Revert "Revert "Revising builder to use one class""

This reverts commit 4bbcbe9.

Signed-off-by: CursedRock17 <[email protected]>

Author: CursedRock17

rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp

@@ -14,87 +14,100 @@
 namespace rclcpp
 {
 
-// Implments ParameterDesription class with builder design pattern
+// Implements ParameterDesription class with builder design pattern
 class ParameterDescription
 {
 public:
+    ParameterDescription(const std::string& name, std::uint8_t type, std::string description, std::string additional_constraints, bool read_only. bool dynamic_typing) : m_name{name}, parameter_descriptor.type{type}, m_description{description}, m_additional_constraints{additional_constraints}, read_only{read_only}, dyanmic_typing{m_dyanmic_typing}{};
     // List of classes the builder manages
-    class FloatingPointDescription;
+    ParameterDescription();
 
-    // Two constructors in case certain methods don't need to declare_parameters with a Type T in the form of a template
-    ParameterDescription(std::string name, std::uint8_t type, std::string description, std::string additional_constraints, bool read_only. bool dynamic_typing) : m_name{name}, parameter_descriptor.type{type}, m_description{description}, m_additional_constraints{additional_constraints}, read_only{read_only}, dyanmic_typing{m_dyanmic_typing}{};
-
-private:
-    // The main descriptor object we're meant to adjust
-    rcl_interfaces::msg::ParameterDescriptor parameter_descriptor = {};
-
-    // Copies all the information in ParameterDescriptor.msg - https://github.com/ros2/rcl_interfaces/blob/rolling/rcl_interfaces/msg/ParameterDescriptor.msg
-    std::string m_name;
-    std::string m_description;
-
-    // Parameter Constraints
-    std::string m_additional_constraints;
-    bool m_read_only;
-    bool m_dynamic_typing;
-
-};
-
-class ParameterDescription::FloatingPointDescription
-{
-public:
     // Our Main build methods which will construct the base class
     ParameterDescription build() const;
 
-    //Builder Method - Mains
-    FloatingPointDescription& SetName(std::string name);
-    FloatingPointDescription& SetType(std::uint8_t type);
-    FloatingPointDescription& SetDescription(std::string description);
-    FloatingPointDescription& SetAdditionalConstraints(std::string constraints);
-    FloatingPointDescription& SetReadOnly(bool read_only);
-    FloatingPointDescription& SetDynamicTyping(bool dynamic_typing);
+    //Builder Methods - Describes the instances in a parameter_descriptionobject
+    ParameterDescription& SetName(const std::string& name);
+    ParameterDescription& SetType(std::uint8_t type);
+    ParameterDescription& SetDescriptionText(const std::string& description);
+    ParameterDescription& SetAdditionalConstraints(const std::string& constraints);
+    ParameterDescription& SetReadOnly(bool read_only);
+    ParameterDescription& SetDynamicTyping(bool dynamic_typing);
 
     // Need the current node in order to begin the configuraiton state forit via the declare_parameter function which setups up the Node
     template<typename ParameterType>
-    FloatingPointDescription& DeclareParameter<ParameterType>(ParameterType default_value, std::shared_ptr<rclcpp::Node> required_node)
+    ParameterDescription& DeclareParameter<ParameterType>(ParameterType default_value, std::unique_ptr<rclcpp::Node> required_node)
 {
     required_node->declare_parameter<ParameterType>(m_name, default_value, parameter_descriptor);
     return *this;
 }
-    // Extended build methods specific to this class
-    FloatingPointDescription& SetMin(float min);
-    FloatingPointDescription& SetMax(float max);
-    FloatingPointDescription& SetStep(float step);
 
-    // Simplification Method - Outside of the base clss that the user should be able to set up easily, they should then be able to call a function which setups up the specifics for this class (The floating point parameter description)
+    // Simplification Methods - The user should be able to set up ranges easily, they should then be able to call a function which sets up the specifics for this class (The floating point range for parameter description)
     // Here we will have a difference between generic types and templated types
-    FloatingPointDescription& SetFloatingPointDescription(float min, float max, float step);
+    // Also we can use default values for min, max, and float. The other option is to utilize SetMin methods and similar and check if we have a range, if not, then we should resize one
+    ParameterDescription& SetFloatingPointDescriptionRange(float min = 0.0f, float max = 1.0f, float step = 0.0f);
     // We will again need access to the current development node to declare its parameters
     template<typename ParameterType>
-    FloatingPointDescription& SetFloatingPointDescription(std::string name, ParameterType default_value, float min, float max, float step)
+    ParameterDescription& SetFloatingPointDescriptionRange(std::unique_ptr<rclcpp::Node> currentNode, const std::string& name, ParameterType default_value, float min = 0.0f, float max = 1.0f, float step = 0.0f)
     {
         parameter_descriptor.floating_point_range.resize(1);
         parameter_descriptor.floating_point_range.at(0).from_value = min;
         parameter_descriptor.floating_point_range.at(0).to_value = max;
         parameter_descriptor.floating_point_range.at(0).step = step;
 
+        // For this version of the function we can outright declare the parameters using the specified type
+        currentNode->declare_parameter<ParameterType>(name, default_value, parameter_descriptor);
+
         return *this;
     }
 
+    ParameterDescription& SetIntegerPointDescriptionRange(int min = 0, int max = 1, int step = 0);
+    // We will again need access to the current development node to declare its parameters
+    template<typename ParameterType>
+    ParameterDescription& SetIntegerPointDescriptionRange(std::unique_ptr<rclcpp::Node> currentNode, const std::string& name, ParameterType default_value, int min = 0, int max = 1, int step = 0)
+    {
+        parameter_descriptor.integer_range.resize(1);
+        parameter_descriptor.integer_range.at(0).from_value = min;
+        parameter_descriptor.integer_range.at(0).to_value = max;
+        parameter_descriptor.integer_range.at(0).step = step;
+
+        // For this version of the function we can outright declare the parameters using the specified type
+        currentNode->declare_parameter<ParameterType>(name, default_value, parameter_descriptor);
+
+        return *this;
+    }
+
+    // Extended build methods specific to the ranges, but with overloaded versions
+    ParameterDescription& SetMin(float min);
+    ParameterDescription& SetMax(float max);
+    ParameterDescription& SetStep(float step);
+
+    ParameterDescription& SetMin(int min);
+    ParameterDescription& SetMax(int max);
+    ParameterDescription& SetStep(int step);
 
 private:
+    // The main descriptor object we're meant to initialize and adjust
     rcl_interfaces::msg::ParameterDescriptor parameter_descriptor = {};
-    std::string m_name{""};
+
+    // Copies all the information in ParameterDescriptor.msg - https://github.com/ros2/rcl_interfaces/blob/rolling/rcl_interfaces/msg/ParameterDescriptor.msg
+    std::string m_name;
+    std::string m_description;
     parameter_descriptor.type{rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET};
-    std::string m_description{""};
 
-    std::string m_additional_constraints{""};
-    bool m_read_only{false};
-    bool m_dynamic_typing{false};
+    // Parameter Constraints
+    std::string m_additional_constraints;
+    bool m_read_only;
+    bool m_dynamic_typing;
 
     // This is a floating point so we'll use floating points in the range
-    float m_min{0.0f};
-    float m_max{1.0f};
-    float m_step{0.0f};
+    float m_min_float  {0.0f};
+    float m_max_float  {1.0f};
+    float m_step_float {0.0f};
+
+    // Now here is the integer version so we'll use ints in the range
+    int  m_min_int  {0};
+    int  m_max_int  {1};
+    int  m_step_int {0};
 };
 
 } // namespace rclcpp