From ea76716982a2ee1825ee20fe4eed8bdf369b7160 Mon Sep 17 00:00:00 2001
From: gerkey <brian@gerkey.org>
Date: Fri, 8 Jul 2016 13:39:18 -0700
Subject: [PATCH] use the param profile for param services (#236)

* use the param profile for param services

* expose qos to users of param clients / services
---
 rclcpp/include/rclcpp/parameter_client.hpp  | 10 ++++++---
 rclcpp/include/rclcpp/parameter_service.hpp |  4 +++-
 rclcpp/src/rclcpp/parameter_client.cpp      | 23 ++++++++++++---------
 rclcpp/src/rclcpp/parameter_service.cpp     | 22 +++++++++++++-------
 4 files changed, 38 insertions(+), 21 deletions(-)

diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
index 94dd62b..3b146e3 100644
--- a/rclcpp/include/rclcpp/parameter_client.hpp
+++ b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -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>
diff --git a/rclcpp/include/rclcpp/parameter_service.hpp b/rclcpp/include/rclcpp/parameter_service.hpp
index dbb1ce0..e5432d3 100644
--- a/rclcpp/include/rclcpp/parameter_service.hpp
+++ b/rclcpp/include/rclcpp/parameter_service.hpp
@@ -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_;
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
index 5c1cfc9..5d82a6d 100644
--- a/rclcpp/src/rclcpp/parameter_client.cpp
+++ b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -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>
diff --git a/rclcpp/src/rclcpp/parameter_service.cpp b/rclcpp/src/rclcpp/parameter_service.cpp
index 9f18943..6b8a574 100644
--- a/rclcpp/src/rclcpp/parameter_service.cpp
+++ b/rclcpp/src/rclcpp/parameter_service.cpp
@@ -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*
 }