rclcpp::parameter::ParameterVariant -> rclcpp::Parameter

ros2 · May 29, 2018 · 6c441ca · 6c441ca
1 parent a79730e
commit 6c441ca
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Showing 17 changed files with 163 additions and 166 deletions.
diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
@@ -256,11 +256,11 @@ class Node : public std::enable_shared_from_this<Node>
 
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+  set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
   RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
   template<typename ParameterT>
   void
@@ -269,18 +269,18 @@ class Node : public std::enable_shared_from_this<Node>
     const ParameterT & value);
 
   RCLCPP_PUBLIC
-  std::vector<rclcpp::parameter::ParameterVariant>
+  std::vector<rclcpp::Parameter>
   get_parameters(const std::vector<std::string> & names) const;
 
   RCLCPP_PUBLIC
-  rclcpp::parameter::ParameterVariant
+  rclcpp::Parameter
   get_parameter(const std::string & name) const;
 
   RCLCPP_PUBLIC
   bool
   get_parameter(
     const std::string & name,
-    rclcpp::parameter::ParameterVariant & parameter) const;
+    rclcpp::Parameter & parameter) const;
 
   /// Assign the value of the parameter if set into the parameter argument.
   /**

diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
@@ -203,10 +203,10 @@ Node::set_parameter_if_not_set(
   const std::string & name,
   const ParameterT & value)
 {
-  rclcpp::parameter::ParameterVariant parameter_variant;
-  if (!this->get_parameter(name, parameter_variant)) {
+  rclcpp::Parameter parameter;
+  if (!this->get_parameter(name, parameter)) {
     this->set_parameters({
-        rclcpp::parameter::ParameterVariant(name, value),
+        rclcpp::Parameter(name, value),
       });
   }
 }
@@ -215,10 +215,10 @@ template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & value) const
 {
-  rclcpp::parameter::ParameterVariant parameter_variant;
-  bool result = get_parameter(name, parameter_variant);
+  rclcpp::Parameter parameter;
+  bool result = get_parameter(name, parameter);
   if (result) {
-    value = parameter_variant.get_value<ParameterT>();
+    value = parameter.get_value<ParameterT>();
   }
 
   return result;

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
@@ -62,30 +62,30 @@ class NodeParameters : public NodeParametersInterface
   virtual
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+    const std::vector<rclcpp::Parameter> & parameters);
 
   RCLCPP_PUBLIC
   virtual
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+    const std::vector<rclcpp::Parameter> & parameters);
 
   RCLCPP_PUBLIC
   virtual
-  std::vector<rclcpp::parameter::ParameterVariant>
+  std::vector<rclcpp::Parameter>
   get_parameters(const std::vector<std::string> & names) const;
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::parameter::ParameterVariant
+  rclcpp::Parameter
   get_parameter(const std::string & name) const;
 
   RCLCPP_PUBLIC
   virtual
   bool
   get_parameter(
     const std::string & name,
-    rclcpp::parameter::ParameterVariant & parameter) const;
+    rclcpp::Parameter & parameter) const;
 
   RCLCPP_PUBLIC
   virtual
@@ -114,7 +114,7 @@ class NodeParameters : public NodeParametersInterface
 
   ParametersCallbackFunction parameters_callback_ = nullptr;
 
-  std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
+  std::map<std::string, rclcpp::Parameter> parameters_;
 
   Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
@@ -41,30 +41,30 @@ class NodeParametersInterface
   virtual
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters) = 0;
+    const std::vector<rclcpp::Parameter> & parameters) = 0;
 
   RCLCPP_PUBLIC
   virtual
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters) = 0;
+    const std::vector<rclcpp::Parameter> & parameters) = 0;
 
   RCLCPP_PUBLIC
   virtual
-  std::vector<rclcpp::parameter::ParameterVariant>
+  std::vector<rclcpp::Parameter>
   get_parameters(const std::vector<std::string> & names) const = 0;
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::parameter::ParameterVariant
+  rclcpp::Parameter
   get_parameter(const std::string & name) const = 0;
 
   RCLCPP_PUBLIC
   virtual
   bool
   get_parameter(
     const std::string & name,
-    rclcpp::parameter::ParameterVariant & parameter) const = 0;
+    rclcpp::Parameter & parameter) const = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -83,7 +83,7 @@ class NodeParametersInterface
 
   using ParametersCallbackFunction = std::function<
     rcl_interfaces::msg::SetParametersResult(
-      const std::vector<rclcpp::parameter::ParameterVariant> &)>;
+      const std::vector<rclcpp::Parameter> &)>;
 
   RCLCPP_PUBLIC
   virtual

diff --git a/rclcpp/include/rclcpp/parameter.hpp b/rclcpp/include/rclcpp/parameter.hpp
@@ -27,23 +27,21 @@
 
 namespace rclcpp
 {
-namespace parameter
-{
 
 // Structure to store an arbitrary parameter with templated get/set methods
-class ParameterVariant
+class Parameter
 {
 public:
   RCLCPP_PUBLIC
-  ParameterVariant();
+  Parameter();
 
   RCLCPP_PUBLIC
-  ParameterVariant(const std::string & name, const ParameterValue & value);
+  Parameter(const std::string & name, const ParameterValue & value);
 
   template<typename ValueTypeT>
   RCLCPP_PUBLIC
-  explicit ParameterVariant(const std::string & name, ValueTypeT value)
-  : ParameterVariant(name, ParameterValue(value))
+  explicit Parameter(const std::string & name, ValueTypeT value)
+  : Parameter(name, ParameterValue(value))
   {
   }
 
@@ -116,7 +114,7 @@ class ParameterVariant
   as_string_array() const;
 
   RCLCPP_PUBLIC
-  static ParameterVariant
+  static Parameter
   from_parameter(const rcl_interfaces::msg::Parameter & parameter);
 
   RCLCPP_PUBLIC
@@ -158,17 +156,16 @@ class ParameterVariant
 /// Return a json encoded version of the parameter intended for a dict.
 RCLCPP_PUBLIC
 std::string
-_to_json_dict_entry(const ParameterVariant & param);
+_to_json_dict_entry(const Parameter & param);
 
 RCLCPP_PUBLIC
 std::ostream &
-operator<<(std::ostream & os, const rclcpp::parameter::ParameterVariant & pv);
+operator<<(std::ostream & os, const rclcpp::Parameter & pv);
 
 RCLCPP_PUBLIC
 std::ostream &
-operator<<(std::ostream & os, const std::vector<ParameterVariant> & parameters);
+operator<<(std::ostream & os, const std::vector<Parameter> & parameters);
 
-}  // namespace parameter
 }  // namespace rclcpp
 
 namespace std
@@ -177,12 +174,12 @@ namespace std
 /// Return a json encoded version of the parameter intended for a list.
 RCLCPP_PUBLIC
 std::string
-to_string(const rclcpp::parameter::ParameterVariant & param);
+to_string(const rclcpp::Parameter & param);
 
 /// Return a json encoded version of a vector of parameters, as a string.
 RCLCPP_PUBLIC
 std::string
-to_string(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+to_string(const std::vector<rclcpp::Parameter> & parameters);
 
 }  // namespace std
 

diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -68,11 +68,11 @@ class AsyncParametersClient
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
-  std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
+  std::shared_future<std::vector<rclcpp::Parameter>>
   get_parameters(
     const std::vector<std::string> & names,
     std::function<
-      void(std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)
+      void(std::shared_future<std::vector<rclcpp::Parameter>>)
     > callback = nullptr);
 
   RCLCPP_PUBLIC
@@ -86,15 +86,15 @@ class AsyncParametersClient
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
   set_parameters(
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters,
+    const std::vector<rclcpp::Parameter> & parameters,
     std::function<
       void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)
     > callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::SetParametersResult>
   set_parameters_atomically(
-    const std::vector<rclcpp::parameter::ParameterVariant> & parameters,
+    const std::vector<rclcpp::Parameter> & parameters,
     std::function<
       void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
     > callback = nullptr);
@@ -185,7 +185,7 @@ class SyncParametersClient
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
-  std::vector<rclcpp::parameter::ParameterVariant>
+  std::vector<rclcpp::Parameter>
   get_parameters(const std::vector<std::string> & parameter_names);
 
   RCLCPP_PUBLIC
@@ -231,11 +231,11 @@ class SyncParametersClient
 
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
-  set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+  set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
   RCLCPP_PUBLIC
   rcl_interfaces::msg::SetParametersResult
-  set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+  set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
   RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult

diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -49,7 +49,7 @@
  *   - rclcpp::Node::describe_parameters()
  *   - rclcpp::Node::list_parameters()
  *   - rclcpp::Node::register_param_change_callback()
- *   - rclcpp::parameter::ParameterVariant
+ *   - rclcpp::Parameter
  *   - rclcpp::AsyncParametersClient
  *   - rclcpp::SyncParametersClient
  *   - rclcpp/parameter.hpp

diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
@@ -117,34 +117,34 @@ Node::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
 
 std::vector<rcl_interfaces::msg::SetParametersResult>
 Node::set_parameters(
-  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   return node_parameters_->set_parameters(parameters);
 }
 
 rcl_interfaces::msg::SetParametersResult
 Node::set_parameters_atomically(
-  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   return node_parameters_->set_parameters_atomically(parameters);
 }
 
-std::vector<rclcpp::parameter::ParameterVariant>
+std::vector<rclcpp::Parameter>
 Node::get_parameters(
   const std::vector<std::string> & names) const
 {
   return node_parameters_->get_parameters(names);
 }
 
-rclcpp::parameter::ParameterVariant
+rclcpp::Parameter
 Node::get_parameter(const std::string & name) const
 {
   return node_parameters_->get_parameter(name);
 }
 
 bool Node::get_parameter(
   const std::string & name,
-  rclcpp::parameter::ParameterVariant & parameter) const
+  rclcpp::Parameter & parameter) const
 {
   return node_parameters_->get_parameter(name, parameter);
 }