Testing parameters PR (#305) with prerelease repos

CMakeLists.txt

@@ -115,7 +115,7 @@ ign_find_package(SQLite3
 # Configure the build
 #============================================================================
 ign_configure_build(QUIT_IF_BUILD_ERRORS
- COMPONENTS log)
+ COMPONENTS log parameters)
 
 #============================================================================
 # ign command line support

log/include/ignition/transport/log/Recorder.hh

@@ -73,7 +73,7 @@ namespace ignition
 
  /// \brief Begin recording topics
  /// \param[in] _file path to log file
- /// \return NO_ERROR if recording was successfully started. If the file
+ /// \return SUCCESS if recording was successfully started. If the file
  /// already existed, this will return FAILED_TO_OPEN.
  public: RecorderError Start(const std::string &_file);
 
@@ -86,7 +86,7 @@ namespace ignition
  /// \param[in] _topic The exact topic name
  /// \note This method attempts to subscribe to the topic immediately.
  /// The subscription will be kept until this is destructed.
- /// \return NO_ERROR if the subscription was created.
+ /// \return SUCCESS if the subscription was created.
  public: RecorderError AddTopic(const std::string &_topic);
 
  /// \brief Add a topic to be recorded (regex match)

parameters/include/ignition/transport/CMakeLists.txt

@@ -0,0 +1,2 @@
+
+ign_install_all_headers(COMPONENT parameters)

parameters/include/ignition/transport/parameters/Client.hh

@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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 IGNITION_TRANSPORT_PARAMETERS_CLIENT_HH_
+#define IGNITION_TRANSPORT_PARAMETERS_CLIENT_HH_
+
+#include <memory>
+#include <string>
+
+#include "google/protobuf/message.h"
+
+#include "ignition/msgs/parameter_declarations.pb.h"
+
+#include "ignition/transport/config.hh"
+#include "ignition/transport/Node.hh"
+#include "ignition/transport/parameters/Export.hh"
+#include "ignition/transport/parameters/Interface.hh"
+
+namespace ignition
+{
+ namespace transport
+ {
+ namespace parameters
+ {
+
+ // Inline bracket to help doxygen filtering.
+ inline namespace IGNITION_TRANSPORT_VERSION_NAMESPACE {
+
+ struct ParametersClientPrivate;
+
+ /// \brief Allow to get, set, declare or list parameters
+ /// \brief in a remote registry.
+ class IGNITION_TRANSPORT_PARAMETERS_VISIBLE ParametersClient
+ : public ParametersInterface
+ {
+ /// \brief Constructor.
+ /// \param[in] _serverNamespace Namespace of the parameters registry
+ /// services. The client will send requests to:
+ /// * /${_serverNamespace}/get_parameter
+ /// * /${_serverNamespace}/list_parameters
+ /// * /${_serverNamespace}/set_parameter
+ /// * /${_serverNamespace}/declare_parameter
+ /// \param[in] _timeoutMs Time to wait for the server to respond.
+ public: ParametersClient(
+ const std::string & _serverNamespace = "",
+ unsigned int _timeoutMs = kDefaultTimeoutMs);
+
+ /// \brief Destructor.
+ public: ~ParametersClient();
+
+ /// \brief No copy constructor.
+ public: ParametersClient(const ParametersClient &) = delete;
+ /// \brief No copy assignment.
+ public: ParametersClient & operator=(
+ const ParametersClient &) = delete;
+ /// \brief Default move constructor.
+ public: ParametersClient(ParametersClient &&);
+ /// \brief Default move assignment.
+ public: ParametersClient & operator=(
+ ParametersClient &&);
+
+ /// \brief Declare a new parameter.
+ /// See ParametersInterface::DeclareParameter().
+ public: void DeclareParameter(
+ const std::string & _parameterName,
+ const google::protobuf::Message & _msg) final;
+
+ /// \brief Request the value of a parameter.
+ /// See ParametersInterface::Parameter().
+ public: std::unique_ptr<google::protobuf::Message> Parameter(
+ const std::string & _parameterName) const final;
+
+ /// \brief Request the value of a parameter.
+ /// See ParametersInterface::Parameter().
+ public: void Parameter(
+ const std::string & _parameterName,
+ google::protobuf::Message & _parameter) const final;
+
+ /// \brief Request the value of a parameter.
+ /// See ParametersInterface::Parameter().
+ using ParametersInterface::Parameter;
+
+ /// \brief Set the value of a parameter.
+ /// See ParametersInterface::SetParameter().
+ public: void SetParameter(
+ const std::string & _parameterName,
+ const google::protobuf::Message & _msg) final;
+
+ /// \brief List all parameters.
+ /// \return Protobuf message with a list of all declared parameter
+ /// names and their types.
+ public: ignition::msgs::ParameterDeclarations
+ ListParameters() const final;
+
+ private:
+ /// \brief Pointer to implementation.
+ private: std::unique_ptr<ParametersClientPrivate> dataPtr;
+
+ constexpr static inline unsigned int kDefaultTimeoutMs = 5000;
+ };
+ }
+ }
+ }
+}
+
+#endif

parameters/include/ignition/transport/parameters/Interface.hh

@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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 IGNITION_TRANSPORT_PARAMETERS_INTERFACE_HH_
+#define IGNITION_TRANSPORT_PARAMETERS_INTERFACE_HH_
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include <google/protobuf/message.h>
+
+#include <ignition/msgs/parameter_declarations.pb.h>
+
+#include "ignition/transport/config.hh"
+#include "ignition/transport/parameters/exceptions.hh"
+#include "ignition/transport/parameters/Export.hh"
+
+namespace ignition
+{
+ namespace transport
+ {
+ namespace parameters
+ {
+ // Inline bracket to help doxygen filtering.
+ inline namespace IGNITION_TRANSPORT_VERSION_NAMESPACE {
+
+ /// \brief Common interface, implemented by ParametersRegistry
+ /// (local updates) and by ParametersClients (remote requests).
+ class IGNITION_TRANSPORT_PARAMETERS_VISIBLE ParametersInterface
+ {
+ /// Default virtual destructor.
+ public: virtual ~ParametersInterface() = default;
+
+ /// \brief Declare a new parameter.
+ /// \param[in] _parameterName Name of the parameter to be declared.
+ /// \param[in] _msg Protobuf message to be used as the initial
+ /// parameter value.
+ /// \throw ParameterAlreadyDeclaredException if a parameter with the
+ /// same name was declared before.
+ /// \throw ParameterInvalidTypeException (can only happen in client)
+ /// if the parameter server does not recognize the parameter type.
+ public: virtual void DeclareParameter(
+ const std::string & _parameterName,
+ const google::protobuf::Message & _msg) = 0;
+
+ /// \brief Request the value of a parameter.
+ /// \param[in] _parameterName Name of the parameter to be requested.
+ /// \return The value of the parameter (a protobuf msg).
+ /// \throw ParameterNotDeclaredException if a parameter of that name
+ /// was not declared before.
+ /// \throw std::runtime_error if an unexpected error happens.
+ public: virtual std::unique_ptr<google::protobuf::Message> Parameter(
+ const std::string & _parameterName) const = 0;
+
+ /// \brief Request the value of a parameter.
+ /// \param[in] _parameterName Name of the parameter to be requested.
+ /// \param[out] _parameter Output were the parameter value will be set.
+ /// \throw ParameterNotDeclaredException if a parameter of that name
+ /// was not declared before.
+ /// \throw ParameterInvalidTypeException if the type of `_parameter`
+ /// does not match the type of the parameter when it was declared.
+ /// \throw std::runtime_error if an unexpected error happens.
+ public: virtual void Parameter(
+ const std::string & _parameterName,
+ google::protobuf::Message & _parameter) const = 0;
+
+ /// \brief Set the value of a parameter.
+ /// \param[in] _parameterName Name of the parameter to be set.
+ /// \param[in] _msg Protobuf message to be used as the parameter value.
+ /// \throw ParameterNotDeclaredException if a parameter of that name
+ /// was not declared before.
+ /// \throw ParameterInvalidTypeException if the type does not match
+ /// the type of the parameter when it was declared.
+ public: virtual void SetParameter(
+ const std::string & _parameterName,
+ const google::protobuf::Message & _msg) = 0;
+
+ /// \brief List all existing parameters.
+ /// \return The name and types of existing parameters.
+ public: virtual ignition::msgs::ParameterDeclarations
+ ListParameters() const = 0;
+
+ /// \brief Get the value of a parameter.
+ /// \tparam ProtoMsgT A protobuf message type, e.g.: ign::msgs::Boolean.
+ /// \param[in] _parameterName Name of the parameter to get.
+ /// \return The parameter value, as a protobuf message.
+ /// \throw ParameterNotDeclaredException if a parameter of that name
+ /// was not declared before.
+ /// \throw ParameterInvalidTypeException if ProtoMsgT does not match
+ /// the type of the parameter when it was declared.
+ /// \throw std::runtime_error if an unexpected error happens.
+ public: template<typename ProtoMsgT>
+ ProtoMsgT Parameter(const std::string & _parameterName) const
+ {
+ ProtoMsgT ret;
+ this->Parameter(_parameterName, ret);
+ return ret;
+ }
+ };
+ }
+ }
+ }
+}
+
+#endif