refactor message generation (ros2/ros2#48)
This commit is contained in:
Dirk Thomas
parent
b7c3b7cf0f
commit
6534a2734f
5 changed files with 125 additions and 128 deletions
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@ -20,6 +20,10 @@
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#include <string>
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#include <tuple>
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#include <rcl_interfaces/msg/list_parameters_result.hpp>
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#include <rcl_interfaces/msg/parameter_descriptor.hpp>
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#include <rcl_interfaces/msg/set_parameters_result.hpp>
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#include <rclcpp/callback_group.hpp>
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#include <rclcpp/client.hpp>
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#include <rclcpp/context.hpp>
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@ -148,22 +152,22 @@ public:
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FunctorT callback,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
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std::vector<rcl_interfaces::SetParametersResult> set_parameters(
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std::vector<rcl_interfaces::msg::SetParametersResult> set_parameters(
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const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
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rcl_interfaces::SetParametersResult set_parameters_atomically(
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rcl_interfaces::msg::SetParametersResult set_parameters_atomically(
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const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
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std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
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const std::vector<std::string> & names) const;
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std::vector<rcl_interfaces::ParameterDescriptor> describe_parameters(
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std::vector<rcl_interfaces::msg::ParameterDescriptor> describe_parameters(
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const std::vector<std::string> & names) const;
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std::vector<uint8_t> get_parameter_types(
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const std::vector<std::string> & names) const;
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rcl_interfaces::ListParametersResult list_parameters(
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rcl_interfaces::msg::ListParametersResult list_parameters(
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const std::vector<std::string> & prefixes, uint64_t depth) const;
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private:
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@ -213,15 +213,15 @@ Node::create_service(
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return serv;
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}
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std::vector<rcl_interfaces::SetParametersResult>
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std::vector<rcl_interfaces::msg::SetParametersResult>
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Node::set_parameters(
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const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
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{
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std::lock_guard<std::mutex> lock(mutex_);
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std::vector<rcl_interfaces::SetParametersResult> results;
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std::vector<rcl_interfaces::msg::SetParametersResult> results;
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for (auto p : parameters) {
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parameters_[p.get_name()] = p;
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rcl_interfaces::SetParametersResult result;
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rcl_interfaces::msg::SetParametersResult result;
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result.successful = true;
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// TODO: handle parameter constraints
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results.push_back(result);
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@ -229,7 +229,7 @@ Node::set_parameters(
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return results;
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}
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rcl_interfaces::SetParametersResult
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rcl_interfaces::msg::SetParametersResult
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Node::set_parameters_atomically(
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const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
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{
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@ -241,7 +241,7 @@ Node::set_parameters_atomically(
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tmp_map.insert(parameters_.begin(), parameters_.end());
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std::swap(tmp_map, parameters_);
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// TODO: handle parameter constraints
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rcl_interfaces::SetParametersResult result;
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rcl_interfaces::msg::SetParametersResult result;
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result.successful = true;
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return result;
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}
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@ -263,18 +263,18 @@ Node::get_parameters(
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return results;
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}
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std::vector<rcl_interfaces::ParameterDescriptor>
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std::vector<rcl_interfaces::msg::ParameterDescriptor>
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Node::describe_parameters(
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const std::vector<std::string> & names) const
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{
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std::lock_guard<std::mutex> lock(mutex_);
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std::vector<rcl_interfaces::ParameterDescriptor> results;
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std::vector<rcl_interfaces::msg::ParameterDescriptor> results;
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for (auto & kv : parameters_) {
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if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
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return name == kv.first;
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}))
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{
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rcl_interfaces::ParameterDescriptor parameter_descriptor;
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rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
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parameter_descriptor.name = kv.first;
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parameter_descriptor.parameter_type = kv.second.get_type();
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results.push_back(parameter_descriptor);
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@ -296,18 +296,18 @@ Node::get_parameter_types(
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{
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results.push_back(kv.second.get_type());
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} else {
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results.push_back(rcl_interfaces::ParameterType::PARAMETER_NOT_SET);
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results.push_back(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
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}
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}
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return results;
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}
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rcl_interfaces::ListParametersResult
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rcl_interfaces::msg::ListParametersResult
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Node::list_parameters(
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const std::vector<std::string> & prefixes, uint64_t depth) const
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{
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std::lock_guard<std::mutex> lock(mutex_);
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rcl_interfaces::ListParametersResult result;
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rcl_interfaces::msg::ListParametersResult result;
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// TODO: define parameter separator, use "." for now
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for (auto & kv : parameters_) {
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@ -19,15 +19,9 @@
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#include <rmw/rmw.h>
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#include <rcl_interfaces/GetParameters.h>
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#include <rcl_interfaces/GetParameterTypes.h>
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#include <rcl_interfaces/Parameter.h>
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#include <rcl_interfaces/ParameterDescriptor.h>
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#include <rcl_interfaces/ParameterType.h>
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#include <rcl_interfaces/SetParameters.h>
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#include <rcl_interfaces/SetParametersAtomically.h>
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#include <rcl_interfaces/ListParameters.h>
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#include <rcl_interfaces/DescribeParameters.h>
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#include <rcl_interfaces/msg/parameter.hpp>
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#include <rcl_interfaces/msg/parameter_type.hpp>
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#include <rcl_interfaces/msg/parameter_value.hpp>
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namespace rclcpp
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{
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@ -37,12 +31,12 @@ namespace parameter
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enum ParameterType
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{
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PARAMETER_NOT_SET=rcl_interfaces::ParameterType::PARAMETER_NOT_SET,
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PARAMETER_BOOL=rcl_interfaces::ParameterType::PARAMETER_BOOL,
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PARAMETER_INTEGER=rcl_interfaces::ParameterType::PARAMETER_INTEGER,
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PARAMETER_DOUBLE=rcl_interfaces::ParameterType::PARAMETER_DOUBLE,
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PARAMETER_STRING=rcl_interfaces::ParameterType::PARAMETER_STRING,
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PARAMETER_BYTES=rcl_interfaces::ParameterType::PARAMETER_BYTES,
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PARAMETER_NOT_SET=rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET,
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PARAMETER_BOOL=rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
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PARAMETER_INTEGER=rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
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PARAMETER_DOUBLE=rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
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PARAMETER_STRING=rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
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PARAMETER_BYTES=rcl_interfaces::msg::ParameterType::PARAMETER_BYTES,
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};
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// Structure to store an arbitrary parameter with templated get/set methods
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@ -52,56 +46,56 @@ public:
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ParameterVariant()
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: name_("")
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{
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_NOT_SET;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET;
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}
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explicit ParameterVariant(const std::string & name, const bool bool_value)
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: name_(name)
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{
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value_.bool_value = bool_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_BOOL;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
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}
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explicit ParameterVariant(const std::string & name, const int int_value)
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: name_(name)
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{
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value_.integer_value = int_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_INTEGER;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
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}
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explicit ParameterVariant(const std::string & name, const int64_t int_value)
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: name_(name)
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{
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value_.integer_value = int_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_INTEGER;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
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}
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explicit ParameterVariant(const std::string & name, const float double_value)
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: name_(name)
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{
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value_.double_value = double_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_DOUBLE;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
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}
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explicit ParameterVariant(const std::string & name, const double double_value)
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: name_(name)
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{
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value_.double_value = double_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_DOUBLE;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
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}
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explicit ParameterVariant(const std::string & name, const std::string & string_value)
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: name_(name)
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{
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value_.string_value = string_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_STRING;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
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}
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explicit ParameterVariant(const std::string & name, const std::vector<uint8_t> & bytes_value)
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: name_(name)
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{
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value_.bytes_value = bytes_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_BYTES;
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value_.parameter_type = rcl_interfaces::msg::ParameterType::PARAMETER_BYTES;
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}
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inline ParameterType get_type() const {return static_cast<ParameterType>(value_.parameter_type); }
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inline std::string get_name() const & {return name_; }
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inline rcl_interfaces::ParameterValue get_parameter_value() const
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inline rcl_interfaces::msg::ParameterValue get_parameter_value() const
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{
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return value_;
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}
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@ -110,7 +104,7 @@ public:
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typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
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get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_INTEGER) {
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if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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@ -120,7 +114,7 @@ public:
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typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type
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get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_DOUBLE) {
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if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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@ -130,7 +124,7 @@ public:
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typename std::enable_if<type == ParameterType::PARAMETER_STRING, const std::string &>::type
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get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_STRING) {
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if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_STRING) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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@ -140,7 +134,7 @@ public:
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typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type
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get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_BOOL) {
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if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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@ -151,7 +145,7 @@ public:
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const std::vector<uint8_t> &>::type
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get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_BYTES) {
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if (value_.parameter_type != rcl_interfaces::msg::ParameterType::PARAMETER_BYTES) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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@ -171,7 +165,7 @@ public:
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return get_value<ParameterType::PARAMETER_BYTES>();
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}
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static ParameterVariant from_parameter(const rcl_interfaces::Parameter & parameter)
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static ParameterVariant from_parameter(const rcl_interfaces::msg::Parameter & parameter)
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{
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switch (parameter.value.parameter_type) {
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case PARAMETER_BOOL:
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@ -191,9 +185,9 @@ public:
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}
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}
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rcl_interfaces::Parameter to_parameter()
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rcl_interfaces::msg::Parameter to_parameter()
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{
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rcl_interfaces::Parameter parameter;
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rcl_interfaces::msg::Parameter parameter;
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parameter.name = name_;
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parameter.value = value_;
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return parameter;
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@ -201,7 +195,7 @@ public:
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private:
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std::string name_;
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rcl_interfaces::ParameterValue value_;
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rcl_interfaces::msg::ParameterValue value_;
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};
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} /* namespace parameter */
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@ -24,15 +24,14 @@
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#include <rclcpp/node.hpp>
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#include <rclcpp/parameter.hpp>
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#include <rcl_interfaces/GetParameters.h>
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#include <rcl_interfaces/GetParameterTypes.h>
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#include <rcl_interfaces/Parameter.h>
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#include <rcl_interfaces/ParameterDescriptor.h>
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#include <rcl_interfaces/ParameterType.h>
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#include <rcl_interfaces/SetParameters.h>
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#include <rcl_interfaces/SetParametersAtomically.h>
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#include <rcl_interfaces/ListParameters.h>
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#include <rcl_interfaces/DescribeParameters.h>
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#include <rcl_interfaces/msg/parameter.hpp>
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#include <rcl_interfaces/msg/parameter_value.hpp>
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#include <rcl_interfaces/srv/describe_parameters.hpp>
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#include <rcl_interfaces/srv/get_parameters.hpp>
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#include <rcl_interfaces/srv/get_parameter_types.hpp>
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#include <rcl_interfaces/srv/list_parameters.hpp>
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#include <rcl_interfaces/srv/set_parameters.hpp>
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#include <rcl_interfaces/srv/set_parameters_atomically.hpp>
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namespace rclcpp
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{
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@ -55,15 +54,15 @@ public:
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} else {
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remote_node_name_ = node_->get_name();
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}
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get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>(
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get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
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remote_node_name_ + "__get_parameters");
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get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>(
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get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
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remote_node_name_ + "__get_parameter_types");
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set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>(
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set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
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remote_node_name_ + "__set_parameters");
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list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>(
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list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
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remote_node_name_ + "__list_parameters");
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describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>(
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describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
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remote_node_name_ + "__describe_parameters");
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}
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@ -76,20 +75,20 @@ public:
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std::promise<std::vector<rclcpp::parameter::ParameterVariant>> promise_result;
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auto future_result = promise_result.get_future().share();
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auto request = std::make_shared<rcl_interfaces::GetParameters::Request>();
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auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
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request->names = names;
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get_parameters_client_->async_send_request(
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request,
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[&names, &promise_result, &future_result, &callback](
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rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedFuture cb_f) {
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rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f) {
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std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
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auto & pvalues = cb_f.get()->values;
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std::transform(pvalues.begin(), pvalues.end(), std::back_inserter(parameter_variants),
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[&names, &pvalues](rcl_interfaces::ParameterValue pvalue) {
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[&names, &pvalues](rcl_interfaces::msg::ParameterValue pvalue) {
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auto i = &pvalue - &pvalues[0];
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rcl_interfaces::Parameter parameter;
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rcl_interfaces::msg::Parameter parameter;
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parameter.name = names[i];
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parameter.value = pvalue;
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return rclcpp::parameter::ParameterVariant::from_parameter(parameter);
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@ -113,13 +112,13 @@ public:
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std::promise<std::vector<rclcpp::parameter::ParameterType>> promise_result;
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auto future_result = promise_result.get_future().share();
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auto request = std::make_shared<rcl_interfaces::GetParameterTypes::Request>();
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auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
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request->parameter_names = parameter_names;
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get_parameter_types_client_->async_send_request(
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request,
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[&promise_result, &future_result, &callback](
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rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedFuture cb_f) {
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rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f) {
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std::vector<rclcpp::parameter::ParameterType> parameter_types;
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auto & pts = cb_f.get()->parameter_types;
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std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types),
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@ -134,16 +133,17 @@ public:
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return future_result;
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}
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std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>
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std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
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set_parameters(
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std::vector<rclcpp::parameter::ParameterVariant> parameters,
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std::function<void(
|
||||
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>)> callback = nullptr)
|
||||
std::function<
|
||||
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 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(
|
||||
request->parameters), [](
|
||||
|
|
@ -152,7 +152,7 @@ public:
|
|||
set_parameters_client_->async_send_request(
|
||||
request,
|
||||
[&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);
|
||||
if (callback != nullptr) {
|
||||
callback(future_result);
|
||||
|
|
@ -163,16 +163,16 @@ public:
|
|||
return future_result;
|
||||
}
|
||||
|
||||
std::shared_future<rcl_interfaces::SetParametersResult>
|
||||
std::shared_future<rcl_interfaces::msg::SetParametersResult>
|
||||
set_parameters_atomically(
|
||||
std::vector<rclcpp::parameter::ParameterVariant> parameters,
|
||||
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 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(
|
||||
request->parameters), [](
|
||||
|
|
@ -181,7 +181,7 @@ public:
|
|||
set_parameters_atomically_client_->async_send_request(
|
||||
request,
|
||||
[&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);
|
||||
if (callback != nullptr) {
|
||||
callback(future_result);
|
||||
|
|
@ -192,24 +192,24 @@ public:
|
|||
return future_result;
|
||||
}
|
||||
|
||||
std::shared_future<rcl_interfaces::ListParametersResult>
|
||||
std::shared_future<rcl_interfaces::msg::ListParametersResult>
|
||||
list_parameters(
|
||||
std::vector<std::string> parameter_prefixes,
|
||||
uint64_t depth,
|
||||
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 request = std::make_shared<rcl_interfaces::ListParameters::Request>();
|
||||
auto request = std::make_shared<rcl_interfaces::srv::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) {
|
||||
rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f) {
|
||||
promise_result.set_value(cb_f.get()->result);
|
||||
if (callback != nullptr) {
|
||||
callback(future_result);
|
||||
|
|
@ -222,13 +222,15 @@ public:
|
|||
|
||||
private:
|
||||
const rclcpp::node::Node::SharedPtr node_;
|
||||
rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedPtr get_parameters_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedPtr get_parameter_types_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedPtr set_parameters_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedPtr
|
||||
rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
|
||||
get_parameter_types_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
|
||||
set_parameters_atomically_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_client_;
|
||||
rclcpp::client::Client<rcl_interfaces::srv::DescribeParameters>::SharedPtr
|
||||
describe_parameters_client_;
|
||||
std::string remote_node_name_;
|
||||
};
|
||||
|
||||
|
|
@ -267,21 +269,21 @@ public:
|
|||
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)
|
||||
{
|
||||
auto f = async_parameters_client_->set_parameters(parameters);
|
||||
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)
|
||||
{
|
||||
auto f = async_parameters_client_->set_parameters_atomically(parameters);
|
||||
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
|
||||
}
|
||||
|
||||
rcl_interfaces::ListParametersResult
|
||||
rcl_interfaces::msg::ListParametersResult
|
||||
list_parameters(
|
||||
std::vector<std::string> parameter_prefixes,
|
||||
uint64_t depth)
|
||||
|
|
|
|||
|
|
@ -24,15 +24,12 @@
|
|||
#include <rclcpp/node.hpp>
|
||||
#include <rclcpp/parameter.hpp>
|
||||
|
||||
#include <rcl_interfaces/GetParameters.h>
|
||||
#include <rcl_interfaces/GetParameterTypes.h>
|
||||
#include <rcl_interfaces/Parameter.h>
|
||||
#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>
|
||||
#include <rcl_interfaces/srv/describe_parameters.hpp>
|
||||
#include <rcl_interfaces/srv/get_parameters.hpp>
|
||||
#include <rcl_interfaces/srv/get_parameter_types.hpp>
|
||||
#include <rcl_interfaces/srv/list_parameters.hpp>
|
||||
#include <rcl_interfaces/srv/set_parameters.hpp>
|
||||
#include <rcl_interfaces/srv/set_parameters_atomically.hpp>
|
||||
|
||||
namespace rclcpp
|
||||
{
|
||||
|
|
@ -49,11 +46,11 @@ public:
|
|||
ParameterService(const rclcpp::node::Node::SharedPtr & 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](
|
||||
const std::shared_ptr<rmw_request_id_t> request_header,
|
||||
const std::shared_ptr<rcl_interfaces::GetParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::GetParameters::Response> response)
|
||||
const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
|
||||
{
|
||||
auto values = node->get_parameters(request->names);
|
||||
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](
|
||||
const std::shared_ptr<rmw_request_id_t> request_header,
|
||||
const std::shared_ptr<rcl_interfaces::GetParameterTypes::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::GetParameterTypes::Response> response)
|
||||
const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
|
||||
{
|
||||
auto types = node->get_parameter_types(request->parameter_names);
|
||||
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](
|
||||
const std::shared_ptr<rmw_request_id_t> request_header,
|
||||
const std::shared_ptr<rcl_interfaces::SetParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::SetParameters::Response> response)
|
||||
const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
|
||||
{
|
||||
std::vector<rclcpp::parameter::ParameterVariant> pvariants;
|
||||
std::transform(request->parameters.cbegin(), request->parameters.cend(),
|
||||
std::back_inserter(pvariants),
|
||||
[](const rcl_interfaces::Parameter & p) {
|
||||
[](const rcl_interfaces::msg::Parameter & p) {
|
||||
return rclcpp::parameter::ParameterVariant::
|
||||
from_parameter(p);
|
||||
});
|
||||
|
|
@ -97,16 +94,16 @@ public:
|
|||
);
|
||||
|
||||
set_parameters_atomically_service_ =
|
||||
node_->create_service<rcl_interfaces::SetParametersAtomically>(
|
||||
node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
|
||||
node_->get_name() + "__set_parameters_atomically", [&node](
|
||||
const std::shared_ptr<rmw_request_id_t> request_header,
|
||||
const std::shared_ptr<rcl_interfaces::SetParametersAtomically::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::SetParametersAtomically::Response> response)
|
||||
const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
|
||||
{
|
||||
std::vector<rclcpp::parameter::ParameterVariant> pvariants;
|
||||
std::transform(request->parameters.cbegin(), request->parameters.cend(),
|
||||
std::back_inserter(pvariants),
|
||||
[](const rcl_interfaces::Parameter & p) {
|
||||
[](const rcl_interfaces::msg::Parameter & p) {
|
||||
return rclcpp::parameter::ParameterVariant::
|
||||
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](
|
||||
const std::shared_ptr<rmw_request_id_t> request_header,
|
||||
const std::shared_ptr<rcl_interfaces::DescribeParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::DescribeParameters::Response> response)
|
||||
const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
|
||||
{
|
||||
auto descriptors = node->describe_parameters(request->names);
|
||||
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](
|
||||
const std::shared_ptr<rmw_request_id_t> request_header,
|
||||
const std::shared_ptr<rcl_interfaces::ListParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::ListParameters::Response> response)
|
||||
const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
|
||||
std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response)
|
||||
{
|
||||
auto result = node->list_parameters(request->parameter_prefixes, request->depth);
|
||||
response->result = result;
|
||||
|
|
@ -142,15 +139,15 @@ public:
|
|||
|
||||
private:
|
||||
const rclcpp::node::Node::SharedPtr node_;
|
||||
rclcpp::service::Service<rcl_interfaces::GetParameters>::SharedPtr get_parameters_service_;
|
||||
rclcpp::service::Service<rcl_interfaces::GetParameterTypes>::SharedPtr
|
||||
rclcpp::service::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
|
||||
rclcpp::service::Service<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
|
||||
get_parameter_types_service_;
|
||||
rclcpp::service::Service<rcl_interfaces::SetParameters>::SharedPtr set_parameters_service_;
|
||||
rclcpp::service::Service<rcl_interfaces::SetParametersAtomically>::SharedPtr
|
||||
rclcpp::service::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
|
||||
rclcpp::service::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
|
||||
set_parameters_atomically_service_;
|
||||
rclcpp::service::Service<rcl_interfaces::DescribeParameters>::SharedPtr
|
||||
rclcpp::service::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
|
||||
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 */
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue