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Add some parameter arrays to set_and_get_parameters tests #235

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merged 2 commits into from
May 10, 2018
Merged

Add some parameter arrays to set_and_get_parameters tests #235

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f607073
add an example of bool and byte parameter arrays
mikaelarguedas Mar 21, 2018
eea66c7
add missing vector include
mikaelarguedas Mar 21, 2018
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5 changes: 4 additions & 1 deletion demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <memory>
#include <sstream>
#include <vector>

#include "rclcpp/rclcpp.hpp"

Expand Down Expand Up @@ -46,6 +47,8 @@ int main(int argc, char ** argv)
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})),
});
// Check to see if they were set.
for (auto & result : set_parameters_results) {
Expand All @@ -56,7 +59,7 @@ int main(int argc, char ** argv)

std::stringstream ss;
// Get a few of the parameters just set.
for (auto & parameter : parameters_client->get_parameters({"foo", "baz"})) {
for (auto & parameter : parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"})) {
ss << "\nParameter name: " << parameter.get_name();
ss << "\nParameter value (" << parameter.get_type_name() << "): " <<
parameter.value_to_string();
Expand Down
5 changes: 4 additions & 1 deletion demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
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Expand Up @@ -14,6 +14,7 @@

#include <memory>
#include <sstream>
#include <vector>

#include "rclcpp/rclcpp.hpp"

Expand Down Expand Up @@ -46,6 +47,8 @@ int main(int argc, char ** argv)
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})),
});
// Wait for the results.
if (rclcpp::spin_until_future_complete(node, results) !=
Expand All @@ -62,7 +65,7 @@ int main(int argc, char ** argv)
}

// Get a few of the parameters just set.
auto parameters = parameters_client->get_parameters({"foo", "baz"});
auto parameters = parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"});
if (rclcpp::spin_until_future_complete(node, parameters) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
Expand Down
4 changes: 4 additions & 0 deletions demo_nodes_cpp/test/set_and_get_parameters.txt
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Expand Up @@ -3,3 +3,7 @@ Parameter name: foo
Parameter value (integer): 2
Parameter name: baz
Parameter value (double): 1.450000
Parameter name: foobarbaz
Parameter value (bool_array): [true, false]
Parameter name: toto
Parameter value (byte_array): [0xff, 0x7f]
4 changes: 4 additions & 0 deletions demo_nodes_cpp/test/set_and_get_parameters_async.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,3 +3,7 @@ Parameter name: foo
Parameter value (integer): 2
Parameter name: baz
Parameter value (double): 1.450000
Parameter name: foobarbaz
Parameter value (bool_array): [true, false]
Parameter name: toto
Parameter value (byte_array): [0xff, 0x7f]