Added internal parameters API.
This commit is contained in:
Esteve Fernandez
Esteve Fernandez
parent
0ddefd1efd
commit
72a9287185
3 changed files with 327 additions and 12 deletions
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@ -151,18 +151,22 @@ public:
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
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const std::vector<rcl_interfaces::SetParametersResult> set_parameters(
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const std::vector<rcl_interfaces::Parameter> & parameters)
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{
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std::vector<rcl_interfaces::SetParametersResult> results;
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for (auto p : parameters) {
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parameters_[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
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rcl_interfaces::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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}
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return results;
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}
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const std::vector<rcl_interfaces::Parameter> & parameters);
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const rcl_interfaces::SetParametersResult set_parameters_atomically(
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const std::vector<rcl_interfaces::Parameter> & parameters);
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const std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
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const std::vector<std::string> & names);
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const std::vector<rcl_interfaces::ParameterDescriptor> describe_parameters(
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const std::vector<std::string> & names);
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const std::vector<uint8_t> get_parameter_types(
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const std::vector<std::string> & names);
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const std::vector<rcl_interfaces::ListParametersResult> list_parameters(
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const std::vector<std::string> & prefixes, uint64_t depth);
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private:
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RCLCPP_DISABLE_COPY(Node);
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@ -15,6 +15,7 @@
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#ifndef RCLCPP_RCLCPP_NODE_IMPL_HPP_
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#define RCLCPP_RCLCPP_NODE_IMPL_HPP_
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#include <algorithm>
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#include <memory>
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#include <string>
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@ -212,4 +213,120 @@ Node::create_service(
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return serv;
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}
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const std::vector<rcl_interfaces::SetParametersResult>
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Node::set_parameters(
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const std::vector<rcl_interfaces::Parameter> & parameters)
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{
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std::vector<rcl_interfaces::SetParametersResult> results;
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for (auto p : parameters) {
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parameters_[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
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rcl_interfaces::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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}
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return results;
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}
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const rcl_interfaces::SetParametersResult
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Node::set_parameters_atomically(
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const std::vector<rcl_interfaces::Parameter> & parameters)
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{
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std::lock_guard<std::mutex> lock(mutex_);
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std::map<std::string, rclcpp::parameter::ParameterVariant> tmp_map;
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for (auto p : parameters) {
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tmp_map[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
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}
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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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result.successful = true;
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return result;
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}
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const std::vector<rclcpp::parameter::ParameterVariant>
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Node::get_parameters(
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const std::vector<std::string> & names)
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{
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std::vector<rclcpp::parameter::ParameterVariant> 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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results.push_back(kv.second);
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}
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}
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return results;
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}
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const std::vector<rcl_interfaces::ParameterDescriptor>
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Node::describe_parameters(
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const std::vector<std::string> & names)
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{
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std::vector<rcl_interfaces::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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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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}
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}
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return results;
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}
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const std::vector<uint8_t>
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Node::get_parameter_types(
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const std::vector<std::string> & names)
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{
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std::vector<uint8_t> 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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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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}
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}
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return results;
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}
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const std::vector<rcl_interfaces::ListParametersResult>
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Node::list_parameters(
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const std::vector<std::string> & prefixes, uint64_t depth)
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{
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std::vector<rcl_interfaces::ListParametersResult> results;
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// TODO: define parameter separator, use "." for now
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for (auto & kv : parameters_) {
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if (std::any_of(prefixes.cbegin(), prefixes.cend(), [&kv, &depth](const std::string & prefix) {
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if (kv.first.find(prefix + ".") == 0) {
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size_t length = prefix.length();
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std::string substr = kv.first.substr(length);
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return std::count(substr.begin(), substr.end(), '.') < depth;
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}
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return false;
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}))
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{
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rcl_interfaces::ListParametersResult result;
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result.parameter_names.push_back(kv.first);
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size_t last_separator = kv.first.find_last_of('.');
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std::string prefix = kv.first.substr(0, last_separator);
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if (std::find(result.parameter_prefixes.cbegin(), result.parameter_prefixes.cend(),
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prefix) == result.parameter_prefixes.cend())
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{
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result.parameter_prefixes.push_back(prefix);
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}
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results.push_back(result);
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}
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}
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return results;
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}
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#endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */
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194
rclcpp/include/rclcpp/parameter_client.hpp
Normal file
194
rclcpp/include/rclcpp/parameter_client.hpp
Normal file
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@ -0,0 +1,194 @@
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// Copyright 2015 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_
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#define RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_
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#include <string>
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#include <rmw/rmw.h>
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#include <rclcpp/executors.hpp>
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#include <rclcpp/macros.hpp>
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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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namespace rclcpp
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{
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namespace parameter_client
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{
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class AsyncParametersClient
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{
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public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient);
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AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node)
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: node_(node)
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{
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get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>(
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"get_parameters");
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get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>(
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"get_parameter_types");
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set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>(
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"set_parameters");
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list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>(
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"list_parameters");
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describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>(
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"describe_parameters");
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}
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std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
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get_parameters(
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std::vector<std::string> names,
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std::function<void(
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std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)> callback = nullptr)
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{
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std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>> f;
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return f;
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}
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std::shared_future<std::vector<rclcpp::parameter::ParameterType>>
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get_parameter_types(
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std::vector<std::string> parameter_names,
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std::function<void(
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std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
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{
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std::shared_future<std::vector<rclcpp::parameter::ParameterType>> f;
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return f;
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}
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std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>
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set_parameters(
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std::vector<rclcpp::parameter::ParameterVariant> parameters,
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std::function<void(
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std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>)> callback = nullptr)
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{
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std::shared_future<std::vector<rcl_interfaces::SetParametersResult>> f;
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return f;
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}
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std::shared_future<rcl_interfaces::SetParametersResult>
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set_parameters_atomically(
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std::vector<rclcpp::parameter::ParameterVariant> parameters,
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std::function<void(
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std::shared_future<rcl_interfaces::SetParametersResult>)> callback = nullptr)
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{
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std::shared_future<rcl_interfaces::SetParametersResult> f;
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return f;
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}
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std::shared_future<rcl_interfaces::ListParametersResult>
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list_parameters(
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std::vector<std::string> parameter_prefixes,
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uint64_t depth,
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std::function<void(
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std::shared_future<rcl_interfaces::ListParametersResult>)> callback = nullptr)
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{
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std::shared_future<rcl_interfaces::ListParametersResult> f;
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return f;
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}
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private:
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const rclcpp::node::Node::SharedPtr node_;
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rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedPtr get_parameters_client_;
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rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedPtr get_parameter_types_client_;
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rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedPtr set_parameters_client_;
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rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedPtr
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set_parameters_atomically_client_;
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rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_;
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rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_;
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};
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class SyncParametersClient
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{
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public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(SyncParametersClient);
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SyncParametersClient(
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rclcpp::node::Node::SharedPtr & node)
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: node_(node)
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{
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executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
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}
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SyncParametersClient(
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rclcpp::executor::Executor::SharedPtr & executor,
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rclcpp::node::Node::SharedPtr & node)
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: executor_(executor), node_(node)
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{
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async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
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}
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std::vector<rclcpp::parameter::ParameterVariant>
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get_parameters(std::vector<std::string> parameter_names)
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{
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auto f = async_parameters_client_->get_parameters(parameter_names);
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return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
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}
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std::vector<rclcpp::parameter::ParameterType>
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get_parameter_types(std::vector<std::string> parameter_names)
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{
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auto f = async_parameters_client_->get_parameter_types(parameter_names);
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return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
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}
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std::vector<rcl_interfaces::SetParametersResult>
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set_parameters(std::vector<rclcpp::parameter::ParameterVariant> parameters)
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{
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auto f = async_parameters_client_->set_parameters(parameters);
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return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
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}
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rcl_interfaces::SetParametersResult
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set_parameters_atomically(std::vector<rclcpp::parameter::ParameterVariant> parameters)
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{
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auto f = async_parameters_client_->set_parameters_atomically(parameters);
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return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
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}
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rcl_interfaces::ListParametersResult
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list_parameters(
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std::vector<std::string> parameter_prefixes,
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uint64_t depth)
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{
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auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
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return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
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}
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private:
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rclcpp::executor::Executor::SharedPtr executor_;
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rclcpp::node::Node::SharedPtr node_;
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AsyncParametersClient::SharedPtr async_parameters_client_;
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};
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} /* namespace parameter_client */
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} /* namespace rclcpp */
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#endif /* RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_ */
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