */

92
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -24,15 +24,14 @@
#include <rclcpp/node.hpp> #include <rclcpp/node.hpp>
#include <rclcpp/parameter.hpp> #include <rclcpp/parameter.hpp>
#include <rcl_interfaces/GetParameters.h> #include <rcl_interfaces/msg/parameter.hpp>
#include <rcl_interfaces/GetParameterTypes.h> #include <rcl_interfaces/msg/parameter_value.hpp>
#include <rcl_interfaces/Parameter.h> #include <rcl_interfaces/srv/describe_parameters.hpp>
#include <rcl_interfaces/ParameterDescriptor.h> #include <rcl_interfaces/srv/get_parameters.hpp>
#include <rcl_interfaces/ParameterType.h> #include <rcl_interfaces/srv/get_parameter_types.hpp>
#include <rcl_interfaces/SetParameters.h> #include <rcl_interfaces/srv/list_parameters.hpp>
#include <rcl_interfaces/SetParametersAtomically.h> #include <rcl_interfaces/srv/set_parameters.hpp>
#include <rcl_interfaces/ListParameters.h> #include <rcl_interfaces/srv/set_parameters_atomically.hpp>
#include <rcl_interfaces/DescribeParameters.h>
namespace rclcpp namespace rclcpp
{ {
@ -55,15 +54,15 @@ public:
} else { } else {
remote_node_name_ = node_->get_name(); remote_node_name_ = node_->get_name();
} }
get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>( get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
remote_node_name_ + "__get_parameters"); remote_node_name_ + "__get_parameters");
get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>( get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
remote_node_name_ + "__get_parameter_types"); remote_node_name_ + "__get_parameter_types");
set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>( set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
remote_node_name_ + "__set_parameters"); remote_node_name_ + "__set_parameters");
list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>( list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
remote_node_name_ + "__list_parameters"); remote_node_name_ + "__list_parameters");
describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>( describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
remote_node_name_ + "__describe_parameters"); remote_node_name_ + "__describe_parameters");
} }
@ -76,20 +75,20 @@ public:
std::promise<std::vector<rclcpp::parameter::ParameterVariant>> promise_result; std::promise<std::vector<rclcpp::parameter::ParameterVariant>> promise_result;
auto future_result = promise_result.get_future().share(); auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::GetParameters::Request>(); auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
request->names = names; request->names = names;
get_parameters_client_->async_send_request( get_parameters_client_->async_send_request(
request, request,
[&names, &promise_result, &future_result, &callback]( [&names, &promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedFuture cb_f) { rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterVariant> parameter_variants; std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
auto & pvalues = cb_f.get()->values; auto & pvalues = cb_f.get()->values;
std::transform(pvalues.begin(), pvalues.end(), std::back_inserter(parameter_variants), std::transform(pvalues.begin(), pvalues.end(), std::back_inserter(parameter_variants),
[&names, &pvalues](rcl_interfaces::ParameterValue pvalue) { [&names, &pvalues](rcl_interfaces::msg::ParameterValue pvalue) {
auto i = &pvalue - &pvalues[0]; auto i = &pvalue - &pvalues[0];
rcl_interfaces::Parameter parameter; rcl_interfaces::msg::Parameter parameter;
parameter.name = names[i]; parameter.name = names[i];
parameter.value = pvalue; parameter.value = pvalue;
return rclcpp::parameter::ParameterVariant::from_parameter(parameter); return rclcpp::parameter::ParameterVariant::from_parameter(parameter);
@ -113,13 +112,13 @@ public:
std::promise<std::vector<rclcpp::parameter::ParameterType>> promise_result; std::promise<std::vector<rclcpp::parameter::ParameterType>> promise_result;
auto future_result = promise_result.get_future().share(); auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::GetParameterTypes::Request>(); auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
request->parameter_names = parameter_names; request->parameter_names = parameter_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::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> parameter_types;
auto & pts = cb_f.get()->parameter_types; auto & pts = cb_f.get()->parameter_types;
std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types), std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types),
@ -134,16 +133,17 @@ public:
return future_result; return future_result;
} }
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>> std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
set_parameters( set_parameters(
std::vector<rclcpp::parameter::ParameterVariant> parameters, std::vector<rclcpp::parameter::ParameterVariant> parameters,
std::function<void( std::function<
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>)> callback = nullptr) void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)
> callback = nullptr)
{ {
std::promise<std::vector<rcl_interfaces::SetParametersResult>> promise_result; std::promise<std::vector<rcl_interfaces::msg::SetParametersResult>> promise_result;
auto future_result = promise_result.get_future().share(); auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::SetParameters::Request>(); auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
std::transform(parameters.begin(), parameters.end(), std::back_inserter( std::transform(parameters.begin(), parameters.end(), std::back_inserter(
request->parameters), []( request->parameters), [](
@ -152,7 +152,7 @@ public:
set_parameters_client_->async_send_request( set_parameters_client_->async_send_request(
request, request,
[&promise_result, &future_result, &callback]( [&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedFuture cb_f) { rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->results); promise_result.set_value(cb_f.get()->results);
if (callback != nullptr) { if (callback != nullptr) {
callback(future_result); callback(future_result);
@ -163,16 +163,16 @@ public:
return future_result; return future_result;
} }
std::shared_future<rcl_interfaces::SetParametersResult> std::shared_future<rcl_interfaces::msg::SetParametersResult>
set_parameters_atomically( set_parameters_atomically(
std::vector<rclcpp::parameter::ParameterVariant> parameters, std::vector<rclcpp::parameter::ParameterVariant> parameters,
std::function<void( std::function<void(
std::shared_future<rcl_interfaces::SetParametersResult>)> callback = nullptr) std::shared_future<rcl_interfaces::msg::SetParametersResult>)> callback = nullptr)
{ {
std::promise<rcl_interfaces::SetParametersResult> promise_result; std::promise<rcl_interfaces::msg::SetParametersResult> promise_result;
auto future_result = promise_result.get_future().share(); auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::SetParametersAtomically::Request>(); auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
std::transform(parameters.begin(), parameters.end(), std::back_inserter( std::transform(parameters.begin(), parameters.end(), std::back_inserter(
request->parameters), []( request->parameters), [](
@ -181,7 +181,7 @@ public:
set_parameters_atomically_client_->async_send_request( set_parameters_atomically_client_->async_send_request(
request, request,
[&promise_result, &future_result, &callback]( [&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedFuture cb_f) { rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->result); promise_result.set_value(cb_f.get()->result);
if (callback != nullptr) { if (callback != nullptr) {
callback(future_result); callback(future_result);
@ -192,24 +192,24 @@ public:
return future_result; return future_result;
} }
std::shared_future<rcl_interfaces::ListParametersResult> std::shared_future<rcl_interfaces::msg::ListParametersResult>
list_parameters( list_parameters(
std::vector<std::string> parameter_prefixes, std::vector<std::string> parameter_prefixes,
uint64_t depth, uint64_t depth,
std::function<void( std::function<void(
std::shared_future<rcl_interfaces::ListParametersResult>)> callback = nullptr) std::shared_future<rcl_interfaces::msg::ListParametersResult>)> callback = nullptr)
{ {
std::promise<rcl_interfaces::ListParametersResult> promise_result; std::promise<rcl_interfaces::msg::ListParametersResult> promise_result;
auto future_result = promise_result.get_future().share(); auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::ListParameters::Request>(); auto request = std::make_shared<rcl_interfaces::srv::ListParameters::Request>();
request->parameter_prefixes = parameter_prefixes; request->parameter_prefixes = parameter_prefixes;
request->depth = depth; request->depth = depth;
list_parameters_client_->async_send_request( list_parameters_client_->async_send_request(
request, request,
[&promise_result, &future_result, &callback]( [&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedFuture cb_f) { rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->result); promise_result.set_value(cb_f.get()->result);
if (callback != nullptr) { if (callback != nullptr) {
callback(future_result); callback(future_result);
@ -222,13 +222,15 @@ public:
private: private:
const rclcpp::node::Node::SharedPtr node_; const rclcpp::node::Node::SharedPtr node_;
rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedPtr get_parameters_client_; rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedPtr get_parameter_types_client_; rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedPtr set_parameters_client_; get_parameter_types_client_;
rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedPtr rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_client_;
rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
set_parameters_atomically_client_; set_parameters_atomically_client_;
rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_; rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_client_;
rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_; rclcpp::client::Client<rcl_interfaces::srv::DescribeParameters>::SharedPtr
describe_parameters_client_;
std::string remote_node_name_; std::string remote_node_name_;
}; };
@ -267,21 +269,21 @@ public:
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get(); return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
} }
std::vector<rcl_interfaces::SetParametersResult> std::vector<rcl_interfaces::msg::SetParametersResult>
set_parameters(std::vector<rclcpp::parameter::ParameterVariant> parameters) set_parameters(std::vector<rclcpp::parameter::ParameterVariant> parameters)
{ {
auto f = async_parameters_client_->set_parameters(parameters); auto f = async_parameters_client_->set_parameters(parameters);
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get(); return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
} }
rcl_interfaces::SetParametersResult rcl_interfaces::msg::SetParametersResult
set_parameters_atomically(std::vector<rclcpp::parameter::ParameterVariant> parameters) set_parameters_atomically(std::vector<rclcpp::parameter::ParameterVariant> parameters)
{ {
auto f = async_parameters_client_->set_parameters_atomically(parameters); auto f = async_parameters_client_->set_parameters_atomically(parameters);
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get(); return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
} }
rcl_interfaces::ListParametersResult rcl_interfaces::msg::ListParametersResult
list_parameters( list_parameters(
std::vector<std::string> parameter_prefixes, std::vector<std::string> parameter_prefixes,
uint64_t depth) uint64_t depth)

67
rclcpp/include/rclcpp/parameter_service.hpp
View file

@ -24,15 +24,12 @@
#include <rclcpp/node.hpp> #include <rclcpp/node.hpp>
#include <rclcpp/parameter.hpp> #include <rclcpp/parameter.hpp>
#include <rcl_interfaces/GetParameters.h> #include <rcl_interfaces/srv/describe_parameters.hpp>
#include <rcl_interfaces/GetParameterTypes.h> #include <rcl_interfaces/srv/get_parameters.hpp>
#include <rcl_interfaces/Parameter.h> #include <rcl_interfaces/srv/get_parameter_types.hpp>
#include <rcl_interfaces/ParameterDescriptor.h> #include <rcl_interfaces/srv/list_parameters.hpp>
#include <rcl_interfaces/ParameterType.h> #include <rcl_interfaces/srv/set_parameters.hpp>
#include <rcl_interfaces/SetParameters.h> #include <rcl_interfaces/srv/set_parameters_atomically.hpp>
#include <rcl_interfaces/SetParametersAtomically.h>
#include <rcl_interfaces/ListParameters.h>
#include <rcl_interfaces/DescribeParameters.h>
namespace rclcpp namespace rclcpp
{ {
@ -49,11 +46,11 @@ public:
ParameterService(const rclcpp::node::Node::SharedPtr & node) ParameterService(const rclcpp::node::Node::SharedPtr & node)
: node_(node) : node_(node)
{ {
get_parameters_service_ = node_->create_service<rcl_interfaces::GetParameters>( get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
node_->get_name() + "__get_parameters", [&node]( node_->get_name() + "__get_parameters", [&node](
const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<rcl_interfaces::GetParameters::Request> request, const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
std::shared_ptr<rcl_interfaces::GetParameters::Response> response) std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
{ {
auto values = node->get_parameters(request->names); auto values = node->get_parameters(request->names);
std::transform(values.cbegin(), values.cend(), std::back_inserter(response->values), std::transform(values.cbegin(), values.cend(), std::back_inserter(response->values),
@ -64,11 +61,11 @@ public:
} }
); );
get_parameter_types_service_ = node_->create_service<rcl_interfaces::GetParameterTypes>( get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
node_->get_name() + "__get_parameter_types", [&node]( node_->get_name() + "__get_parameter_types", [&node](
const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<rcl_interfaces::GetParameterTypes::Request> request, const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
std::shared_ptr<rcl_interfaces::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->parameter_names);
std::transform(types.cbegin(), types.cend(), std::transform(types.cbegin(), types.cend(),
@ -78,16 +75,16 @@ public:
} }
); );
set_parameters_service_ = node_->create_service<rcl_interfaces::SetParameters>( set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
node_->get_name() + "__set_parameters", [&node]( node_->get_name() + "__set_parameters", [&node](
const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<rcl_interfaces::SetParameters::Request> request, const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
std::shared_ptr<rcl_interfaces::SetParameters::Response> response) std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
{ {
std::vector<rclcpp::parameter::ParameterVariant> pvariants; std::vector<rclcpp::parameter::ParameterVariant> pvariants;
std::transform(request->parameters.cbegin(), request->parameters.cend(), std::transform(request->parameters.cbegin(), request->parameters.cend(),
std::back_inserter(pvariants), std::back_inserter(pvariants),
[](const rcl_interfaces::Parameter & p) { [](const rcl_interfaces::msg::Parameter & p) {
return rclcpp::parameter::ParameterVariant:: return rclcpp::parameter::ParameterVariant::
from_parameter(p); from_parameter(p);
}); });
@ -97,16 +94,16 @@ public:
); );
set_parameters_atomically_service_ = set_parameters_atomically_service_ =
node_->create_service<rcl_interfaces::SetParametersAtomically>( node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
node_->get_name() + "__set_parameters_atomically", [&node]( node_->get_name() + "__set_parameters_atomically", [&node](
const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<rcl_interfaces::SetParametersAtomically::Request> request, const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
std::shared_ptr<rcl_interfaces::SetParametersAtomically::Response> response) std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
{ {
std::vector<rclcpp::parameter::ParameterVariant> pvariants; std::vector<rclcpp::parameter::ParameterVariant> pvariants;
std::transform(request->parameters.cbegin(), request->parameters.cend(), std::transform(request->parameters.cbegin(), request->parameters.cend(),
std::back_inserter(pvariants), std::back_inserter(pvariants),
[](const rcl_interfaces::Parameter & p) { [](const rcl_interfaces::msg::Parameter & p) {
return rclcpp::parameter::ParameterVariant:: return rclcpp::parameter::ParameterVariant::
from_parameter(p); from_parameter(p);
}); });
@ -115,22 +112,22 @@ public:
} }
); );
describe_parameters_service_ = node_->create_service<rcl_interfaces::DescribeParameters>( describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
node_->get_name() + "__describe_parameters", [&node]( node_->get_name() + "__describe_parameters", [&node](
const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<rcl_interfaces::DescribeParameters::Request> request, const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
std::shared_ptr<rcl_interfaces::DescribeParameters::Response> response) std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
{ {
auto descriptors = node->describe_parameters(request->names); auto descriptors = node->describe_parameters(request->names);
response->descriptors = descriptors; response->descriptors = descriptors;
} }
); );
list_parameters_service_ = node_->create_service<rcl_interfaces::ListParameters>( list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
node_->get_name() + "__describe_parameters", [&node]( node_->get_name() + "__describe_parameters", [&node](
const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<rcl_interfaces::ListParameters::Request> request, const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
std::shared_ptr<rcl_interfaces::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->parameter_prefixes, request->depth);
response->result = result; response->result = result;
@ -142,15 +139,15 @@ public:
private: private:
const rclcpp::node::Node::SharedPtr node_; const rclcpp::node::Node::SharedPtr node_;
rclcpp::service::Service<rcl_interfaces::GetParameters>::SharedPtr get_parameters_service_; rclcpp::service::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
rclcpp::service::Service<rcl_interfaces::GetParameterTypes>::SharedPtr rclcpp::service::Service<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
get_parameter_types_service_; get_parameter_types_service_;
rclcpp::service::Service<rcl_interfaces::SetParameters>::SharedPtr set_parameters_service_; rclcpp::service::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
rclcpp::service::Service<rcl_interfaces::SetParametersAtomically>::SharedPtr rclcpp::service::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
set_parameters_atomically_service_; set_parameters_atomically_service_;
rclcpp::service::Service<rcl_interfaces::DescribeParameters>::SharedPtr rclcpp::service::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
describe_parameters_service_; describe_parameters_service_;
rclcpp::service::Service<rcl_interfaces::ListParameters>::SharedPtr list_parameters_service_; rclcpp::service::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
}; };
} /* namespace parameter_service */ } /* namespace parameter_service */