Skeleton parameters async API
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Esteve Fernandez
parent
a5138a2bef
commit
e657a8f49f
4 changed files with 245 additions and 0 deletions
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@ -5,6 +5,7 @@ project(rclcpp)
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find_package(ament_cmake REQUIRED)
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ament_export_dependencies(rmw)
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ament_export_dependencies(rcl_interfaces)
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ament_export_include_directories(include)
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240
rclcpp/include/rclcpp/parameter.hpp
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240
rclcpp/include/rclcpp/parameter.hpp
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@ -0,0 +1,240 @@
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// Copyright 2015 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_RCLCPP_PARAMETER_HPP_
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#define RCLCPP_RCLCPP_PARAMETER_HPP_
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#include <string>
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#include <rmw/rmw.h>
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#include <rclcpp/macros.hpp>
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#include <rclcpp/node.hpp>
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#include <rcl_interfaces/GetParameters.h>
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#include <rcl_interfaces/GetParameterTypes.h>
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#include <rcl_interfaces/Parameter.h>
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#include <rcl_interfaces/ParameterDescriptor.h>
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#include <rcl_interfaces/ParameterType.h>
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#include <rcl_interfaces/SetParameters.h>
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#include <rcl_interfaces/SetParametersAtomically.h>
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#include <rcl_interfaces/ListParameters.h>
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#include <rcl_interfaces/DescribeParameters.h>
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namespace rclcpp
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{
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namespace parameter
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{
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enum ParameterType {
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PARAMETER_NOT_SET=rcl_interfaces::ParameterType::PARAMETER_NOT_SET,
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PARAMETER_BOOL=rcl_interfaces::ParameterType::PARAMETER_BOOL,
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PARAMETER_INTEGER=rcl_interfaces::ParameterType::PARAMETER_INTEGER,
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PARAMETER_DOUBLE=rcl_interfaces::ParameterType::PARAMETER_DOUBLE,
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PARAMETER_STRING=rcl_interfaces::ParameterType::PARAMETER_STRING,
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PARAMETER_BYTES=rcl_interfaces::ParameterType::PARAMETER_BYTES,
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};
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// Structure to store an arbitrary parameter with templated get/set methods
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class ParameterVariant
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{
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public:
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ParameterVariant()
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: name_("")
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{
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_NOT_SET;
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}
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ParameterVariant(const std::string & name, const bool bool_value)
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: name_(name)
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{
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value_.bool_value = bool_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_BOOL;
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}
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ParameterVariant(const std::string & name, const int64_t int_value)
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: name_(name)
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{
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value_.integer_value = int_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_INTEGER;
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}
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ParameterVariant(const std::string & name, const double double_value)
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: name_(name)
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{
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value_.double_value = double_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_DOUBLE;
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}
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ParameterVariant(const std::string & name, const std::string & string_value)
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: name_(name)
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{
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value_.string_value = string_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_STRING;
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}
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ParameterVariant(const std::string & name, const std::vector<int8_t> & bytes_value)
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: name_(name)
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{
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value_.bytes_value = bytes_value;
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value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_BYTES;
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}
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/* Templated getter */
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template<typename T>
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T
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get_value() const;
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inline ParameterType get_type() const {return static_cast<ParameterType>(value_.parameter_type); }
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inline std::string get_name() const & {return name_; }
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inline rcl_interfaces::ParameterValue get_parameter_value() const
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{
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return value_;
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}
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private:
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std::string name_;
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rcl_interfaces::ParameterValue value_;
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};
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template<>
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inline int64_t ParameterVariant::get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_INTEGER) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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return value_.integer_value;
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}
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template<>
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inline double ParameterVariant::get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_DOUBLE) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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return value_.double_value;
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}
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template<>
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inline std::string ParameterVariant::get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_STRING) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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return value_.string_value;
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}
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template<>
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inline bool ParameterVariant::get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_BOOL) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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return value_.bool_value;
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}
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template<>
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inline std::vector<int8_t> ParameterVariant::get_value() const
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{
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if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_BYTES) {
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// TODO: use custom exception
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throw std::runtime_error("Invalid type");
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}
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return value_.bytes_value;
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}
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class AsyncParametersClient
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{
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public:
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AsyncParametersClient(const rclcpp::node::Node::SharedPtr & node)
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: node_(node)
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{
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get_parameters_client_ = node_->create_client<rcl_interfaces::GetParameters>(
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"get_parameters");
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get_parameter_types_client_ = node_->create_client<rcl_interfaces::GetParameterTypes>(
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"get_parameter_types");
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set_parameters_client_ = node_->create_client<rcl_interfaces::SetParameters>(
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"set_parameters");
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list_parameters_client_ = node_->create_client<rcl_interfaces::ListParameters>(
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"list_parameters");
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describe_parameters_client_ = node_->create_client<rcl_interfaces::DescribeParameters>(
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"describe_parameters");
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}
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std::shared_future<std::vector<ParameterVariant>>
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get_parameters(
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std::vector<std::string> names,
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std::function<void(
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std::shared_future<std::vector<ParameterVariant>>)> callback = nullptr)
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{
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std::shared_future<std::vector<ParameterVariant>> f;
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return f;
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}
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std::shared_future<std::vector<ParameterType>>
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get_parameter_types(
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std::vector<std::string> parameter_names,
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std::function<void(
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std::shared_future<std::vector<ParameterType>>)> callback = nullptr)
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{
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std::shared_future<std::vector<ParameterType>> f;
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return f;
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}
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std::shared_future<std::vector<rcl_interfaces::ParameterSetResult>>
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set_parameters(
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std::vector<ParameterVariant> parameters,
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std::function<void(
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std::shared_future<std::vector<rcl_interfaces::ParameterSetResult>>)> callback = nullptr)
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{
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std::shared_future<std::vector<rcl_interfaces::ParameterSetResult>> f;
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return f;
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}
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std::shared_future<rcl_interfaces::ParameterSetResult>
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set_parameters_atomically(
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std::vector<ParameterVariant> parameters,
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std::function<void(
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std::shared_future<rcl_interfaces::ParameterSetResult>)> callback = nullptr)
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{
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std::shared_future<rcl_interfaces::ParameterSetResult> f;
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return f;
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}
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std::shared_future<rcl_interfaces::ParameterListResult>
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list_parameters(
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std::vector<std::string> parameter_prefixes,
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uint64_t depth,
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std::function<void(
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std::shared_future<rcl_interfaces::ParameterListResult>)> callback = nullptr)
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{
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std::shared_future<rcl_interfaces::ParameterListResult> f;
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return f;
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}
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private:
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const rclcpp::node::Node::SharedPtr node_;
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rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedPtr get_parameters_client_;
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rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedPtr get_parameter_types_client_;
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rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedPtr set_parameters_client_;
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rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedPtr
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set_parameters_atomically_client_;
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rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedPtr list_parameters_client_;
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rclcpp::client::Client<rcl_interfaces::DescribeParameters>::SharedPtr describe_parameters_client_;
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};
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} /* namespace parameter */
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} /* namespace rclcpp */
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#endif /* RCLCPP_RCLCPP_PARAMETER_HPP_ */
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@ -19,6 +19,7 @@
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#include <memory>
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#include <rclcpp/node.hpp>
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#include <rclcpp/parameter.hpp>
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#include <rclcpp/executors.hpp>
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#include <rclcpp/rate.hpp>
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#include <rclcpp/utilities.hpp>
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@ -10,6 +10,9 @@
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<build_export_depend>rmw</build_export_depend>
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<build_depend>rcl_interfaces</build_depend>
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<build_export_depend>rcl_interfaces</build_export_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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</package>
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