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Added SyncParametersClient

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This commit is contained in:
Esteve Fernandez 2015-04-30 16:38:12 -07:00
parent f4bcd83c42
commit 9bf3d0839a
1 changed files with 69 additions and 0 deletions
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69
rclcpp/include/rclcpp/parameter.hpp
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@ -19,6 +19,7 @@
#include <rmw/rmw.h> #include <rmw/rmw.h>
#include <rclcpp/executors.hpp>
#include <rclcpp/macros.hpp> #include <rclcpp/macros.hpp>
#include <rclcpp/node.hpp> #include <rclcpp/node.hpp>
@ -156,6 +157,8 @@ class AsyncParametersClient
{ {
public: public:
RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient);
AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node) AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node)
: node_(node) : node_(node)
{ {
@ -233,6 +236,72 @@ private:
rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_; rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_;
}; };
class SyncParametersClient
{
friend class rclcpp::executor::Executor;
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(SyncParametersClient);
SyncParametersClient(
rclcpp::node::Node::SharedPtr & node)
: node_(node)
{
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
}
SyncParametersClient(
rclcpp::executor::Executor::SharedPtr & executor,
rclcpp::node::Node::SharedPtr & node)
: executor_(executor), node_(node)
{
async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
}
std::vector<ParameterVariant>
get_parameters(std::vector<std::string> parameter_names)
{
auto f = async_parameters_client_->get_parameters(parameter_names);
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
}
std::vector<ParameterType>
get_parameter_types(std::vector<std::string> parameter_names)
{
auto f = async_parameters_client_->get_parameter_types(parameter_names);
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
}
std::vector<rcl_interfaces::ParameterSetResult>
set_parameters(std::vector<ParameterVariant> parameters)
{
auto f = async_parameters_client_->set_parameters(parameters);
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
}
rcl_interfaces::ParameterSetResult
set_parameters_atomically(std::vector<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::ParameterListResult
list_parameters(
std::vector<std::string> parameter_prefixes,
uint64_t depth)
{
auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
return rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f).get();
}
private:
rclcpp::executor::Executor::SharedPtr executor_;
rclcpp::node::Node::SharedPtr node_;
AsyncParametersClient::SharedPtr async_parameters_client_;
};
} /* namespace parameter */ } /* namespace parameter */
} /* namespace rclcpp */ } /* namespace rclcpp */