Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Split ParameterVariant #237

Merged
merged 2 commits into from
Jun 1, 2018
Merged

Split ParameterVariant #237

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
19c00c7
Remove ::parameter:: from ParameterType
sloretz May 25, 2018
43522e2
rclcpp::parameter::ParameterVariant -> rclcpp::Parameter
sloretz May 29, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 6 additions & 6 deletions demo_nodes_cpp/src/parameters/list_parameters.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,12 +40,12 @@ int main(int argc, char ** argv)
RCLCPP_INFO(node->get_logger(), "Setting parameters...")
// Set several differnet types of parameters.
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foo.first", 8),
rclcpp::parameter::ParameterVariant("foo.second", 42),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foo.first", 8),
rclcpp::Parameter("foo.second", 42),
rclcpp::Parameter("foobar", true),
});

RCLCPP_INFO(node->get_logger(), "Listing parameters...")
Expand Down
12 changes: 6 additions & 6 deletions demo_nodes_cpp/src/parameters/list_parameters_async.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,12 +40,12 @@ int main(int argc, char ** argv)
RCLCPP_INFO(node->get_logger(), "Setting parameters...")
// Set several differnet types of parameters.
auto results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foo.first", 8),
rclcpp::parameter::ParameterVariant("foo.second", 42),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foo.first", 8),
rclcpp::Parameter("foo.second", 42),
rclcpp::Parameter("foobar", true),
});
// Wait for the result.
rclcpp::spin_until_future_complete(node, results);
Expand Down
12 changes: 6 additions & 6 deletions demo_nodes_cpp/src/parameters/parameter_events.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,16 +68,16 @@ int main(int argc, char ** argv)

// Set several differnet types of parameters.
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
});

// Change the value of some of them.
set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 3),
rclcpp::parameter::ParameterVariant("bar", "world"),
rclcpp::Parameter("foo", 3),
rclcpp::Parameter("bar", "world"),
});

// TODO(wjwwood): Create and use delete_parameter
Expand Down
12 changes: 6 additions & 6 deletions demo_nodes_cpp/src/parameters/parameter_events_async.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -88,10 +88,10 @@ class ParameterEventsAsyncNode : public rclcpp::Node
};

parameters_client_->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
}, response_received_callback);
}

Expand All @@ -114,8 +114,8 @@ class ParameterEventsAsyncNode : public rclcpp::Node
});
};
parameters_client_->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 3),
rclcpp::parameter::ParameterVariant("bar", "world"),
rclcpp::Parameter("foo", 3),
rclcpp::Parameter("bar", "world"),
}, response_received_callback);
}

Expand Down
34 changes: 17 additions & 17 deletions demo_nodes_cpp/src/parameters/ros2param.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,11 +33,11 @@ typedef enum
PARAM_LIST,
} param_operation_t;

rclcpp::parameter::ParameterVariant
rclcpp::Parameter
parse_args(int argc, char ** argv, std::string & remote_node, param_operation_t & op)
{
if (argc < 3) {
return rclcpp::parameter::ParameterVariant();
return rclcpp::Parameter();
}

std::string verb = argv[1];
Expand All @@ -46,46 +46,46 @@ parse_args(int argc, char ** argv, std::string & remote_node, param_operation_t
if (verb == "list") {
op = PARAM_LIST;
remote_node = name;
return rclcpp::parameter::ParameterVariant();
return rclcpp::Parameter();
}

size_t slash = name.find('/');
if ((slash == std::string::npos) ||
(slash == 0) ||
(slash == (name.size() - 1)))
{
return rclcpp::parameter::ParameterVariant();
return rclcpp::Parameter();
}
remote_node = name.substr(0, slash);
std::string variable = name.substr(slash + 1, name.size() - slash - 1);


if ((verb == "get") && (argc == 3)) {
op = PARAM_GET;
return rclcpp::parameter::ParameterVariant(variable, 0);
return rclcpp::Parameter(variable, 0);
}
if ((verb == "set") && (argc == 4)) {
op = PARAM_SET;
std::string value = argv[3];
char * endptr;
int l = strtol(value.c_str(), &endptr, 10);
if ((errno == 0) && (*endptr == '\0')) {
return rclcpp::parameter::ParameterVariant(variable, l);
return rclcpp::Parameter(variable, l);
}
errno = 0;
double d = strtod(value.c_str(), &endptr);
if ((errno == 0) && (*endptr == '\0')) {
return rclcpp::parameter::ParameterVariant(variable, d);
return rclcpp::Parameter(variable, d);
}
if ((value == "true") || (value == "True")) {
return rclcpp::parameter::ParameterVariant(variable, true);
return rclcpp::Parameter(variable, true);
}
if ((value == "false") || (value == "False")) {
return rclcpp::parameter::ParameterVariant(variable, false);
return rclcpp::Parameter(variable, false);
}
return rclcpp::parameter::ParameterVariant(variable, value);
return rclcpp::Parameter(variable, value);
}
return rclcpp::parameter::ParameterVariant();
return rclcpp::Parameter();
}

int main(int argc, char ** argv)
Expand Down Expand Up @@ -122,22 +122,22 @@ int main(int argc, char ** argv)
node, get_parameters_result, std::chrono::milliseconds(1000));
if ((get_result != rclcpp::executor::FutureReturnCode::SUCCESS) ||
(get_parameters_result.get().size() != 1) ||
(get_parameters_result.get()[0].get_type() == rclcpp::parameter::PARAMETER_NOT_SET))
(get_parameters_result.get()[0].get_type() == rclcpp::ParameterType::PARAMETER_NOT_SET))
{
RCLCPP_ERROR(node->get_logger(), "Failed to get parameter")
return 1;
}

auto result = get_parameters_result.get()[0];
if (result.get_type() == rclcpp::parameter::PARAMETER_BOOL) {
if (result.get_type() == rclcpp::ParameterType::PARAMETER_BOOL) {
RCLCPP_INFO(node->get_logger(), "%s", result.get_value<bool>() ? "true" : "false")
} else if (result.get_type() == rclcpp::parameter::PARAMETER_INTEGER) {
} else if (result.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER) {
RCLCPP_INFO(node->get_logger(), "%" PRId64, result.get_value<int64_t>())
} else if (result.get_type() == rclcpp::parameter::PARAMETER_DOUBLE) {
} else if (result.get_type() == rclcpp::ParameterType::PARAMETER_DOUBLE) {
RCLCPP_INFO(node->get_logger(), "%f", result.get_value<double>())
} else if (result.get_type() == rclcpp::parameter::PARAMETER_STRING) {
} else if (result.get_type() == rclcpp::ParameterType::PARAMETER_STRING) {
RCLCPP_INFO(node->get_logger(), result.get_value<std::string>().c_str())
} else if (result.get_type() == rclcpp::parameter::PARAMETER_BYTE_ARRAY) {
} else if (result.get_type() == rclcpp::ParameterType::PARAMETER_BYTE_ARRAY) {
RCLCPP_ERROR(node->get_logger(), "BYTES type not implemented")
return 1;
}
Expand Down
12 changes: 6 additions & 6 deletions demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,12 +40,12 @@ int main(int argc, char ** argv)

// Set several different types of parameters.
auto set_parameters_results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::parameter::ParameterVariant("foobarbaz", std::vector<bool>({true, false})),
rclcpp::parameter::ParameterVariant("toto", std::vector<uint8_t>({0xff, 0x7f})),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
rclcpp::Parameter("foobarbaz", std::vector<bool>({true, false})),
rclcpp::Parameter("toto", std::vector<uint8_t>({0xff, 0x7f})),
});
// Check to see if they were set.
for (auto & result : set_parameters_results) {
Expand Down
12 changes: 6 additions & 6 deletions demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,12 +40,12 @@ int main(int argc, char ** argv)

// Set several different types of parameters.
auto results = parameters_client->set_parameters({
rclcpp::parameter::ParameterVariant("foo", 2),
rclcpp::parameter::ParameterVariant("bar", "hello"),
rclcpp::parameter::ParameterVariant("baz", 1.45),
rclcpp::parameter::ParameterVariant("foobar", true),
rclcpp::parameter::ParameterVariant("foobarbaz", std::vector<bool>({true, false})),
rclcpp::parameter::ParameterVariant("toto", std::vector<uint8_t>({0xff, 0x7f})),
rclcpp::Parameter("foo", 2),
rclcpp::Parameter("bar", "hello"),
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
rclcpp::Parameter("foobarbaz", std::vector<bool>({true, false})),
rclcpp::Parameter("toto", std::vector<uint8_t>({0xff, 0x7f})),
});
// Wait for the results.
if (rclcpp::spin_until_future_complete(node, results) !=
Expand Down