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Added new constructors for SyncParameterClient (#612)

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* added new constructors for sync parameter client

* sync param client now has raw ptr member instead of shared ptr

* fixed pointer style

* allow objects which do not inherit from node to create a sync parameters client
This commit is contained in:
Alberto Soragna 2018-12-20 12:41:45 -08:00 • committed by William Woodall
parent 69d7e69957
commit eb2081bb25
2 changed files with 81 additions and 9 deletions
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25
rclcpp/include/rclcpp/parameter_client.hpp
View file

@ -185,6 +185,29 @@ public:
const std::string & remote_node_name = "", const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters); const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
explicit SyncParametersClient(
rclcpp::Node * node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
rclcpp::Node * node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC
SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
RCLCPP_PUBLIC RCLCPP_PUBLIC
std::vector<rclcpp::Parameter> std::vector<rclcpp::Parameter>
get_parameters(const std::vector<std::string> & parameter_names); get_parameters(const std::vector<std::string> & parameter_names);
@ -268,7 +291,7 @@ public:
private: private:
rclcpp::executor::Executor::SharedPtr executor_; rclcpp::executor::Executor::SharedPtr executor_;
rclcpp::Node::SharedPtr node_; const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
AsyncParametersClient::SharedPtr async_parameters_client_; AsyncParametersClient::SharedPtr async_parameters_client_;
}; };

65
rclcpp/src/rclcpp/parameter_client.cpp
View file

@ -350,10 +350,60 @@ SyncParametersClient::SyncParametersClient(
rclcpp::Node::SharedPtr node, rclcpp::Node::SharedPtr node,
const std::string & remote_node_name, const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile) const rmw_qos_profile_t & qos_profile)
: executor_(executor), node_(node) : SyncParametersClient(
executor,
node->get_node_base_interface(),
node->get_node_topics_interface(),
node->get_node_graph_interface(),
node->get_node_services_interface(),
remote_node_name,
qos_profile)
{}
SyncParametersClient::SyncParametersClient(
rclcpp::Node * node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: SyncParametersClient(
std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
node,
remote_node_name,
qos_profile)
{}
SyncParametersClient::SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
rclcpp::Node * node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: SyncParametersClient(
executor,
node->get_node_base_interface(),
node->get_node_topics_interface(),
node->get_node_graph_interface(),
node->get_node_services_interface(),
remote_node_name,
qos_profile)
{}
SyncParametersClient::SyncParametersClient(
rclcpp::executor::Executor::SharedPtr executor,
const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile)
: executor_(executor), node_base_interface_(node_base_interface)
{ {
async_parameters_client_ = async_parameters_client_ =
std::make_shared<AsyncParametersClient>(node, remote_node_name, qos_profile); std::make_shared<AsyncParametersClient>(
node_base_interface,
node_topics_interface,
node_graph_interface,
node_services_interface,
remote_node_name,
qos_profile);
} }
std::vector<rclcpp::Parameter> std::vector<rclcpp::Parameter>
@ -361,7 +411,7 @@ SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_
{ {
auto f = async_parameters_client_->get_parameters(parameter_names); auto f = async_parameters_client_->get_parameters(parameter_names);
using rclcpp::executors::spin_node_until_future_complete; using rclcpp::executors::spin_node_until_future_complete;
if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) == if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::executor::FutureReturnCode::SUCCESS)
{ {
return f.get(); return f.get();
@ -385,7 +435,7 @@ SyncParametersClient::get_parameter_types(const std::vector<std::string> & param
auto f = async_parameters_client_->get_parameter_types(parameter_names); auto f = async_parameters_client_->get_parameter_types(parameter_names);
using rclcpp::executors::spin_node_until_future_complete; using rclcpp::executors::spin_node_until_future_complete;
if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) == if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::executor::FutureReturnCode::SUCCESS)
{ {
return f.get(); return f.get();
@ -399,9 +449,8 @@ SyncParametersClient::set_parameters(
{ {
auto f = async_parameters_client_->set_parameters(parameters); auto f = async_parameters_client_->set_parameters(parameters);
auto node_base_interface = node_->get_node_base_interface();
using rclcpp::executors::spin_node_until_future_complete; using rclcpp::executors::spin_node_until_future_complete;
if (spin_node_until_future_complete(*executor_, node_base_interface, f) == if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::executor::FutureReturnCode::SUCCESS)
{ {
return f.get(); return f.get();
@ -416,7 +465,7 @@ SyncParametersClient::set_parameters_atomically(
auto f = async_parameters_client_->set_parameters_atomically(parameters); auto f = async_parameters_client_->set_parameters_atomically(parameters);
using rclcpp::executors::spin_node_until_future_complete; using rclcpp::executors::spin_node_until_future_complete;
if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) == if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::executor::FutureReturnCode::SUCCESS)
{ {
return f.get(); return f.get();
@ -433,7 +482,7 @@ SyncParametersClient::list_parameters(
auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth); auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
using rclcpp::executors::spin_node_until_future_complete; using rclcpp::executors::spin_node_until_future_complete;
if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) == if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::executor::FutureReturnCode::SUCCESS)
{ {
return f.get(); return f.get();