Merge pull request #34 from ros2/external-parameters-api

External parameters api

rclcpp/include/rclcpp/parameter_service.hpp

@@ -0,0 +1,160 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_
+#define RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_
+
+#include <string>
+
+#include <rmw/rmw.h>
+
+#include <rclcpp/executors.hpp>
+#include <rclcpp/macros.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/parameter.hpp>
+
+#include <rcl_interfaces/GetParameters.h>
+#include <rcl_interfaces/GetParameterTypes.h>
+#include <rcl_interfaces/Parameter.h>
+#include <rcl_interfaces/ParameterDescriptor.h>
+#include <rcl_interfaces/ParameterType.h>
+#include <rcl_interfaces/SetParameters.h>
+#include <rcl_interfaces/SetParametersAtomically.h>
+#include <rcl_interfaces/ListParameters.h>
+#include <rcl_interfaces/DescribeParameters.h>
+
+namespace rclcpp
+{
+
+namespace parameter_service
+{
+
+class ParameterService
+{
+
+public:
+  RCLCPP_MAKE_SHARED_DEFINITIONS(ParameterService);
+
+  ParameterService(const rclcpp::node::Node::SharedPtr & node)
+  : node_(node)
+  {
+    get_parameters_service_ = node_->create_service<rcl_interfaces::GetParameters>(
+      node_->get_name() + "__get_parameters", [&node](
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rcl_interfaces::GetParameters::Request> request,
+        std::shared_ptr<rcl_interfaces::GetParameters::Response> response)
+        {
+          auto values = node->get_parameters(request->names);
+          std::transform(values.cbegin(), values.cend(), std::back_inserter(response->values),
+          [](const rclcpp::parameter::ParameterVariant & pvariant) {
+            return pvariant.
+            get_parameter_value();
+          });
+        }
+      );
+
+    get_parameter_types_service_ = node_->create_service<rcl_interfaces::GetParameterTypes>(
+      node_->get_name() + "__get_parameter_types", [&node](
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rcl_interfaces::GetParameterTypes::Request> request,
+        std::shared_ptr<rcl_interfaces::GetParameterTypes::Response> response)
+        {
+          auto types = node->get_parameter_types(request->parameter_names);
+          std::transform(types.cbegin(), types.cend(),
+          std::back_inserter(response->parameter_types), [](const uint8_t & type) {
+            return static_cast<rclcpp::parameter::ParameterType>(type);
+          });
+        }
+      );
+
+    set_parameters_service_ = node_->create_service<rcl_interfaces::SetParameters>(
+      node_->get_name() + "__set_parameters", [&node](
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rcl_interfaces::SetParameters::Request> request,
+        std::shared_ptr<rcl_interfaces::SetParameters::Response> response)
+        {
+          std::vector<rclcpp::parameter::ParameterVariant> pvariants;
+          std::transform(request->parameters.cbegin(), request->parameters.cend(),
+          std::back_inserter(pvariants),
+          [](const rcl_interfaces::Parameter & p) {
+            return rclcpp::parameter::ParameterVariant::
+            from_parameter(p);
+          });
+          auto results = node->set_parameters(pvariants);
+          response->results = results;
+        }
+      );
+
+    set_parameters_atomically_service_ =
+      node_->create_service<rcl_interfaces::SetParametersAtomically>(
+      node_->get_name() + "__set_parameters_atomically", [&node](
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rcl_interfaces::SetParametersAtomically::Request> request,
+        std::shared_ptr<rcl_interfaces::SetParametersAtomically::Response> response)
+        {
+          std::vector<rclcpp::parameter::ParameterVariant> pvariants;
+          std::transform(request->parameters.cbegin(), request->parameters.cend(),
+          std::back_inserter(pvariants),
+          [](const rcl_interfaces::Parameter & p) {
+            return rclcpp::parameter::ParameterVariant::
+            from_parameter(p);
+          });
+          auto result = node->set_parameters_atomically(pvariants);
+          response->result = result;
+        }
+      );
+
+    describe_parameters_service_ = node_->create_service<rcl_interfaces::DescribeParameters>(
+      node_->get_name() + "__describe_parameters", [&node](
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rcl_interfaces::DescribeParameters::Request> request,
+        std::shared_ptr<rcl_interfaces::DescribeParameters::Response> response)
+        {
+          auto descriptors = node->describe_parameters(request->names);
+          response->descriptors = descriptors;
+        }
+      );
+
+    list_parameters_service_ = node_->create_service<rcl_interfaces::ListParameters>(
+      node_->get_name() + "__describe_parameters", [&node](
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<rcl_interfaces::ListParameters::Request> request,
+        std::shared_ptr<rcl_interfaces::ListParameters::Response> response)
+        {
+          auto result = node->list_parameters(request->parameter_prefixes, request->depth);
+          response->result = result;
+        }
+      );
+
+
+  }
+
+private:
+  const rclcpp::node::Node::SharedPtr node_;
+  rclcpp::service::Service<rcl_interfaces::GetParameters>::SharedPtr get_parameters_service_;
+  rclcpp::service::Service<rcl_interfaces::GetParameterTypes>::SharedPtr
+    get_parameter_types_service_;
+  rclcpp::service::Service<rcl_interfaces::SetParameters>::SharedPtr set_parameters_service_;
+  rclcpp::service::Service<rcl_interfaces::SetParametersAtomically>::SharedPtr
+    set_parameters_atomically_service_;
+  rclcpp::service::Service<rcl_interfaces::DescribeParameters>::SharedPtr
+    describe_parameters_service_;
+  rclcpp::service::Service<rcl_interfaces::ListParameters>::SharedPtr list_parameters_service_;
+};
+
+} /* namespace parameter_service */
+
+} /* namespace rclcpp */
+
+#endif /* RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_ */

rclcpp/include/rclcpp/rclcpp.hpp

@@ -21,6 +21,7 @@
 #include <rclcpp/node.hpp>
 #include <rclcpp/parameter.hpp>
 #include <rclcpp/parameter_client.hpp>
+#include <rclcpp/parameter_service.hpp>
 #include <rclcpp/executors.hpp>
 #include <rclcpp/rate.hpp>
 #include <rclcpp/utilities.hpp>