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add add_on and remove_on

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Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com>
This commit is contained in:
claireyywang 2020-05-26 11:47:53 -07:00
parent 0ef9731feb
commit b3e526ce3c
2 changed files with 31 additions and 0 deletions
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20
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -447,9 +447,29 @@ public:
rcl_interfaces::msg::ListParametersResult rcl_interfaces::msg::ListParametersResult
list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const; list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
using OnSetParametersCallbackHandle =
rclcpp::node_interfaces::OnSetParametersCallbackHandle;
using OnParametersSetCallbackType = using OnParametersSetCallbackType =
rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType; rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
/// Add a callback for when parameters are being set.
/**
* \sa rclcpp::Node::add_on_set_parameters_callback
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr
add_on_set_parameters_callback(
rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
/// Remove a callback registered with `add_on_set_parameters_callback`.
/**
* \sa rclcpp::Node::remove_on_set_parameters_callback
*/
RCLCPP_LIFECYCLE_PUBLIC
void
remove_on_set_parameters_callback(
const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle * const handler);
/// Register a callback to be called anytime a parameter is about to be changed. /// Register a callback to be called anytime a parameter is about to be changed.
/** /**
* \sa rclcpp::Node::set_on_parameters_set_callback * \sa rclcpp::Node::set_on_parameters_set_callback

11
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -255,6 +255,17 @@ LifecycleNode::list_parameters(
return node_parameters_->list_parameters(prefixes, depth); return node_parameters_->list_parameters(prefixes, depth);
} }
rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr
LifecycleNode::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
{
return node_parameters_->add_on_set_parameters_callback(callback);
}
void
LifecycleNode::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback)
{
return node_parameters_->remove_on_set_parameters_callback(callback);
rclcpp::Node::OnParametersSetCallbackType rclcpp::Node::OnParametersSetCallbackType
LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback) LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
{ {