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Remove unused on_parameters_set_callback_ #1945

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Jun 14, 2022
Merged

Remove unused on_parameters_set_callback_ #1945

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2 changes: 0 additions & 2 deletions rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,8 +196,6 @@ class NodeParameters : public NodeParametersInterface
// declare_parameter, etc). In those cases, this will be set to false.
bool parameter_modification_enabled_{true};

OnParametersSetCallbackType on_parameters_set_callback_ = nullptr;

CallbacksContainerType on_parameters_set_callback_container_;

std::map<std::string, ParameterInfo> parameters_;
Expand Down
28 changes: 7 additions & 21 deletions rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -268,8 +268,7 @@ RCLCPP_LOCAL
rcl_interfaces::msg::SetParametersResult
__call_on_parameters_set_callbacks(
const std::vector<rclcpp::Parameter> & parameters,
CallbacksContainerType & callback_container,
const OnParametersSetCallbackType & callback)
CallbacksContainerType & callback_container)
{
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
Expand All @@ -286,9 +285,6 @@ __call_on_parameters_set_callbacks(
it = callback_container.erase(it);
}
}
if (callback) {
result = callback(parameters);
}
return result;
}

Expand All @@ -298,7 +294,6 @@ __set_parameters_atomically_common(
const std::vector<rclcpp::Parameter> & parameters,
std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameter_infos,
CallbacksContainerType & callback_container,
const OnParametersSetCallbackType & callback,
bool allow_undeclared = false)
{
// Check if the value being set complies with the descriptor.
Expand All @@ -307,9 +302,9 @@ __set_parameters_atomically_common(
if (!result.successful) {
return result;
}
// Call the user callback to see if the new value(s) are allowed.
// Call the user callbacks to see if the new value(s) are allowed.
result =
__call_on_parameters_set_callbacks(parameters, callback_container, callback);
__call_on_parameters_set_callbacks(parameters, callback_container);
if (!result.successful) {
return result;
}
Expand All @@ -336,7 +331,6 @@ __declare_parameter_common(
std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters_out,
const std::map<std::string, rclcpp::ParameterValue> & overrides,
CallbacksContainerType & callback_container,
const OnParametersSetCallbackType & callback,
rcl_interfaces::msg::ParameterEvent * parameter_event_out,
bool ignore_override = false)
{
Expand Down Expand Up @@ -366,14 +360,13 @@ __declare_parameter_common(
return result;
}

// Check with the user's callback to see if the initial value can be set.
// Check with the user's callbacks to see if the initial value can be set.
std::vector<rclcpp::Parameter> parameter_wrappers {rclcpp::Parameter(name, *initial_value)};
// This function also takes care of default vs initial value.
auto result = __set_parameters_atomically_common(
parameter_wrappers,
parameter_infos,
callback_container,
callback);
callback_container);

if (!result.successful) {
return result;
Expand Down Expand Up @@ -401,7 +394,6 @@ declare_parameter_helper(
std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters,
const std::map<std::string, rclcpp::ParameterValue> & overrides,
CallbacksContainerType & callback_container,
const OnParametersSetCallbackType & callback,
rclcpp::Publisher<rcl_interfaces::msg::ParameterEvent> * events_publisher,
const std::string & combined_name,
rclcpp::node_interfaces::NodeClockInterface & node_clock)
Expand Down Expand Up @@ -438,7 +430,6 @@ declare_parameter_helper(
parameters,
overrides,
callback_container,
callback,
&parameter_event,
ignore_override);

Expand Down Expand Up @@ -486,7 +477,6 @@ NodeParameters::declare_parameter(
parameters_,
parameter_overrides_,
on_parameters_set_callback_container_,
on_parameters_set_callback_,
events_publisher_.get(),
combined_name_,
*node_clock_);
Expand Down Expand Up @@ -522,7 +512,6 @@ NodeParameters::declare_parameter(
parameters_,
parameter_overrides_,
on_parameters_set_callback_container_,
on_parameters_set_callback_,
events_publisher_.get(),
combined_name_,
*node_clock_);
Expand Down Expand Up @@ -636,7 +625,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &

// Declare parameters into a temporary "staging area", incase one of the declares fail.
// We will use the staged changes as input to the "set atomically" action.
// We explicitly avoid calling the user callback here, so that it may be called once, with
// We explicitly avoid calling the user callbacks here, so that it may be called once, with
// all the other parameters to be set (already declared parameters).
std::map<std::string, rclcpp::node_interfaces::ParameterInfo> staged_parameter_changes;
rcl_interfaces::msg::ParameterEvent parameter_event_msg;
Expand All @@ -657,7 +646,6 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
parameter_overrides_,
// Only call callbacks once below
empty_callback_container, // callback_container is explicitly empty
nullptr, // callback is explicitly null.
&parameter_event_msg,
true);
if (!result.successful) {
Expand Down Expand Up @@ -717,11 +705,9 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
*parameters_to_be_set,
// they are actually set on the official parameter storage
parameters_,
// this will get called once, with all the parameters to be set
on_parameters_set_callback_container_,
// These callbacks are called once. When a callback returns an unsuccessful result,
// the remaining aren't called.
on_parameters_set_callback_,
on_parameters_set_callback_container_,
allow_undeclared_); // allow undeclared

// If not successful, then stop here.
Expand Down