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Added new constructors for SyncParameterClient (ros2#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
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@alsora @christopherho-ApexAI
alsora authored and christopherho-ApexAI committed Jun 3, 2019
1 parent 781be2a commit 5e5f498
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Showing 2 changed files with 81 additions and 9 deletions.
25 changes: 24 additions & 1 deletion rclcpp/include/rclcpp/parameter_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,29 @@ class SyncParametersClient
const std::string & remote_node_name = "",
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
std::vector<rclcpp::Parameter>
get_parameters(const std::vector<std::string> & parameter_names);
Expand Down Expand Up @@ -268,7 +291,7 @@ class SyncParametersClient

private:
rclcpp::executor::Executor::SharedPtr executor_;
rclcpp::Node::SharedPtr node_;
const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
AsyncParametersClient::SharedPtr async_parameters_client_;
};

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65 changes: 57 additions & 8 deletions rclcpp/src/rclcpp/parameter_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -350,18 +350,68 @@ SyncParametersClient::SyncParametersClient(
rclcpp::Node::SharedPtr node,
const std::string & remote_node_name,
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_ =
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>
SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_names)
{
auto f = async_parameters_client_->get_parameters(parameter_names);
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)
{
return f.get();
Expand All @@ -385,7 +435,7 @@ SyncParametersClient::get_parameter_types(const std::vector<std::string> & param
auto f = async_parameters_client_->get_parameter_types(parameter_names);

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)
{
return f.get();
Expand All @@ -399,9 +449,8 @@ SyncParametersClient::set_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;
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)
{
return f.get();
Expand All @@ -416,7 +465,7 @@ SyncParametersClient::set_parameters_atomically(
auto f = async_parameters_client_->set_parameters_atomically(parameters);

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)
{
return f.get();
Expand All @@ -433,7 +482,7 @@ SyncParametersClient::list_parameters(
auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);

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)
{
return f.get();
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