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use the param profile for param services (#236)

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* use the param profile for param services

* expose qos to users of param clients / services
This commit is contained in:
gerkey 2016-07-08 13:39:18 -07:00 • committed by GitHub
parent 8251b84f68
commit ea76716982
4 changed files with 38 additions and 21 deletions
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10
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -48,7 +48,8 @@ public:
RCLCPP_PUBLIC
AsyncParametersClient(
const rclcpp::node::Node::SharedPtr node,
const std::string & remote_node_name = "");
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
@ -119,12 +120,15 @@ public:
RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient);
RCLCPP_PUBLIC
explicit SyncParametersClient(rclcpp::node::Node::SharedPtr node);
explicit SyncParametersClient(
rclcpp::node::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
rclcpp::node::Node::SharedPtr node);
rclcpp::node::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
std::vector<rclcpp::parameter::ParameterVariant>

4
rclcpp/include/rclcpp/parameter_service.hpp
View file

@ -41,7 +41,9 @@ public:
RCLCPP_SMART_PTR_DEFINITIONS(ParameterService);
RCLCPP_PUBLIC
explicit ParameterService(const rclcpp::node::Node::SharedPtr node);
explicit ParameterService(
const rclcpp::node::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
private:
const rclcpp::node::Node::SharedPtr node_;

23
rclcpp/src/rclcpp/parameter_client.cpp
View file

@ -23,7 +23,8 @@ using rclcpp::parameter_client::SyncParametersClient;
AsyncParametersClient::AsyncParametersClient(
const rclcpp::node::Node::SharedPtr node,
const std::string & remote_node_name)
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: node_(node)
{
if (remote_node_name != "") {
@ -32,15 +33,15 @@ AsyncParametersClient::AsyncParametersClient(
remote_node_name_ = node_->get_name();
}
get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
remote_node_name_ + "__get_parameters");
remote_node_name_ + "__get_parameters", qos_profile);
get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
remote_node_name_ + "__get_parameter_types");
remote_node_name_ + "__get_parameter_types", qos_profile);
set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
remote_node_name_ + "__set_parameters");
remote_node_name_ + "__set_parameters", qos_profile);
list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
remote_node_name_ + "__list_parameters");
remote_node_name_ + "__list_parameters", qos_profile);
describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
remote_node_name_ + "__describe_parameters");
remote_node_name_ + "__describe_parameters", qos_profile);
}
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
@ -228,19 +229,21 @@ AsyncParametersClient::list_parameters(
}
SyncParametersClient::SyncParametersClient(
rclcpp::node::Node::SharedPtr node)
rclcpp::node::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile)
: node_(node)
{
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
async_parameters_client_ = std::make_shared<AsyncParametersClient>(node, "", qos_profile);
}
SyncParametersClient::SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
rclcpp::node::Node::SharedPtr node)
rclcpp::node::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile)
: executor_(executor), node_(node)
{
async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
async_parameters_client_ = std::make_shared<AsyncParametersClient>(node, "", qos_profile);
}
std::vector<rclcpp::parameter::ParameterVariant>

22
rclcpp/src/rclcpp/parameter_service.cpp
View file

@ -19,7 +19,9 @@
using rclcpp::parameter_service::ParameterService;
ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
ParameterService::ParameterService(
const rclcpp::node::Node::SharedPtr node,
const rmw_qos_profile_t & qos_profile)
: node_(node)
{
std::weak_ptr<rclcpp::node::Node> captured_node = node_;
@ -39,7 +41,8 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
for (auto & pvariant : values) {
response->values.push_back(pvariant.get_parameter_value());
}
}
},
qos_profile
);
get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
@ -58,7 +61,8 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
std::back_inserter(response->types), [](const uint8_t & type) {
return static_cast<rclcpp::parameter::ParameterType>(type);
});
}
},
qos_profile
);
set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
@ -78,7 +82,8 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
}
auto results = node->set_parameters(pvariants);
response->results = results;
}
},
qos_profile
);
set_parameters_atomically_service_ =
@ -102,7 +107,8 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
});
auto result = node->set_parameters_atomically(pvariants);
response->result = result;
}
},
qos_profile
);
describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
@ -118,7 +124,8 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
}
auto descriptors = node->describe_parameters(request->names);
response->descriptors = descriptors;
}
},
qos_profile
);
list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
@ -134,7 +141,8 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
}
auto result = node->list_parameters(request->prefixes, request->depth);
response->result = result;
}
},
qos_profile
);
// *INDENT-ON*
}