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support describe_parameters methods to parameter client. #1453

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merged 5 commits into from
Dec 14, 2020
Merged

support describe_parameters methods to parameter client. #1453

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49c8aec
support describe_parameters methods to parameter client.
fujitatomoya Nov 12, 2020
7f2c313
add test scenarios to describe_parameters.
fujitatomoya Nov 12, 2020
1b0ca99
add more test scenarios for test_parameter_client.
fujitatomoya Nov 17, 2020
07f4b12
add test cases for describe_parameters with allow_undeclared_ enabled
fujitatomoya Nov 18, 2020
bb7d1cc
minor fix, not to do unnecessary data copy.
fujitatomoya Dec 14, 2020
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14 changes: 14 additions & 0 deletions rclcpp/include/rclcpp/parameter_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
#ifndef RCLCPP__PARAMETER_CLIENT_HPP_
#define RCLCPP__PARAMETER_CLIENT_HPP_

#include <functional>
#include <future>
#include <memory>
#include <string>
#include <utility>
Expand Down Expand Up @@ -120,6 +122,14 @@ class AsyncParametersClient
void(std::shared_future<std::vector<rclcpp::Parameter>>)
> callback = nullptr);

RCLCPP_PUBLIC
std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
describe_parameters(
const std::vector<std::string> & names,
std::function<
void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
> callback = nullptr);
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RCLCPP_PUBLIC
std::shared_future<std::vector<rclcpp::ParameterType>>
get_parameter_types(
Expand Down Expand Up @@ -378,6 +388,10 @@ class SyncParametersClient
);
}

RCLCPP_PUBLIC
std::vector<rcl_interfaces::msg::ParameterDescriptor>
describe_parameters(const std::vector<std::string> & parameter_names);

RCLCPP_PUBLIC
std::vector<rclcpp::ParameterType>
get_parameter_types(const std::vector<std::string> & parameter_names);
Expand Down
43 changes: 43 additions & 0 deletions rclcpp/src/rclcpp/parameter_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,6 +144,35 @@ AsyncParametersClient::get_parameters(
return future_result;
}

std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
AsyncParametersClient::describe_parameters(
const std::vector<std::string> & names,
std::function<
void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
> callback)
{
auto promise_result =
std::make_shared<std::promise<std::vector<rcl_interfaces::msg::ParameterDescriptor>>>();
auto future_result = promise_result->get_future().share();

auto request = std::make_shared<rcl_interfaces::srv::DescribeParameters::Request>();
request->names = names;

describe_parameters_client_->async_send_request(
request,
[promise_result, future_result, callback](
rclcpp::Client<rcl_interfaces::srv::DescribeParameters>::SharedFuture cb_f)
{
promise_result->set_value(cb_f.get()->descriptors);
if (callback != nullptr) {
callback(future_result);
}
}
);

return future_result;
}

std::shared_future<std::vector<rclcpp::ParameterType>>
AsyncParametersClient::get_parameter_types(
const std::vector<std::string> & names,
Expand Down Expand Up @@ -337,6 +366,20 @@ SyncParametersClient::has_parameter(const std::string & parameter_name)
return vars.names.size() > 0;
}

std::vector<rcl_interfaces::msg::ParameterDescriptor>
SyncParametersClient::describe_parameters(const std::vector<std::string> & parameter_names)
{
auto f = async_parameters_client_->describe_parameters(parameter_names);

using rclcpp::executors::spin_node_until_future_complete;
rclcpp::FutureReturnCode future =
spin_node_until_future_complete(*executor_, node_base_interface_, f);
if (future == rclcpp::FutureReturnCode::SUCCESS) {
return f.get();
}
return std::vector<rcl_interfaces::msg::ParameterDescriptor>();
}

std::vector<rclcpp::ParameterType>
SyncParametersClient::get_parameter_types(const std::vector<std::string> & parameter_names)
{
Expand Down
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