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CursedRock17ahcorde
CursedRock17
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ahcorde
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Parameter Descriptor Simplification (#2179)
Signed-off-by: CursedRock17 <mtglucas1@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
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‎rclcpp/CMakeLists.txt‎

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@@ -103,6 +103,7 @@ set(${PROJECT_NAME}_SRCS
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src/rclcpp/node_options.cpp
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src/rclcpp/parameter.cpp
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src/rclcpp/parameter_client.cpp
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src/rclcpp/parameter_descriptor_wrapper.cpp
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src/rclcpp/parameter_event_handler.cpp
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src/rclcpp/parameter_events_filter.cpp
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src/rclcpp/parameter_map.cpp

‎rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp‎

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// Copyright 2023 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__PARAMETER_DESCRIPTOR_WRAPPER_HPP_
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#define RCLCPP__PARAMETER_DESCRIPTOR_WRAPPER_HPP_
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// C++ Standard library includes
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#include <functional>
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#include <utility>
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#include <memory>
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#include <string>
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// Additional ROS libraries needed
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#include "rcl_interfaces/msg/parameter_descriptor.hpp"
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#include "rclcpp/node.hpp"
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#include "rclcpp/parameter_value.hpp"
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#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
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#include "rclcpp/visibility_control.hpp"
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#include "node_interfaces/node_parameters_interface.hpp"
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namespace rclcpp
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{
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// Implements ParameterDesription class with builder design pattern
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class ParameterDescription
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{
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public:
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RCLCPP_SMART_PTR_DEFINITIONS(ParameterDescription)
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// List of classes the builder manages
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RCLCPP_PUBLIC
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ParameterDescription();
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// Our Main build methods which will construct the base class
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RCLCPP_PUBLIC rcl_interfaces::msg::ParameterDescriptor build() const;
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// Builder Methods:
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// Describes the instances in a parameter_description object
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RCLCPP_PUBLIC ParameterDescription & set_name(const std::string & name);
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RCLCPP_PUBLIC ParameterDescription & set_type(std::uint8_t type);
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RCLCPP_PUBLIC ParameterDescription & set_description_text(const std::string & description);
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RCLCPP_PUBLIC ParameterDescription & set_additional_constraints(const std::string & constraints);
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RCLCPP_PUBLIC ParameterDescription & set_read_only(bool read_only);
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RCLCPP_PUBLIC ParameterDescription & set_dynamic_typing(bool dynamic_typing);
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RCLCPP_PUBLIC ParameterDescription & set_floating_point_description_range(
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float min, float max, float step);
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RCLCPP_PUBLIC ParameterDescription & set_integer_description_range(int min, int max, int step);
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// Need the current node in order to begin the configuration state
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// for it via the declare_parameter function
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template<typename NodeT>
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ParameterDescription & declare_parameter(
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const rclcpp::ParameterValue & default_value,
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NodeT && node)
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{
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auto node_param = rclcpp::node_interfaces::get_node_parameters_interface(node);
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node_param->declare_parameter(
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parameter_descriptor.name, default_value,
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parameter_descriptor);
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return *this;
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}
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private:
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// The main descriptor object we're meant to initialize and adjust
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rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
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};
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} // namespace rclcpp
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#endif // RCLCPP__PARAMETER_DESCRIPTOR_WRAPPER_HPP_

‎rclcpp/include/rclcpp/rclcpp.hpp‎

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#include "rclcpp/parameter_event_handler.hpp"
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#include "rclcpp/parameter.hpp"
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#include "rclcpp/parameter_service.hpp"
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#include "rclcpp/parameter_descriptor_wrapper.hpp"
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#include "rclcpp/rate.hpp"
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#include "rclcpp/time.hpp"
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#include "rclcpp/utilities.hpp"

‎rclcpp/src/rclcpp/parameter_descriptor_wrapper.cpp‎

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// Copyright 2023 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "rclcpp/parameter_descriptor_wrapper.hpp"
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namespace rclcpp
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{
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ParameterDescription::ParameterDescription()
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{
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// Need to set this in the constructor, but it doesn't necessarily need to be used
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parameter_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET;
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}
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rcl_interfaces::msg::ParameterDescriptor ParameterDescription::build() const
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{
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// Return some some sort message
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return parameter_descriptor;
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}
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// Builder methods which set up the original class
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// They all follow the same format of initing the value given within the base class
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// then returning the current class
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ParameterDescription & ParameterDescription::set_name(const std::string & name)
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{
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parameter_descriptor.name = name;
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return *this;
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}
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ParameterDescription & ParameterDescription::set_type(std::uint8_t type)
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{
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parameter_descriptor.type = type;
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return *this;
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}
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ParameterDescription & ParameterDescription::set_description_text(const std::string & description)
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{
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parameter_descriptor.description = description;
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return *this;
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}
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ParameterDescription & ParameterDescription::set_additional_constraints(
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const std::string & constraints)
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{
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parameter_descriptor.additional_constraints = constraints;
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return *this;
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}
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ParameterDescription & ParameterDescription::set_read_only(bool read_only)
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{
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parameter_descriptor.read_only = read_only;
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return *this;
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}
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ParameterDescription & ParameterDescription::set_dynamic_typing(bool dynamic_typing)
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{
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parameter_descriptor.dynamic_typing = dynamic_typing;
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return *this;
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}
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// Here is the Specific range function for this parameter description
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ParameterDescription & ParameterDescription::set_floating_point_description_range(
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float min, float max, float step)
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{
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if (parameter_descriptor.type == rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
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parameter_descriptor.floating_point_range.resize(1);
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parameter_descriptor.floating_point_range.at(0).from_value = min;
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parameter_descriptor.floating_point_range.at(0).to_value = max;
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parameter_descriptor.floating_point_range.at(0).step = step;
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}
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return *this;
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}
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ParameterDescription & ParameterDescription::set_integer_description_range(
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int min, int max, int step)
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{
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if (parameter_descriptor.type == rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
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parameter_descriptor.integer_range.resize(1);
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parameter_descriptor.integer_range.at(0).from_value = min;
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parameter_descriptor.integer_range.at(0).to_value = max;
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parameter_descriptor.integer_range.at(0).step = step;
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}
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return *this;
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}
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} // namespace rclcpp

‎rclcpp/test/rclcpp/test_parameter_service.cpp‎

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EXPECT_EQ(0u, parameter_descs.size());
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}
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}
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TEST_F(TestParameterService, parameter_descriptor) {
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{
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rclcpp::ParameterDescription param_description;
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rclcpp::ParameterValue param_value(1);
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param_description.set_name("int_parameter");
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param_description.set_type(2);
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param_description.set_description_text("description");
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param_description.set_additional_constraints("constraints");
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param_description.set_read_only(false);
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param_description.set_integer_description_range(0, 10, 1);
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auto param = param_description.build();
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param_description.declare_parameter(param_value, node);
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EXPECT_EQ("int_parameter", param.name);
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EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, param.type);
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EXPECT_EQ("description", param.description);
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EXPECT_EQ("constraints", param.additional_constraints);
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EXPECT_EQ(0u, param.read_only);
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EXPECT_EQ(0u, param.dynamic_typing);
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EXPECT_EQ(0u, param.integer_range.at(0).from_value);
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EXPECT_EQ(10, param.integer_range.at(0).to_value);
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EXPECT_EQ(1, param.integer_range.at(0).step);
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ASSERT_EQ(1, client->get_parameter("int_parameter", 0));
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}
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}

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