C parameters

rcl/CMakeLists.txt

@@ -23,6 +23,9 @@ set(${PROJECT_NAME}_sources
   src/rcl/graph.c
   src/rcl/guard_condition.c
   src/rcl/node.c
+  src/rcl/parameter.c
+  src/rcl/parameter_client.c
+  src/rcl/parameter_service.c
   src/rcl/publisher.c
   src/rcl/rcl.c
   src/rcl/rmw_implementation_identifier_check.c

rcl/include/rcl/parameter.h

@@ -0,0 +1,161 @@
+// Copyright 2016 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 RCL__PARAMETER_H_
+#define RCL__PARAMETER_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcl_interfaces/msg/parameter.h"
+#include "rcl_interfaces/msg/parameter_event.h"
+
+typedef int rcl_param_action_t;
+#define RCL_GET_PARAMETERS 0
+#define RCL_GET_PARAMETER_TYPES 1
+#define RCL_SET_PARAMETERS 2
+#define RCL_SET_PARAMETERS_ATOMICALLY 3
+#define RCL_LIST_PARAMETERS 4
+#define RCL_NUMBER_OF_PARAMETER_ACTIONS 5
+#define RCL_PARAMETER_ACTION_UNKNOWN 6
+
+/// rcl_parameter_client_set_<TYPE> adds the parameter key, value pair to the
+/// pending set_parameters_request
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_bool(
+  rcl_interfaces__msg__Parameter * parameter, const char * parameter_name, bool value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_integer(
+  rcl_interfaces__msg__Parameter * parameter, const char * parameter_name, int value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_double(
+  rcl_interfaces__msg__Parameter * parameter, const char * parameter_name, double value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_string(
+  rcl_interfaces__msg__Parameter * parameter,
+  const char * parameter_name,
+  const char * value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_bytes(
+  rcl_interfaces__msg__Parameter * parameter,
+  const char * parameter_name,
+  const uint8_t * value);
+
+// etc. for all types
+
+/// Get the boolean value of the parameter, or return error if the parameter is not a boolean.
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_get_bool(const rcl_interfaces__msg__Parameter * parameter, bool * output);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_get_int(const rcl_interfaces__msg__Parameter * parameter, int * output);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_get_double(const rcl_interfaces__msg__Parameter * parameter, double * output);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_get_string(
+  const rcl_interfaces__msg__Parameter * parameter, rosidl_generator_c__String * output);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_get_bytes(
+  const rcl_interfaces__msg__Parameter * parameter, rosidl_generator_c__byte__Array * output);
+
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_value_bool(
+  rcl_interfaces__msg__ParameterValue * parameter_value, bool value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_value_integer(
+  rcl_interfaces__msg__ParameterValue * parameter_value, int value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_value_double(
+  rcl_interfaces__msg__ParameterValue * parameter_value, double value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_value_string(
+  rcl_interfaces__msg__ParameterValue * parameter_value,
+  const char * value);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_set_value_bytes(
+  rcl_interfaces__msg__ParameterValue * parameter_value,
+  const uint8_t * value);
+
+// etc. for all types
+
+// Some other convenience function ideas:
+// Get type enum from a ParameterValue
+// rcl_parameter_get_type(rcl_interfaces__msg__ParameterValue * parameter_value, uint8 type)
+
+// Get type enum from a Parameter
+// rcl_parameter_get_type(rcl_interfaces__msg__Parameter * parameter, uint8 type)
+
+bool rcl_parameter_value_compare(
+  const rcl_interfaces__msg__ParameterValue * parameter1,
+  const rcl_interfaces__msg__ParameterValue * parameter2);
+
+// diff the new state and the old state of parameters to populate a ParameterEvent message struct
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_convert_changes_to_event(
+  const rcl_interfaces__msg__Parameter__Array * prior_state,
+  const rcl_interfaces__msg__Parameter__Array * new_state,
+  rcl_interfaces__msg__ParameterEvent * parameter_event);
+
+#if __cplusplus
+}
+#endif
+
+#endif  // RCL__PARAMETER_H_

rcl/include/rcl/parameter_client.h

@@ -0,0 +1,182 @@
+// Copyright 2016 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 RCL__PARAMETER_CLIENT_H_
+#define RCL__PARAMETER_CLIENT_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+#include <rcl_interfaces/msg/list_parameters_result__struct.h>
+#include <rcl_interfaces/msg/parameter__struct.h>
+#include <rcl_interfaces/msg/parameter_event__struct.h>
+#include <rcl_interfaces/msg/set_parameters_result__struct.h>
+
+#include "rcl/client.h"
+#include "rcl/node.h"
+#include "rcl/parameter.h"
+#include "rcl/wait.h"
+
+/// TODO: documentation!!!
+
+/// Internal rcl implementation struct
+struct rcl_parameter_client_impl_t;
+
+/// There is no sync/async parameter client distinction in rcl.
+typedef struct rcl_parameter_client_t
+{
+  struct rcl_parameter_client_impl_t * impl;
+} rcl_parameter_client_t;
+
+typedef struct rcl_parameter_client_options_t
+{
+  // quality of service settings for all parameter-related services
+  rmw_qos_profile_t qos;
+  rcl_allocator_t allocator;
+  char * remote_node_name;
+  rmw_qos_profile_t parameter_event_qos;
+} rcl_parameter_client_options_t;
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_parameter_client_options_t
+rcl_parameter_client_get_default_options(void);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_parameter_client_t
+rcl_get_zero_initialized_parameter_client(void);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_init(
+  rcl_parameter_client_t * parameter_client,
+  rcl_node_t * node,
+  const rcl_parameter_client_options_t * options
+);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_fini(rcl_parameter_client_t * parameter_client);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_send_set_request(
+  const rcl_parameter_client_t * parameter_client,
+  const rcl_interfaces__msg__Parameter__Array * parameters,
+  int64_t * sequence_number);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_interfaces__msg__SetParametersResult__Array *
+rcl_parameter_client_take_set_response(
+  const rcl_parameter_client_t * parameter_client,
+  rmw_request_id_t * request_header);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_send_get_request(
+  const rcl_parameter_client_t * client,
+  const rosidl_generator_c__String__Array * names,
+  int64_t * sequence_number);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_interfaces__msg__ParameterValue__Array *
+rcl_parameter_client_take_get_response(
+  const rcl_parameter_client_t * client,
+  rmw_request_id_t * request_header);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_send_get_types_request(
+  const rcl_parameter_client_t * client,
+  const rosidl_generator_c__String__Array * parameter_names,
+  int64_t * sequence_number);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rosidl_generator_c__uint8__Array *
+rcl_parameter_client_take_get_types_response(
+  const rcl_parameter_client_t * client,
+  rmw_request_id_t * request_header);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_send_set_atomically_request(
+  const rcl_parameter_client_t * client,
+  const rcl_interfaces__msg__Parameter__Array * parameter_values,
+  int64_t * sequence_number);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_interfaces__msg__SetParametersResult *
+rcl_parameter_client_take_set_atomically_response(
+  const rcl_parameter_client_t * client,
+  rmw_request_id_t * request_header);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_send_list_request(
+  const rcl_parameter_client_t * client,
+  const rosidl_generator_c__String__Array * prefixes,
+  uint64_t depth,
+  int64_t * sequence_number);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_interfaces__msg__ListParametersResult *
+rcl_parameter_client_take_list_response(
+  const rcl_parameter_client_t * client,
+  rmw_request_id_t * request_header);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_take_event(
+  const rcl_parameter_client_t * client,
+  rcl_interfaces__msg__ParameterEvent * parameter_event,
+  rmw_message_info_t * message_info
+);
+
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_wait_set_add_parameter_client(
+  rcl_wait_set_t * wait_set,
+  const rcl_parameter_client_t * parameter_client);
+
+// To be called after rcl_wait
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_parameter_client_get_pending_action(
+  const rcl_wait_set_t * wait_set,
+  const rcl_parameter_client_t * parameter_client,
+  rcl_param_action_t * action);
+
+#if __cplusplus
+}
+#endif
+
+#endif  // RCL__PARAMETER_CLIENT_H_