Added developer parameter API

rclcpp/include/rclcpp/parameter.hpp

@@ -190,6 +190,14 @@ class ParameterVariant
  }
  }
 
+ rcl_interfaces::Parameter to_parameter()
+ {
+ rcl_interfaces::Parameter parameter;
+ parameter.name = name_;
+ parameter.value = value_;
+ return parameter;
+ }
+
 private:
  std::string name_;
  rcl_interfaces::ParameterValue value_;

rclcpp/include/rclcpp/parameter_client.hpp

@@ -67,8 +67,35 @@ class AsyncParametersClient
  std::function<void(
  std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)> callback = nullptr)
  {
- std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>> f;
- return f;
+ std::promise<std::vector<rclcpp::parameter::ParameterVariant>> promise_result;
+ auto future_result = promise_result.get_future().share();
+
+ auto request = std::make_shared<rcl_interfaces::GetParameters::Request>();
+ request->names = names;
+
+ get_parameters_client_->async_send_request(
+ request,
+ [&names, &promise_result, &future_result, &callback](
+ rclcpp::client::Client<rcl_interfaces::GetParameters>::SharedFuture cb_f) {
+ std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
+ auto & pvalues = cb_f.get()->values;
+
+ std::transform(pvalues.begin(), pvalues.end(), std::back_inserter(parameter_variants),
+ [&names, &pvalues](rcl_interfaces::ParameterValue pvalue) {
+ auto i = &pvalue - &pvalues[0];
+ rcl_interfaces::Parameter parameter;
+ parameter.name = names[i];
+ parameter.value = pvalue;
+ return rclcpp::parameter::ParameterVariant::from_parameter(parameter);
+ });
+ promise_result.set_value(parameter_variants);
+ if (callback != nullptr) {
+ callback(future_result);
+ }
+ }
+ );
+
+ return future_result;
  }
 
  std::shared_future<std::vector<rclcpp::parameter::ParameterType>>
@@ -77,8 +104,28 @@ class AsyncParametersClient
  std::function<void(
  std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
  {
- std::shared_future<std::vector<rclcpp::parameter::ParameterType>> f;
- return f;
+ std::promise<std::vector<rclcpp::parameter::ParameterType>> promise_result;
+ auto future_result = promise_result.get_future().share();
+
+ auto request = std::make_shared<rcl_interfaces::GetParameterTypes::Request>();
+ request->parameter_names = parameter_names;
+
+ get_parameter_types_client_->async_send_request(
+ request,
+ [&promise_result, &future_result, &callback](
+ rclcpp::client::Client<rcl_interfaces::GetParameterTypes>::SharedFuture cb_f) {
+ std::vector<rclcpp::parameter::ParameterType> parameter_types;
+ auto & pts = cb_f.get()->parameter_types;
+ std::transform(pts.begin(), pts.end(), std::back_inserter(parameter_types),
+ [](uint8_t pt) {return static_cast<rclcpp::parameter::ParameterType>(pt); });
+ promise_result.set_value(parameter_types);
+ if (callback != nullptr) {
+ callback(future_result);
+ }
+ }
+ );
+
+ return future_result;
  }
 
  std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>
@@ -87,8 +134,27 @@ class AsyncParametersClient
  std::function<void(
  std::shared_future<std::vector<rcl_interfaces::SetParametersResult>>)> callback = nullptr)
  {
- std::shared_future<std::vector<rcl_interfaces::SetParametersResult>> f;
- return f;
+ std::promise<std::vector<rcl_interfaces::SetParametersResult>> promise_result;
+ auto future_result = promise_result.get_future().share();
+
+ auto request = std::make_shared<rcl_interfaces::SetParameters::Request>();
+
+ std::transform(parameters.begin(), parameters.end(), std::back_inserter(
+ request->parameters), [](
+ rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
+
+ set_parameters_client_->async_send_request(
+ request,
+ [&promise_result, &future_result, &callback](
+ rclcpp::client::Client<rcl_interfaces::SetParameters>::SharedFuture cb_f) {
+ promise_result.set_value(cb_f.get()->results);
+ if (callback != nullptr) {
+ callback(future_result);
+ }
+ }
+ );
+
+ return future_result;
  }
 
  std::shared_future<rcl_interfaces::SetParametersResult>
@@ -97,8 +163,27 @@ class AsyncParametersClient
  std::function<void(
  std::shared_future<rcl_interfaces::SetParametersResult>)> callback = nullptr)
  {
- std::shared_future<rcl_interfaces::SetParametersResult> f;
- return f;
+ std::promise<rcl_interfaces::SetParametersResult> promise_result;
+ auto future_result = promise_result.get_future().share();
+
+ auto request = std::make_shared<rcl_interfaces::SetParametersAtomically::Request>();
+
+ std::transform(parameters.begin(), parameters.end(), std::back_inserter(
+ request->parameters), [](
+ rclcpp::parameter::ParameterVariant p) {return p.to_parameter(); });
+
+ set_parameters_atomically_client_->async_send_request(
+ request,
+ [&promise_result, &future_result, &callback](
+ rclcpp::client::Client<rcl_interfaces::SetParametersAtomically>::SharedFuture cb_f) {
+ promise_result.set_value(cb_f.get()->result);
+ if (callback != nullptr) {
+ callback(future_result);
+ }
+ }
+ );
+
+ return future_result;
  }
 
  std::shared_future<rcl_interfaces::ListParametersResult>
@@ -108,8 +193,25 @@ class AsyncParametersClient
  std::function<void(
  std::shared_future<rcl_interfaces::ListParametersResult>)> callback = nullptr)
  {
- std::shared_future<rcl_interfaces::ListParametersResult> f;
- return f;
+ std::promise<rcl_interfaces::ListParametersResult> promise_result;
+ auto future_result = promise_result.get_future().share();
+
+ auto request = std::make_shared<rcl_interfaces::ListParameters::Request>();
+ request->parameter_prefixes = parameter_prefixes;
+ request->depth = depth;
+
+ list_parameters_client_->async_send_request(
+ request,
+ [&promise_result, &future_result, &callback](
+ rclcpp::client::Client<rcl_interfaces::ListParameters>::SharedFuture cb_f) {
+ promise_result.set_value(cb_f.get()->result);
+ if (callback != nullptr) {
+ callback(future_result);
+ }
+ }
+ );
+
+ return future_result;
  }
 
 private: