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Added developer parameter API

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This commit is contained in:
Esteve Fernandez 2015-05-15 14:01:27 -07:00
parent de2f7076b0
commit a50dc29bba
4 changed files with 164 additions and 49 deletions
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30
rclcpp/include/rclcpp/node.hpp
View file

@ -95,8 +95,8 @@ public:
Node(std::string node_name, rclcpp::context::Context::SharedPtr context);
/* Get the name of the node. */
std::string
get_name();
const std::string &
get_name() const {return name_; }
/* Create and return a callback group. */
rclcpp::callback_group::CallbackGroup::SharedPtr
@ -148,23 +148,23 @@ public:
FunctorT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
const std::vector<rcl_interfaces::SetParametersResult> set_parameters(
const std::vector<rcl_interfaces::Parameter> & parameters);
std::vector<rcl_interfaces::SetParametersResult> set_parameters(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
const rcl_interfaces::SetParametersResult set_parameters_atomically(
const std::vector<rcl_interfaces::Parameter> & parameters);
rcl_interfaces::SetParametersResult set_parameters_atomically(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
const std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
const std::vector<std::string> & names);
std::vector<rclcpp::parameter::ParameterVariant> get_parameters(
const std::vector<std::string> & names) const;
const std::vector<rcl_interfaces::ParameterDescriptor> describe_parameters(
const std::vector<std::string> & names);
std::vector<rcl_interfaces::ParameterDescriptor> describe_parameters(
const std::vector<std::string> & names) const;
const std::vector<uint8_t> get_parameter_types(
const std::vector<std::string> & names);
std::vector<uint8_t> get_parameter_types(
const std::vector<std::string> & names) const;
const std::vector<rcl_interfaces::ListParametersResult> list_parameters(
const std::vector<std::string> & prefixes, uint64_t depth);
rcl_interfaces::ListParametersResult list_parameters(
const std::vector<std::string> & prefixes, uint64_t depth) const;
private:
RCLCPP_DISABLE_COPY(Node);
@ -186,7 +186,7 @@ private:
size_t number_of_services_;
size_t number_of_clients_;
std::mutex mutex_;
mutable std::mutex mutex_;
std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;

34
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -213,14 +213,14 @@ Node::create_service(
return serv;
}
const std::vector<rcl_interfaces::SetParametersResult>
std::vector<rcl_interfaces::SetParametersResult>
Node::set_parameters(
const std::vector<rcl_interfaces::Parameter> & parameters)
const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
{
std::lock_guard<std::mutex> lock(mutex_);
std::vector<rcl_interfaces::SetParametersResult> results;
for (auto p : parameters) {
parameters_[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
parameters_[p.get_name()] = p;
rcl_interfaces::SetParametersResult result;
result.successful = true;
// TODO: handle parameter constraints
@ -229,14 +229,14 @@ Node::set_parameters(
return results;
}
const rcl_interfaces::SetParametersResult
rcl_interfaces::SetParametersResult
Node::set_parameters_atomically(
const std::vector<rcl_interfaces::Parameter> & parameters)
const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
{
std::lock_guard<std::mutex> lock(mutex_);
std::map<std::string, rclcpp::parameter::ParameterVariant> tmp_map;
for (auto p : parameters) {
tmp_map[p.name] = rclcpp::parameter::ParameterVariant::from_parameter(p);
tmp_map[p.get_name()] = p;
}
tmp_map.insert(parameters_.begin(), parameters_.end());
std::swap(tmp_map, parameters_);
@ -246,9 +246,9 @@ Node::set_parameters_atomically(
return result;
}
const std::vector<rclcpp::parameter::ParameterVariant>
std::vector<rclcpp::parameter::ParameterVariant>
Node::get_parameters(
const std::vector<std::string> & names)
const std::vector<std::string> & names) const
{
std::lock_guard<std::mutex> lock(mutex_);
std::vector<rclcpp::parameter::ParameterVariant> results;
@ -263,9 +263,9 @@ Node::get_parameters(
return results;
}
const std::vector<rcl_interfaces::ParameterDescriptor>
std::vector<rcl_interfaces::ParameterDescriptor>
Node::describe_parameters(
const std::vector<std::string> & names)
const std::vector<std::string> & names) const
{
std::lock_guard<std::mutex> lock(mutex_);
std::vector<rcl_interfaces::ParameterDescriptor> results;
@ -283,9 +283,9 @@ Node::describe_parameters(
return results;
}
const std::vector<uint8_t>
std::vector<uint8_t>
Node::get_parameter_types(
const std::vector<std::string> & names)
const std::vector<std::string> & names) const
{
std::lock_guard<std::mutex> lock(mutex_);
std::vector<uint8_t> results;
@ -302,12 +302,12 @@ Node::get_parameter_types(
return results;
}
const std::vector<rcl_interfaces::ListParametersResult>
rcl_interfaces::ListParametersResult
Node::list_parameters(
const std::vector<std::string> & prefixes, uint64_t depth)
const std::vector<std::string> & prefixes, uint64_t depth) const
{
std::lock_guard<std::mutex> lock(mutex_);
std::vector<rcl_interfaces::ListParametersResult> results;
rcl_interfaces::ListParametersResult result;
// TODO: define parameter separator, use "." for now
for (auto & kv : parameters_) {
@ -320,7 +320,6 @@ Node::list_parameters(
return false;
}))
{
rcl_interfaces::ListParametersResult result;
result.parameter_names.push_back(kv.first);
size_t last_separator = kv.first.find_last_of('.');
std::string prefix = kv.first.substr(0, last_separator);
@ -329,9 +328,8 @@ Node::list_parameters(
{
result.parameter_prefixes.push_back(prefix);
}
results.push_back(result);
}
}
return results;
return result;
}
#endif /* RCLCPP_RCLCPP_NODE_IMPL_HPP_ */

8
rclcpp/include/rclcpp/parameter.hpp
View file

@ -190,6 +190,14 @@ public:
}
}
rcl_interfaces::Parameter to_parameter()
{
rcl_interfaces::Parameter parameter;
parameter.name = name_;
parameter.value = value_;
return parameter;
}
private:
std::string name_;
rcl_interfaces::ParameterValue value_;

141
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -46,19 +46,25 @@ class AsyncParametersClient
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(AsyncParametersClient);
AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node)
AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node,
const std::string & remote_node_name = "")
: node_(node)
{
if (remote_node_name != "") {
remote_node_name_ = remote_node_name;
} else {
remote_node_name_ = node_->get_name();
}
get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>(
"get_parameters");
remote_node_name_ + "__get_parameters");
get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>(
"get_parameter_types");
remote_node_name_ + "__get_parameter_types");
set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>(
"set_parameters");
remote_node_name_ + "__set_parameters");
list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>(
"list_parameters");
remote_node_name_ + "__list_parameters");
describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>(
"describe_parameters");
remote_node_name_ + "__describe_parameters");
}
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
@ -67,8 +73,35 @@ public:
std::function<void(
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)> callback = nullptr)
{
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>> f;
return f;
std::promise<std::vector<rclcpp::parameter::ParameterVariant>> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::GetParameters::Request>();
request->names = names;
get_parameters_client_->async_send_request(
request,
[&names, &promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
auto & pvalues = cb_f.get()->values;
std::transform(pvalues.begin(), pvalues.end(), std::back_inserter(parameter_variants),
[&names, &pvalues](rcl_interfaces::ParameterValue pvalue) {
auto i = &pvalue - &pvalues[0];
rcl_interfaces::Parameter parameter;
parameter.name = names[i];
parameter.value = pvalue;
return rclcpp::parameter::ParameterVariant::from_parameter(parameter);
});
promise_result.set_value(parameter_variants);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<std::vector<rclcpp::parameter::ParameterType>>
@ -77,8 +110,28 @@ public:
std::function<void(
std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
{
std::shared_future<std::vector<rclcpp::parameter::ParameterType>> f;
return f;
std::promise<std::vector<rclcpp::parameter::ParameterType>> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::GetParameterTypes::Request>();
request->parameter_names = parameter_names;
get_parameter_types_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterType> parameter_types;
auto & pts = cb_f.get()->parameter_types;
std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types),
[](uint8_t pt) {return static_cast<rclcpp::parameter::ParameterType>(pt); });
promise_result.set_value(parameter_types);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>
@ -87,8 +140,27 @@ public:
std::function<void(
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>)> callback = nullptr)
{
std::shared_future<std::vector<rcl_interfaces::SetParametersResult>> f;
return f;
std::promise<std::vector<rcl_interfaces::SetParametersResult>> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::SetParameters::Request>();
std::transform(parameters.begin(), parameters.end(), std::back_inserter(
request->parameters), [](
rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
set_parameters_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->results);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<rcl_interfaces::SetParametersResult>
@ -97,8 +169,27 @@ public:
std::function<void(
std::shared_future<rcl_interfaces::SetParametersResult>)> callback = nullptr)
{
std::shared_future<rcl_interfaces::SetParametersResult> f;
return f;
std::promise<rcl_interfaces::SetParametersResult> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::SetParametersAtomically::Request>();
std::transform(parameters.begin(), parameters.end(), std::back_inserter(
request->parameters), [](
rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
set_parameters_atomically_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->result);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
std::shared_future<rcl_interfaces::ListParametersResult>
@ -108,8 +199,25 @@ public:
std::function<void(
std::shared_future<rcl_interfaces::ListParametersResult>)> callback = nullptr)
{
std::shared_future<rcl_interfaces::ListParametersResult> f;
return f;
std::promise<rcl_interfaces::ListParametersResult> promise_result;
auto future_result = promise_result.get_future().share();
auto request = std::make_shared<rcl_interfaces::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) {
promise_result.set_value(cb_f.get()->result);
if (callback != nullptr) {
callback(future_result);
}
}
);
return future_result;
}
private:
@ -121,6 +229,7 @@ private:
set_parameters_atomically_client_;
rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_;
rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_;
std::string remote_node_name_;
};
class SyncParametersClient