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Split ParameterVariant into Parameter and ParameterValue #481

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merged 17 commits into from
Jun 1, 2018
Merged

Split ParameterVariant into Parameter and ParameterValue #481

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9e9f37c
Moved ParameterType + started ParameterValue
sloretz May 25, 2018
ee1230a
Delegate get_value() to ParameterValue
sloretz May 29, 2018
fa8f19e
Remove as_*() from ParameterValue
sloretz May 29, 2018
6d51a66
Remove unused includes
sloretz May 29, 2018
a79730e
get_parameter_value() -> get_value_message()
sloretz May 29, 2018
6c441ca
rclcpp::parameter::ParameterVariant -> rclcpp::Parameter
sloretz May 29, 2018
e182a0b
Add missing rclcpp::
sloretz May 29, 2018
798880b
array_to_string exists on ParameterValue
sloretz May 29, 2018
69f3421
Make to_parameter() const
sloretz May 29, 2018
895bd4c
Remove RCLCPP_PUBLIC before definition
sloretz May 30, 2018
f002629
Add RCLCPP_PUBLIC to methods
sloretz May 30, 2018
a289f63
ParameterTypeException inherit from runtime_error
sloretz May 31, 2018
f8646d0
decltype(auto) return type
sloretz May 31, 2018
bea1335
consistent doc block
sloretz May 31, 2018
374b81a
Minor comment fixes
sloretz May 31, 2018
18555dc
Add ParameterValue to main API comment
sloretz May 31, 2018
22d89b9
to_parameter_msg() from_parameter_msg()
sloretz May 31, 2018
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1 change: 1 addition & 0 deletions rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ set(${PROJECT_NAME}_SRCS
src/rclcpp/node_interfaces/node_timers.cpp
src/rclcpp/node_interfaces/node_topics.cpp
src/rclcpp/parameter.cpp
src/rclcpp/parameter_value.cpp
src/rclcpp/parameter_client.cpp
src/rclcpp/parameter_events_filter.cpp
src/rclcpp/parameter_service.cpp
Expand Down
10 changes: 5 additions & 5 deletions rclcpp/include/rclcpp/node.hpp
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Expand Up @@ -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
Expand All @@ -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.
/**
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12 changes: 6 additions & 6 deletions rclcpp/include/rclcpp/node_impl.hpp
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Expand Up @@ -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),
});
}
}
Expand All @@ -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;
Expand Down
12 changes: 6 additions & 6 deletions rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
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Expand Up @@ -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
Expand Down Expand Up @@ -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_;

Expand Down
12 changes: 6 additions & 6 deletions rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
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Expand Up @@ -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
Expand All @@ -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
Expand Down
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