Handling the parameter_descriptor correctly

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

Author: CursedRock17

rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp

@@ -7,8 +7,10 @@
 #include <memory>
 
 // Additional ROS libraries needed
-#include "node.hpp"
-#include "rcl_interfaces/msg/describe_parameters.hpp"
+#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"
@@ -25,12 +27,11 @@ namespace rclcpp
 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
     ParameterDescription();
 
     // Our Main build methods which will construct the base class
-    ParameterDescription build() const;
+    rcl_interfaces::msg::ParameterDescriptor build() const;
 
     //Builder Methods - Describes the instances in a parameter_descriptionobject
     ParameterDescription& SetName(const std::string& name);
@@ -121,17 +122,6 @@ class ParameterDescription
 private:
     // The main descriptor object we're meant to initialize and 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_descriptor.type{rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET};
-
-    // Parameter Constraints
-    std::string m_additional_constraints;
-    bool m_read_only;
-    bool m_dynamic_typing;
-
 };
 
 } // namespace rclcpp

rclcpp/src/rclcpp/parameter_descriptor_wrapper.cpp

@@ -3,25 +3,27 @@
 #include "../../include/rclcpp/parameter_descriptor_wrapper.hpp"
 
 namespace rclcpp {
-// We use initializer lists in order to promote safety in uninitialzied state
-    ParameterDescription::ParameterDescription(std::string name, std::uint8 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}
-{}
 
-ParameterDescription::ParameterDescription(){}
+ParameterDescription::ParameterDescription()
+{
+    // Copies all the information in ParameterDescriptor.msg - https://github.com/ros2/rcl_interfaces/blob/rolling/rcl_interfaces/msg/ParameterDescriptor.msg
+    // 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
-ParameterDescription ParameterDescription::build() const
+rcl_interfaces::msg::ParameterDescriptor ParameterDescription::build() const
 {
     // Return some some sort message
-    return ParameterDescription(m_name, parameter_descriptor.type, m_description, m_additional_constraints, m_read_only, m_dynamic_typing)
+    return parameter_descriptor;
 }
 
 // Builder methods which set up the original class
 // They all follow the same format of initing the value given within the base class, then returning this current class
 ParameterDescription& ParameterDescription::SetName(const std::string& name)
 {
-    m_name = name;
+    parameter_descriptor.name = name;
     return *this;
 }
 
@@ -33,25 +35,25 @@ ParameterDescription& ParameterDescription::SetType(std::uint8_t type)
 
 ParameterDescription& ParameterDescription::SetDescriptionText(const std::string& description)
 {
-    m_description = description;
+    parameter_descriptor.description = description;
     return *this;
 }
 
 ParameterDescription& ParameterDescription::SetAdditionalConstraints(const std::string& constraints)
 {
-    m_additional_constraints = constraints;
+    parameter_descriptor.constraints = constraints;
     return *this;
 }
 
 ParameterDescription& ParameterDescription::SetReadOnly(bool read_only)
 {
-    m_read_only = read_only;
+    parameter_descriptor.read_only = read_only;
     return *this;
 }
 
 ParameterDescription& ParameterDescription::SetDynamicTyping(bool dynamic_typing)
 {
-    m_dynamic_typing = dynamic_typing;
+    parameter_descriptor.dynamic_typing = dynamic_typing;
     return *this;
 }