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Split ParameterVariant into Parameter and ParameterValue (#481)

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* Split ParametrVariant into Parameter and ParameterValue
* Test expects ParameterTypeException
* get_parameter_value() -> get_value_message()
* Make to_parameter() const and rename to to_parameter_msg()
This commit is contained in:
Shane Loretz 2018-06-01 11:48:56 -07:00 • committed by GitHub
parent 97575fd59b
commit d298fa4445
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GPG key ID: 4AEE18F83AFDEB23
21 changed files with 997 additions and 872 deletions
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10
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -252,25 +252,25 @@ public:
RCLCPP_LIFECYCLE_PUBLIC
std::vector<rcl_interfaces::msg::SetParametersResult>
set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
set_parameters(const std::vector<rclcpp::Parameter> & parameters);
RCLCPP_LIFECYCLE_PUBLIC
rcl_interfaces::msg::SetParametersResult
set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
RCLCPP_LIFECYCLE_PUBLIC
std::vector<rclcpp::parameter::ParameterVariant>
std::vector<rclcpp::Parameter>
get_parameters(const std::vector<std::string> & names) const;
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::parameter::ParameterVariant
rclcpp::Parameter
get_parameter(const std::string & name) const;
RCLCPP_LIFECYCLE_PUBLIC
bool
get_parameter(
const std::string & name,
rclcpp::parameter::ParameterVariant & parameter) const;
rclcpp::Parameter & parameter) const;
template<typename ParameterT>
bool

6
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
View file

@ -186,9 +186,9 @@ template<typename ParameterT>
bool
LifecycleNode::get_parameter(const std::string & name, ParameterT & parameter) const
{
rclcpp::parameter::ParameterVariant parameter_variant(name, parameter);
bool result = get_parameter(name, parameter_variant);
parameter = parameter_variant.get_value<ParameterT>();
rclcpp::Parameter param(name, parameter);
bool result = get_parameter(name, param);
parameter = param.get_value<ParameterT>();
return result;
}

10
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -137,26 +137,26 @@ LifecycleNode::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr gr
std::vector<rcl_interfaces::msg::SetParametersResult>
LifecycleNode::set_parameters(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
const std::vector<rclcpp::Parameter> & parameters)
{
return node_parameters_->set_parameters(parameters);
}
rcl_interfaces::msg::SetParametersResult
LifecycleNode::set_parameters_atomically(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
const std::vector<rclcpp::Parameter> & parameters)
{
return node_parameters_->set_parameters_atomically(parameters);
}
std::vector<rclcpp::parameter::ParameterVariant>
std::vector<rclcpp::Parameter>
LifecycleNode::get_parameters(
const std::vector<std::string> & names) const
{
return node_parameters_->get_parameters(names);
}
rclcpp::parameter::ParameterVariant
rclcpp::Parameter
LifecycleNode::get_parameter(const std::string & name) const
{
return node_parameters_->get_parameter(name);
@ -164,7 +164,7 @@ LifecycleNode::get_parameter(const std::string & name) const
bool LifecycleNode::get_parameter(
const std::string & name,
rclcpp::parameter::ParameterVariant & parameter) const
rclcpp::Parameter & parameter) const
{
return node_parameters_->get_parameter(name, parameter);
}