add parameter helpers (redo of #233) - #237
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| { | ||
| std::vector<std::string> names; | ||
| names.push_back(parameter_name); | ||
| auto vars = get_parameters(names); |
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In what case is vars.size() > 1 valid? Should that also be checked for?
Also, it seems as if these two functions could be de-duplicated a little bit, though that might just end up being more complicated. I could, however, imagine:
template<typename T>
T
get_parameter_impl(const std::string & parameter_name, std::function<T()> parameter_not_found_handler)
{
std::vector<std::string> names;
names.push_back(parameter_name);
auto vars = get_parameters(names);
if ((vars.size() == 0) || (vars[0].get_type() == rclcpp::parameter::PARAMETER_NOT_SET)) {
return parameter_not_found_handler();
} else {
return static_cast<T>(vars[0].get_value<T>());
}
}
template<typename T>
T
get_parameter(const std::string & parameter_name, const T & default_value)
{
return get_parameter_impl(parameter_name, [&default_value]() { return default_value; });
}
template<typename T>
T
get_parameter(const std::string & parameter_name)
{
return get_parameter_impl(parameter_name, []() { throw std::runtime_error("Parameter not set"); });
}
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Great suggestion, thanks! Done, with minor tweaks, in a1b4e15.
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Other than a comment, the code changes lgtm. |
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Tests are in ros2/system_tests#155. |
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New CI, this time with the tests from ros2/system_tests#155 included:
|
Karsten1987
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nnmm
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* Implement a basic YAML based parameter parser for ros2 nodes * Add README file * Fix the issues after moving from rcutils_yaml_param_parser to rcl_yaml_param_parser - rename folders from rcutils_yaml_param_parser to rcl_yaml_param_parser - rename project, header guards and include statements from rcutils_yaml_param_parser to rcl_yaml_param_parser - move type declaration in separat file and namespace new structures - Fix the code review comments from Mikael * Few minor changes - Changed "params" string to "ros__parameters" - Add -Wall, -Wextra and -Wpedantic falgs - Fix the compile warning with the new flags * Fix the changes made in the design of C structure - Remove the node_namespaces entry in rcl_params_t - Change the type of num_nodes and num_params to size_t * depend on libyaml_vendor (ros2#236) * Fix cmake setting standard(C and C++) and add byte_array in C struct * Remove C11 so that it defaults to C99 * [rcl_yaml_param_parser] fix export symbols (ros2#237) * add visibility macros * remove unused macro * Support for multi level node and parameter name spaces * Additional fixes and cleanups - Support for string namespace seperator - Provide parameter structure init function API - name cleanups * off by 1 * Call yaml_parser_delete() * fclose(yaml_file) * free() allocated paths * Call yaml_event_delete() * completely deallcoate string array * Few cleanup changes - Add install command into CMakelists.txt - Replace one of the zero_allocate with reallocate - Pass allocator state - Fix int32_t -> rcl_ret_t return value * Don't include unistd.h * Use size_t for array indices * Just pass the allocator in the init function
DensoADAS
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Aug 5, 2022
Signed-off-by: Zachary Michaels <[email protected]>
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This is a replacement for #233, with the same diff (because I once again went into the weeds while attempting to rebase; I'll get the hang of that eventually).