updated API also for Synchronous client and fixed linter errors

ros2 · May 15, 2019 · 58e366f · 58e366f
1 parent 031dd7c
commit 58e366f
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Showing 2 changed files with 20 additions and 10 deletions.
diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -293,16 +293,26 @@ class SyncParametersClient
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(CallbackT && callback)
   {
-    return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
+    return async_parameters_client_->on_parameter_event(
+      std::forward<CallbackT>(callback));
   }
 
-  template<typename CallbackT>
+  /**
+   * The NodeT type only needs to have a method called get_node_topics_interface()
+   * which returns a shared_ptr to a NodeTopicsInterface, or be a
+   * NodeTopicsInterface pointer itself.
+   */
+  template<
+    typename CallbackT,
+    typename NodeT>
   static typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(
-    CallbackT && callback,
-    rclcpp::node_interfaces::NodeTopicsInterface * node_topics)
+    NodeT && node,
+    CallbackT && callback)
   {
-    return AsyncParametersClient::on_parameter_event(std::forward<CallbackT>(callback), node_topics);
+    return AsyncParametersClient::on_parameter_event(
+      node,
+      std::forward<CallbackT>(callback));
   }
 
   RCLCPP_PUBLIC
@@ -328,4 +338,4 @@ class SyncParametersClient
 
 }  // namespace rclcpp
 
-#endif  // RCLCPP__PARAMETER_CLIENT_HPP_
+#endif  // RCLCPP__PARAMETER_CLIENT_HPP_
diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp
@@ -103,9 +103,9 @@ void TimeSource::attachNode(
   }
 
   // TODO(tfoote) use parameters interface not subscribe to events via topic ticketed #609
-  parameter_subscription_ =
-    rclcpp::AsyncParametersClient::on_parameter_event(node_topics_, std::bind(&TimeSource::on_parameter_event,
-      this, std::placeholders::_1));
+  parameter_subscription_ = rclcpp::AsyncParametersClient::on_parameter_event(
+    node_topics_,
+    std::bind(&TimeSource::on_parameter_event, this, std::placeholders::_1));
 }
 
 void TimeSource::detachNode()
@@ -304,4 +304,4 @@ void TimeSource::disable_ros_time()
   }
 }
 
-}  // namespace rclcpp
+}  // namespace rclcpp