Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add callback group to AsyncParametersClient #811

Merged
merged 1 commit into from
Aug 22, 2019
Merged

Add callback group to AsyncParametersClient #811

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 6 additions & 3 deletions rclcpp/include/rclcpp/parameter_client.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,19 +53,22 @@ class AsyncParametersClient
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,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

RCLCPP_PUBLIC
AsyncParametersClient(
const rclcpp::Node::SharedPtr 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,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

RCLCPP_PUBLIC
AsyncParametersClient(
rclcpp::Node * 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,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

RCLCPP_PUBLIC
std::shared_future<std::vector<rclcpp::Parameter>>
Expand Down
27 changes: 16 additions & 11 deletions rclcpp/src/rclcpp/parameter_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,8 @@ AsyncParametersClient::AsyncParametersClient(
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)
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
: node_topics_interface_(node_topics_interface)
{
if (remote_node_name != "") {
Expand All @@ -51,7 +52,7 @@ AsyncParametersClient::AsyncParametersClient(
remote_node_name_ + "/" + parameter_service_names::get_parameters,
options);
auto get_parameters_base = std::dynamic_pointer_cast<ClientBase>(get_parameters_client_);
node_services_interface->add_client(get_parameters_base, nullptr);
node_services_interface->add_client(get_parameters_base, group);

get_parameter_types_client_ = Client<rcl_interfaces::srv::GetParameterTypes>::make_shared(
node_base_interface.get(),
Expand All @@ -60,15 +61,15 @@ AsyncParametersClient::AsyncParametersClient(
options);
auto get_parameter_types_base =
std::dynamic_pointer_cast<ClientBase>(get_parameter_types_client_);
node_services_interface->add_client(get_parameter_types_base, nullptr);
node_services_interface->add_client(get_parameter_types_base, group);

set_parameters_client_ = Client<rcl_interfaces::srv::SetParameters>::make_shared(
node_base_interface.get(),
node_graph_interface,
remote_node_name_ + "/" + parameter_service_names::set_parameters,
options);
auto set_parameters_base = std::dynamic_pointer_cast<ClientBase>(set_parameters_client_);
node_services_interface->add_client(set_parameters_base, nullptr);
node_services_interface->add_client(set_parameters_base, group);

set_parameters_atomically_client_ =
Client<rcl_interfaces::srv::SetParametersAtomically>::make_shared(
Expand All @@ -78,15 +79,15 @@ AsyncParametersClient::AsyncParametersClient(
options);
auto set_parameters_atomically_base = std::dynamic_pointer_cast<ClientBase>(
set_parameters_atomically_client_);
node_services_interface->add_client(set_parameters_atomically_base, nullptr);
node_services_interface->add_client(set_parameters_atomically_base, group);

list_parameters_client_ = Client<rcl_interfaces::srv::ListParameters>::make_shared(
node_base_interface.get(),
node_graph_interface,
remote_node_name_ + "/" + parameter_service_names::list_parameters,
options);
auto list_parameters_base = std::dynamic_pointer_cast<ClientBase>(list_parameters_client_);
node_services_interface->add_client(list_parameters_base, nullptr);
node_services_interface->add_client(list_parameters_base, group);

describe_parameters_client_ = Client<rcl_interfaces::srv::DescribeParameters>::make_shared(
node_base_interface.get(),
Expand All @@ -95,33 +96,37 @@ AsyncParametersClient::AsyncParametersClient(
options);
auto describe_parameters_base =
std::dynamic_pointer_cast<ClientBase>(describe_parameters_client_);
node_services_interface->add_client(describe_parameters_base, nullptr);
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)
const rmw_qos_profile_t & qos_profile,
rclcpp::callback_group::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)
qos_profile,
group)
{}

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

std::shared_future<std::vector<rclcpp::Parameter>>
Expand Down