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Make parameter clients use template constructors #1249

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Aug 5, 2020
Merged

Make parameter clients use template constructors #1249

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82f7324
Make Parameter Clients use template constructors
audrow Jul 31, 2020
f039aa9
Remove `RCLCPP_PUBLIC` macro from template functions
audrow Aug 5, 2020
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101 changes: 80 additions & 21 deletions rclcpp/include/rclcpp/parameter_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,12 +73,21 @@ class AsyncParametersClient
* \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
* \param[in] group (optional) The async parameter client will be added to this callback group.
*/
RCLCPP_PUBLIC
template<typename NodeT>
AsyncParametersClient(
const rclcpp::Node::SharedPtr node,
const std::shared_ptr<NodeT> node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
rclcpp::CallbackGroup::SharedPtr group = nullptr);
rclcpp::CallbackGroup::SharedPtr group = nullptr)
: AsyncParametersClient(
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,
group)
{}

/// Constructor
/**
Expand All @@ -87,12 +96,21 @@ class AsyncParametersClient
* \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
* \param[in] group (optional) The async parameter client will be added to this callback group.
*/
RCLCPP_PUBLIC
template<typename NodeT>
AsyncParametersClient(
rclcpp::Node * node,
NodeT * node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
rclcpp::CallbackGroup::SharedPtr group = nullptr);
rclcpp::CallbackGroup::SharedPtr group = nullptr)
: AsyncParametersClient(
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,
group)
{}

RCLCPP_PUBLIC
std::shared_future<std::vector<rclcpp::Parameter>>
Expand Down Expand Up @@ -237,31 +255,61 @@ class SyncParametersClient
public:
RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)

RCLCPP_PUBLIC
template<typename NodeT>
explicit SyncParametersClient(
rclcpp::Node::SharedPtr node,
std::shared_ptr<NodeT> node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
: SyncParametersClient(
std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
node,
remote_node_name,
qos_profile)
{}

RCLCPP_PUBLIC
template<typename NodeT>
SyncParametersClient(
rclcpp::Executor::SharedPtr executor,
rclcpp::Node::SharedPtr node,
std::shared_ptr<NodeT> node,
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 rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
: 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)
{}

template<typename NodeT>
SyncParametersClient(
NodeT * node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
: SyncParametersClient(
std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
node,
remote_node_name,
qos_profile)
{}

RCLCPP_PUBLIC
template<typename NodeT>
SyncParametersClient(
rclcpp::Executor::SharedPtr executor,
rclcpp::Node * node,
NodeT * node,
const std::string & remote_node_name = "",
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
: 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)
{}

RCLCPP_PUBLIC
SyncParametersClient(
Expand All @@ -271,7 +319,18 @@ class SyncParametersClient
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);
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
: executor_(executor), node_base_interface_(node_base_interface)
{
async_parameters_client_ =
std::make_shared<AsyncParametersClient>(
node_base_interface,
node_topics_interface,
node_graph_interface,
node_services_interface,
remote_node_name,
qos_profile);
}

RCLCPP_PUBLIC
std::vector<rclcpp::Parameter>
Expand Down
102 changes: 0 additions & 102 deletions rclcpp/src/rclcpp/parameter_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,36 +99,6 @@ AsyncParametersClient::AsyncParametersClient(
node_services_interface->add_client(describe_parameters_base, group);
}

AsyncParametersClient::AsyncParametersClient(
const rclcpp::Node::SharedPtr node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile,
rclcpp::CallbackGroup::SharedPtr group)
: AsyncParametersClient(
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,
group)
{}

AsyncParametersClient::AsyncParametersClient(
rclcpp::Node * node,
const std::string & remote_node_name,
const rmw_qos_profile_t & qos_profile,
rclcpp::CallbackGroup::SharedPtr group)
: AsyncParametersClient(
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,
group)
{}

std::shared_future<std::vector<rclcpp::Parameter>>
AsyncParametersClient::get_parameters(
const std::vector<std::string> & names,
Expand Down Expand Up @@ -337,78 +307,6 @@ AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds tim
return true;
}

SyncParametersClient::SyncParametersClient(
rclcpp::Node::SharedPtr 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::SharedPtr executor,
rclcpp::Node::SharedPtr 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::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::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::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_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)
{
Expand Down