niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Read only parameters (#495)

Browse source 
* in progress broken test_time_source

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* style

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* test undeclared params

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Only get parameter if it is set

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* doc fixup

Signed-off-by: William Woodall <william@osrfoundation.org>

* use override rather than virtual in places

Signed-off-by: William Woodall <william@osrfoundation.org>

* rename ParameterInfo_t to ParameterInfo and just use struct, no typedef

Signed-off-by: William Woodall <william@osrfoundation.org>

* add method to access ParameterValue within a Parameter

Signed-off-by: William Woodall <william@osrfoundation.org>

* enable get<Parameter> and get<ParameterValue> on Parameter class

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid const pass by value

Signed-off-by: William Woodall <william@osrfoundation.org>

* match type of enum in C++ to type used in message definition

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* more fixup after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* replace create_parameter with declare_parameter

Signed-off-by: William Woodall <william@osrfoundation.org>

* provide implementation for templated declare_parameter method

Signed-off-by: William Woodall <william@osrfoundation.org>

* style

Signed-off-by: William Woodall <william@osrfoundation.org>

* do not use const reference when it's a primitive (like bool)

Signed-off-by: William Woodall <william@osrfoundation.org>

* typo

Signed-off-by: William Woodall <william@osrfoundation.org>

* follow to bool change that wasn't staged

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* added lots of docs, alternative API signatures, and some of the tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* more tests and associated fixes

Signed-off-by: William Woodall <william@osrfoundation.org>

* address documentation feedback

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup previously added tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* add tests and fixes for describe_parameter(s) and get_parameter_types

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove old parameter tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* use const reference where possible

Signed-off-by: William Woodall <william@osrfoundation.org>

* address comments

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix tests for deprecated methods

Signed-off-by: William Woodall <william@osrfoundation.org>

* address feedback

Signed-off-by: William Woodall <william@osrfoundation.org>

* significantly improve the reliability of the time_source tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* uncrustify, cpplint, and cppcheck fixes

Signed-off-by: William Woodall <william@osrfoundation.org>

* Revert "significantly improve the reliability of the time_source tests"

This reverts commit 3ef385d8419c3f71cba91e622138583a91b2682a.

Signed-off-by: William Woodall <william@osrfoundation.org>

* only declare use_sim_time parameter if not already declared

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup rclcpp_lifecycle

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* add missing namespace scope which fails on Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* extend deprecation warning suppression to support Windows too

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix compiler warnings and missing visibility macro

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove commented left over tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix compiler warning on Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* suppress deprecation warning on include of file in Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid potential loss of data warning converting int64_t to int

Signed-off-by: William Woodall <william@osrfoundation.org>

* trying to fix more loss of data warnings

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix test_node

Signed-off-by: William Woodall <william@osrfoundation.org>

* add option to automatically declare parameters from initial parameters (yaml file)

Signed-off-by: William Woodall <william@osrfoundation.org>

* remove redundant conditional

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
Shane Loretz 2019-04-23 10:44:55 -07:00 • committed by William Woodall
parent 97ed34a042
commit 6b10841477
22 changed files with 3070 additions and 371 deletions
Download patch file Download diff file Expand all files Collapse all files

15
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -31,7 +31,17 @@
#include "rclcpp/node_interfaces/node_clock.hpp"
#include "rclcpp/node_interfaces/node_graph.hpp"
#include "rclcpp/node_interfaces/node_logging.hpp"
// When compiling this file, Windows produces a deprecation warning for the
// deprecated function prototype of NodeParameters::register_param_change_callback().
// Other compilers do not.
#if defined(_WIN32)
# pragma warning(push)
# pragma warning(disable: 4996)
#endif
#include "rclcpp/node_interfaces/node_parameters.hpp"
#if defined(_WIN32)
# pragma warning(pop)
#endif
#include "rclcpp/node_interfaces/node_services.hpp"
#include "rclcpp/node_interfaces/node_time_source.hpp"
#include "rclcpp/node_interfaces/node_timers.hpp"
@ -73,6 +83,7 @@ LifecycleNode::LifecycleNode(
)),
node_parameters_(new rclcpp::node_interfaces::NodeParameters(
node_base_,
node_logging_,
node_topics_,
node_services_,
node_clock_,
@ -80,7 +91,9 @@ LifecycleNode::LifecycleNode(
options.use_intra_process_comms(),
options.start_parameter_services(),
options.start_parameter_event_publisher(),
options.parameter_event_qos_profile()
options.parameter_event_qos_profile(),
options.allow_undeclared_parameters(),
options.automatically_declare_initial_parameters()
)),
node_time_source_(new rclcpp::node_interfaces::NodeTimeSource(
node_base_,