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Merge pull request #42 from ros2/refactor_examples_and_interfaces

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added get_type_name and to_string to ParameterVariant
This commit is contained in:
William Woodall 2015-06-18 18:36:02 -07:00
commit cab273ccc0
1 changed files with 64 additions and 0 deletions
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64
rclcpp/include/rclcpp/parameter.hpp
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@ -15,6 +15,8 @@
#ifndef RCLCPP_RCLCPP_PARAMETER_HPP_
#define RCLCPP_RCLCPP_PARAMETER_HPP_
#include <ostream>
#include <sstream>
#include <string>
#include <rmw/rmw.h>
@ -93,6 +95,27 @@ public:
inline ParameterType get_type() const {return static_cast<ParameterType>(value_.type); }
inline std::string get_type_name() const
{
switch (get_type()) {
case rclcpp::parameter::ParameterType::PARAMETER_BOOL:
return "bool";
case rclcpp::parameter::ParameterType::PARAMETER_INTEGER:
return "integer";
case rclcpp::parameter::ParameterType::PARAMETER_DOUBLE:
return "double";
case rclcpp::parameter::ParameterType::PARAMETER_STRING:
return "string";
case rclcpp::parameter::ParameterType::PARAMETER_BYTES:
return "bytes";
case rclcpp::parameter::ParameterType::PARAMETER_NOT_SET:
return "not set";
default:
throw std::runtime_error(
"Unexpected type from ParameterVariant: " + std::to_string(get_type()));
}
}
inline std::string get_name() const & {return name_; }
inline rcl_interfaces::msg::ParameterValue get_parameter_value() const
@ -193,11 +216,52 @@ public:
return parameter;
}
std::string to_string() const
{
switch (get_type()) {
case rclcpp::parameter::ParameterType::PARAMETER_BOOL:
return as_bool() ? "true" : "false";
case rclcpp::parameter::ParameterType::PARAMETER_INTEGER:
return std::to_string(as_int());
case rclcpp::parameter::ParameterType::PARAMETER_DOUBLE:
return std::to_string(as_double());
case rclcpp::parameter::ParameterType::PARAMETER_STRING:
return as_string();
case rclcpp::parameter::ParameterType::PARAMETER_BYTES:
{
std::stringstream bytes;
bool first_byte = true;
bytes << "[" << std::hex;
for (auto & byte : as_bytes())
{
bytes << "0x" << byte;
if (!first_byte) {
bytes << ", ";
} else {
first_byte = false;
}
}
return bytes.str();
}
case rclcpp::parameter::ParameterType::PARAMETER_NOT_SET:
return "not set";
default:
throw std::runtime_error(
"Unexpected type from ParameterVariant: " + std::to_string(get_type()));
}
}
private:
std::string name_;
rcl_interfaces::msg::ParameterValue value_;
};
std::ostream & operator<<(std::ostream & os, const ParameterVariant & pv)
{
os << pv.to_string();
return os;
}
} /* namespace parameter */
} /* namespace rclcpp */