Use node interfaces for more variance

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

Author: CursedRock17

rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp

@@ -22,18 +22,11 @@
 #include <string>
 
 // Additional ROS libraries needed
-#include "rcl_interfaces/msg/list_parameters_result.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
-#include "rcl_interfaces/msg/set_parameters_result.hpp"
 
-#include "rclcpp/callback_group.hpp"
-#include "rclcpp/context.hpp"
-#include "macros.hpp"
 #include "rclcpp/node.hpp"
-#include "node_interfaces/node_base_interface.hpp"
-#include "node_interfaces/node_base.hpp"
-#include "rcl_interfaces/srv/list_parameters.hpp"
-#include "rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp"
+#include "node_interfaces/node_parameters_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
 
 namespace rclcpp
 {
@@ -56,111 +49,24 @@ class ParameterDescription
   ParameterDescription & SetAdditionalConstraints(const std::string & constraints);
   ParameterDescription & SetReadOnly(bool read_only);
   ParameterDescription & SetDynamicTyping(bool dynamic_typing);
+  ParameterDescription & SetFloatingPointDescriptionRange(float min = 0.0f, float max = 1.0f,
+    float step = 0.0f);
+  ParameterDescription & SetIntegerDescriptionRange(int min = 0, int max = 1, int step = 0);
 
   // Need the current node in order to begin the configuration state
-  // for it via the declare_parameter function which setups the Node
-  template<typename ParameterType>
-  ParameterDescription & DeclareParameter(
-    ParameterType default_value,
-    rclcpp::Node::SharedPtr required_node_ptr)
-  {
-    required_node_ptr->declare_parameter<ParameterType>(
-      parameter_descriptor.name, default_value,
-      parameter_descriptor);
-    return *this;
-  }
-
-  template<typename ParameterType>
+  // for it via the declare_parameter function
+  template<typename ParameterType, typename NodeT>
   ParameterDescription & DeclareParameter(
     ParameterType default_value,
-    rclcpp_lifecycle::LifecycleNode::SharedPtr required_node_ptr)
+    NodeT && node)
   {
-    required_node_ptr->declare_parameter<ParameterType>(
+    auto node_param = rclcpp::node_interfaces::get_node_parameters_interface(node);
+    node_param->declare_parameter<ParameterType>(
       parameter_descriptor.name, default_value,
       parameter_descriptor);
     return *this;
   }
 
-  // Simplification Methods:
-  // The user should be able to set up ranges easily, they should then be able to call a function
-  // this function sets up the specifics for this class
-  // Here we will have a difference between generic types and templated types
-  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>
-  ParameterDescription & SetFloatingPointDescriptionRange(
-    rclcpp::Node::SharedPtr 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 function we can outright declare the parameters using the specified type
-    currentNode->declare_parameter<ParameterType>(name, default_value, parameter_descriptor);
-
-    return *this;
-  }
-
-  template<typename ParameterType>
-  ParameterDescription & SetFloatingPointDescriptionRange(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr 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 function we can outright declare the parameters using the specified type
-    currentNode->declare_parameter<ParameterType>(name, default_value, parameter_descriptor);
-
-    return *this;
-  }
-
-  ParameterDescription & SetIntegerDescriptionRange(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 & SetIntegerDescriptionRange(
-    rclcpp::Node::SharedPtr 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 function we can outright declare the parameters using the specified type
-    currentNode->declare_parameter<ParameterType>(name, default_value, parameter_descriptor);
-
-    return *this;
-  }
-
-  // We will again need access to the current development node to declare its parameters
-  template<typename ParameterType>
-  ParameterDescription & SetIntegerDescriptionRange(
-    rclcpp_lifecycle::LifecycleNode 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 function we can outright declare the parameters using the specified type
-    currentNode->declare_parameter<ParameterType>(name, default_value, parameter_descriptor);
-
-    return *this;
-  }
-
 private:
   // The main descriptor object we're meant to initialize and adjust
   rcl_interfaces::msg::ParameterDescriptor parameter_descriptor = {};

rclcpp/src/rclcpp/parameter_descriptor_wrapper.cpp

@@ -1,5 +1,4 @@
 // Copyright 2023 Open Source Robotics Foundation, Inc.
-// v
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -13,20 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "../../include/rclcpp/parameter_descriptor_wrapper.hpp"
+#include "rclcpp/parameter_descriptor_wrapper.hpp"
 
 namespace rclcpp
 {
 
 ParameterDescription::ParameterDescription()
 {
-  // Copies all the information in ParameterDescriptor.message
-  //  Need to set this in the constructor, but it doesn't necessarily need to be used
+  // Need to set this in the constructor, but it doesn't necessarily need to be used
   parameter_descriptor.type{rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET};
 }
 
-// ParameterDescription - ParameterDescription
-// First the build methods to connect to the base class in the builder
 rcl_interfaces::msg::ParameterDescriptor ParameterDescription::build() const
 {
   // Return some some sort message