Merge pull request #47 from ros2/broken-promise
Fix 'broken promise' error
This commit is contained in:
Esteve Fernandez
commit
8119064733
3 changed files with 45 additions and 34 deletions
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@ -368,7 +368,9 @@ Node::list_parameters(
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// TODO(esteve): 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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if (kv.first == prefix) {
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return true;
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} else 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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// Cast as unsigned integer to avoid warning
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@ -379,14 +381,16 @@ Node::list_parameters(
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{
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result.names.push_back(kv.first);
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size_t last_separator = kv.first.find_last_of('.');
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if (std::string::npos != last_separator) {
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std::string prefix = kv.first.substr(0, last_separator);
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if (std::find(result.prefixes.cbegin(), result.prefixes.cend(),
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prefix) == result.prefixes.cend())
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if (std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
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result.prefixes.cend())
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{
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result.prefixes.push_back(prefix);
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}
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}
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}
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}
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return result;
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}
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#endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */
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@ -73,28 +73,30 @@ public:
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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::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 promise_result =
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std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterVariant>>>();
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auto future_result = promise_result->get_future().share();
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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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[request, promise_result, future_result, &callback](
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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::msg::ParameterValue pvalue) {
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for (auto & pvalue : pvalues) {
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auto i = &pvalue - &pvalues[0];
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rcl_interfaces::msg::Parameter parameter;
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parameter.name = names[i];
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parameter.name = request->names[i];
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parameter.value = pvalue;
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return rclcpp::parameter::ParameterVariant::from_parameter(parameter);
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});
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promise_result.set_value(parameter_variants);
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parameter_variants.push_back(rclcpp::parameter::ParameterVariant::from_parameter(
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parameter));
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}
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promise_result->set_value(parameter_variants);
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if (callback != nullptr) {
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callback(future_result);
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}
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@ -110,21 +112,23 @@ public:
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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::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 promise_result =
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std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterType>>>();
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auto future_result = promise_result->get_future().share();
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auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
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request->names = 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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[promise_result, future_result, &callback](
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rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f) {
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std::vector<rclcpp::parameter::ParameterType> types;
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auto & pts = cb_f.get()->types;
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std::transform(pts.begin(), pts.end(), std::back_inserter(types),
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[](uint8_t pt) {return static_cast<rclcpp::parameter::ParameterType>(pt); });
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promise_result.set_value(types);
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for (auto & pt : pts) {
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pts.push_back(static_cast<rclcpp::parameter::ParameterType>(pt));
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}
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promise_result->set_value(types);
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if (callback != nullptr) {
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callback(future_result);
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}
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@ -140,8 +144,9 @@ public:
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std::function<void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)> callback =
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nullptr)
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{
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std::promise<std::vector<rcl_interfaces::msg::SetParametersResult>> promise_result;
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auto future_result = promise_result.get_future().share();
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auto promise_result =
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std::make_shared<std::promise<std::vector<rcl_interfaces::msg::SetParametersResult>>>();
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auto future_result = promise_result->get_future().share();
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auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
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@ -151,9 +156,9 @@ public:
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set_parameters_client_->async_send_request(
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request,
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[&promise_result, &future_result, &callback](
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[promise_result, future_result, &callback](
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rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f) {
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promise_result.set_value(cb_f.get()->results);
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promise_result->set_value(cb_f.get()->results);
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if (callback != nullptr) {
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callback(future_result);
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}
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@ -169,8 +174,9 @@ public:
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std::function<void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)> callback =
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nullptr)
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{
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std::promise<rcl_interfaces::msg::SetParametersResult> promise_result;
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auto future_result = promise_result.get_future().share();
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auto promise_result =
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std::make_shared<std::promise<rcl_interfaces::msg::SetParametersResult>>();
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auto future_result = promise_result->get_future().share();
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auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
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@ -180,9 +186,9 @@ public:
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set_parameters_atomically_client_->async_send_request(
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request,
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[&promise_result, &future_result, &callback](
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[promise_result, future_result, &callback](
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rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f) {
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promise_result.set_value(cb_f.get()->result);
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promise_result->set_value(cb_f.get()->result);
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if (callback != nullptr) {
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callback(future_result);
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}
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@ -199,8 +205,9 @@ public:
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std::function<void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)> callback =
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nullptr)
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{
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std::promise<rcl_interfaces::msg::ListParametersResult> promise_result;
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auto future_result = promise_result.get_future().share();
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auto promise_result =
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std::make_shared<std::promise<rcl_interfaces::msg::ListParametersResult>>();
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auto future_result = promise_result->get_future().share();
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auto request = std::make_shared<rcl_interfaces::srv::ListParameters::Request>();
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request->prefixes = prefixes;
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@ -208,9 +215,9 @@ public:
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list_parameters_client_->async_send_request(
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request,
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[&promise_result, &future_result, &callback](
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[promise_result, future_result, &callback](
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rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f) {
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promise_result.set_value(cb_f.get()->result);
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promise_result->set_value(cb_f.get()->result);
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if (callback != nullptr) {
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callback(future_result);
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}
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@ -124,7 +124,7 @@ public:
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);
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list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
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node_->get_name() + "__describe_parameters", [&node](
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node_->get_name() + "__list_parameters", [&node](
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const std::shared_ptr<rmw_request_id_t> request_header,
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const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
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std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response)
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