Merge pull request #255 from ros2/fix_cpplint

comply with stricter cpplint rules

rclcpp/include/rclcpp/allocator/allocator_common.hpp

@@ -74,6 +74,8 @@ rcl_allocator_t get_rcl_allocator(Alloc & allocator)
   rcl_allocator.deallocate = &retyped_deallocate<T, Alloc>;
   rcl_allocator.reallocate = &retyped_reallocate<T, Alloc>;
   rcl_allocator.state = &allocator;
+#else
+  (void)allocator;  // Remove warning
 #endif
   return rcl_allocator;
 }

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -21,6 +21,7 @@
 #include <memory>
 #include <stdexcept>
 #include <type_traits>
+#include <utility>
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/function_traits.hpp"

rclcpp/include/rclcpp/context.hpp

@@ -21,6 +21,7 @@
 #include <typeindex>
 #include <typeinfo>
 #include <unordered_map>
+#include <utility>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"

rclcpp/include/rclcpp/macros.hpp

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <memory>
+#include <utility>
+
 #ifndef RCLCPP__MACROS_HPP_
 #define RCLCPP__MACROS_HPP_
 

rclcpp/include/rclcpp/mapped_ring_buffer.hpp

@@ -20,6 +20,7 @@
 #include <cstdint>
 #include <memory>
 #include <mutex>
+#include <utility>
 #include <vector>
 
 #include "rclcpp/allocator/allocator_common.hpp"

rclcpp/include/rclcpp/node.hpp

@@ -253,6 +253,18 @@ public:
   std::vector<rclcpp::parameter::ParameterVariant>
   get_parameters(const std::vector<std::string> & names) const;
 
+  RCLCPP_PUBLIC
+  const rclcpp::parameter::ParameterVariant
+  get_parameter(const std::string & name) const;
+
+  RCLCPP_PUBLIC
+  bool get_parameter(
+    const std::string & name,
+    rclcpp::parameter::ParameterVariant & parameter) const;
+
+  template<typename ParameterT>
+  bool get_parameter(const std::string & name, ParameterT & parameter) const;
+
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
@@ -353,6 +365,14 @@ public:
   size_t
   count_graph_users();
 
+  /// Register the callback for parameter changes
+  /**
+   * \param[in] User defined callback function, It is expected to atomically set parameters.
+   * \note Repeated invocations of this function will overwrite previous callbacks
+   */
+  template<typename CallbackT>
+  void register_param_change_callback(CallbackT && callback);
+
   std::atomic_bool has_executor;
 
 private:
@@ -400,6 +420,10 @@ private:
   /* graph_users_count_ is atomic so that it can be accessed without acquiring the graph_mutex_ */
   std::atomic_size_t graph_users_count_;
 
+  std::function<typename rcl_interfaces::msg::SetParametersResult(
+    const typename std::vector<rclcpp::parameter::ParameterVariant> &
+  )> parameters_callback_ = nullptr;
+
   std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
 
   publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;

rclcpp/include/rclcpp/node_impl.hpp

@@ -362,6 +362,22 @@ Node::create_service(
   return serv;
 }
 
+template<typename CallbackT>
+void Node::register_param_change_callback(CallbackT && callback)
+{
+  this->parameters_callback_ = callback;
+}
+
+template<typename ParameterT>
+bool Node::get_parameter(const std::string & name, ParameterT & parameter) const
+{
+  rclcpp::parameter::ParameterVariant parameter_variant(name, parameter);
+  bool result = get_parameter(name, parameter_variant);
+  parameter = parameter_variant.get_value<ParameterT>();
+
+  return result;
+}
+
 }  // namespace node
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/parameter_client.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__PARAMETER_CLIENT_HPP_
 
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "rcl_interfaces/msg/parameter.hpp"

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -15,6 +15,8 @@
 #ifndef RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 #define RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 
+#include <memory>
+
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"

rclcpp/include/rclcpp/timer.hpp

@@ -21,6 +21,7 @@
 #include <sstream>
 #include <thread>
 #include <type_traits>
+#include <utility>
 
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/macros.hpp"

rclcpp/src/rclcpp/client.cpp

@@ -16,6 +16,7 @@
 
 #include <chrono>
 #include <cstdio>
+#include <memory>
 #include <string>
 
 #include "rcl/graph.h"
@@ -80,7 +81,8 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
     throw InvalidNodeError();
   }
   auto event = node_ptr->get_graph_event();
-  // update the time even on the first loop to account for time in first server_is_read()
+  // update the time even on the first loop to account for time spent in the first call
+  // to this->server_is_ready()
   std::chrono::nanoseconds time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
   if (timeout > std::chrono::nanoseconds(0) && time_to_wait < std::chrono::nanoseconds(0)) {
     // Do not allow the time_to_wait to become negative when timeout was originally positive.

rclcpp/src/rclcpp/executor.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <algorithm>
+#include <memory>
 #include <string>
 #include <type_traits>
 

rclcpp/src/rclcpp/graph_listener.cpp

@@ -16,6 +16,7 @@
 
 #include <cstdio>
 #include <exception>
+#include <memory>
 #include <string>
 #include <vector>
 

rclcpp/src/rclcpp/memory_strategies.cpp

@@ -14,6 +14,8 @@
 
 #include "rclcpp/memory_strategies.hpp"
 
+#include <memory>
+
 #include "rclcpp/strategies/allocator_memory_strategy.hpp"
 
 using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;

rclcpp/src/rclcpp/node.cpp

@@ -15,6 +15,7 @@
 #include <algorithm>
 #include <limits>
 #include <map>
+#include <memory>
 #include <string>
 #include <utility>
 #include <vector>
@@ -39,7 +40,7 @@ Node::Node(
   rclcpp::context::Context::SharedPtr context,
   bool use_intra_process_comms)
 : name_(node_name), context_(context),
-  number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0),
+  number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0), number_of_clients_(0),
   use_intra_process_comms_(use_intra_process_comms), notify_guard_condition_is_valid_(false),
   graph_listener_(context->get_sub_context<rclcpp::graph_listener::GraphListener>()),
   should_add_to_graph_listener_(true), graph_users_count_(0)
@@ -189,6 +190,18 @@ Node::set_parameters_atomically(
   std::map<std::string, rclcpp::parameter::ParameterVariant> tmp_map;
   auto parameter_event = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
 
+  // TODO(jacquelinekay): handle parameter constraints
+  rcl_interfaces::msg::SetParametersResult result;
+  if (parameters_callback_) {
+    result = parameters_callback_(parameters);
+  } else {
+    result.successful = true;
+  }
+
+  if (!result.successful) {
+    return result;
+  }
+
   for (auto p : parameters) {
     if (parameters_.find(p.get_name()) == parameters_.end()) {
       if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
@@ -206,10 +219,6 @@ Node::set_parameters_atomically(
   tmp_map.insert(parameters_.begin(), parameters_.end());
   std::swap(tmp_map, parameters_);
 
-  // TODO(jacquelinekay): handle parameter constraints
-  rcl_interfaces::msg::SetParametersResult result;
-  result.successful = true;
-
   events_publisher_->publish(parameter_event);
 
   return result;
@@ -234,6 +243,31 @@ Node::get_parameters(
   return results;
 }
 
+const rclcpp::parameter::ParameterVariant
+Node::get_parameter(const std::string & name) const
+{
+  rclcpp::parameter::ParameterVariant parameter;
+
+  if (get_parameter(name, parameter)) {
+    return parameter;
+  } else {
+    throw std::out_of_range("Parameter '" + name + "' not set");
+  }
+}
+
+bool Node::get_parameter(const std::string & name,
+  rclcpp::parameter::ParameterVariant & parameter) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  if (parameters_.count(name)) {
+    parameter = parameters_.at(name);
+    return true;
+  } else {
+    return false;
+  }
+}
+
 std::vector<rcl_interfaces::msg::ParameterDescriptor>
 Node::describe_parameters(
   const std::vector<std::string> & names) const

rclcpp/src/rclcpp/parameter_client.cpp

@@ -15,6 +15,7 @@
 #include "rclcpp/parameter_client.hpp"
 
 #include <algorithm>
+#include <memory>
 #include <string>
 #include <vector>
 

rclcpp/src/rclcpp/parameter_service.cpp

@@ -15,6 +15,7 @@
 #include "rclcpp/parameter_service.hpp"
 
 #include <algorithm>
+#include <memory>
 #include <vector>
 
 using rclcpp::parameter_service::ParameterService;

rclcpp/src/rclcpp/subscription.cpp

@@ -15,6 +15,7 @@
 #include "rclcpp/subscription.hpp"
 
 #include <cstdio>
+#include <memory>
 #include <string>
 
 #include "rmw/error_handling.h"

rclcpp/test/test_mapped_ring_buffer.cpp

@@ -17,6 +17,8 @@
 #define RCLCPP_BUILDING_LIBRARY 1  // Prevent including unavailable symbols
 #include <rclcpp/mapped_ring_buffer.hpp>
 
+#include <memory>
+
 /*
    Tests get_copy and pop on an empty mrb.
  */