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Merge pull request #136 from ros2/weak-ptr-node

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Pass weak pointer to callback
This commit is contained in:
Esteve Fernandez 2015-10-23 11:59:09 -07:00
commit cadf67e5cc
1 changed files with 31 additions and 6 deletions
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37
rclcpp/include/rclcpp/parameter_service.hpp
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@ -46,12 +46,17 @@ public:
ParameterService(const rclcpp::node::Node::SharedPtr node)
: node_(node)
{
std::weak_ptr<rclcpp::node::Node> captured_node = node_;
get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
node_->get_name() + "__get_parameters", [node](
node_->get_name() + "__get_parameters", [captured_node](
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
std::shared_ptr<rcl_interfaces::srv::GetParameters::Response> response)
{
auto node = captured_node.lock();
if (!node) {
return;
}
auto values = node->get_parameters(request->names);
for (auto & pvariant : values) {
response->values.push_back(pvariant.get_parameter_value());
@ -60,11 +65,15 @@ public:
);
get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
node_->get_name() + "__get_parameter_types", [node](
node_->get_name() + "__get_parameter_types", [captured_node](
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
{
auto node = captured_node.lock();
if (!node) {
return;
}
auto types = node->get_parameter_types(request->names);
std::transform(types.cbegin(), types.cend(),
std::back_inserter(response->types), [](const uint8_t & type) {
@ -74,11 +83,15 @@ public:
);
set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
node_->get_name() + "__set_parameters", [node](
node_->get_name() + "__set_parameters", [captured_node](
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
{
auto node = captured_node.lock();
if (!node) {
return;
}
std::vector<rclcpp::parameter::ParameterVariant> pvariants;
for (auto & p : request->parameters) {
pvariants.push_back(rclcpp::parameter::ParameterVariant::from_parameter(p));
@ -90,11 +103,15 @@ public:
set_parameters_atomically_service_ =
node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
node_->get_name() + "__set_parameters_atomically", [node](
node_->get_name() + "__set_parameters_atomically", [captured_node](
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
{
auto node = captured_node.lock();
if (!node) {
return;
}
std::vector<rclcpp::parameter::ParameterVariant> pvariants;
std::transform(request->parameters.cbegin(), request->parameters.cend(),
std::back_inserter(pvariants),
@ -108,22 +125,30 @@ public:
);
describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
node_->get_name() + "__describe_parameters", [node](
node_->get_name() + "__describe_parameters", [captured_node](
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
{
auto node = captured_node.lock();
if (!node) {
return;
}
auto descriptors = node->describe_parameters(request->names);
response->descriptors = descriptors;
}
);
list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
node_->get_name() + "__list_parameters", [node](
node_->get_name() + "__list_parameters", [captured_node](
const std::shared_ptr<rmw_request_id_t>,
const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
std::shared_ptr<rcl_interfaces::srv::ListParameters::Response> response)
{
auto node = captured_node.lock();
if (!node) {
return;
}
auto result = node->list_parameters(request->prefixes, request->depth);
response->result = result;
}