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Update the rcljava parameter APIs #1

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Merged
jacobperron merged 11 commits into from
Jul 24, 2020
Merged

Update the rcljava parameter APIs #1

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f596944
Implement all parameter types.
clalancette Jul 16, 2020
5533b40
Add log4j initialization to all tests.
clalancette Jul 22, 2020
702698c
Make the parameter separator a class variable.
clalancette Jul 22, 2020
5350315
Store the parameter and the descriptor.
clalancette Jul 22, 2020
24429af
Switch parameters to using map lookups.
clalancette Jul 22, 2020
8b22223
Plumb undeclaredParameters through the Node constructor.
clalancette Jul 22, 2020
03b9cbf
Add in another ParameterVariant.
clalancette Jul 22, 2020
1bd0e19
Add in a ParameterCallback interface.
clalancette Jul 22, 2020
bcb35d2
Update the Node parameter methods to Dashing/Foxy equivalents.
clalancette Jul 20, 2020
8f4bd2e
Add tests for Node parameters.
clalancette Jul 22, 2020
b2463b4
Add node parameters test with undeclared parameters.
clalancette Jul 22, 2020
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5 changes: 5 additions & 0 deletions rcljava/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,7 @@ set(${PROJECT_NAME}_sources
"src/main/java/org/ros2/rcljava/parameters/client/AsyncParametersClientImpl.java"
"src/main/java/org/ros2/rcljava/parameters/client/SyncParametersClient.java"
"src/main/java/org/ros2/rcljava/parameters/client/SyncParametersClientImpl.java"
"src/main/java/org/ros2/rcljava/parameters/ParameterCallback.java"
"src/main/java/org/ros2/rcljava/parameters/ParameterNames.java"
"src/main/java/org/ros2/rcljava/parameters/ParameterType.java"
"src/main/java/org/ros2/rcljava/parameters/ParameterVariant.java"
Expand Down Expand Up @@ -224,6 +225,8 @@ if(BUILD_TESTING)
"src/test/java/org/ros2/rcljava/SpinTest.java"
"src/test/java/org/ros2/rcljava/TimeTest.java"
# "src/test/java/org/ros2/rcljava/client/ClientTest.java"
"src/test/java/org/ros2/rcljava/node/NodeParametersTest.java"
"src/test/java/org/ros2/rcljava/node/NodeUndeclaredParametersTest.java"
"src/test/java/org/ros2/rcljava/node/NodeTest.java"
# "src/test/java/org/ros2/rcljava/parameters/AsyncParametersClientTest.java"
# "src/test/java/org/ros2/rcljava/parameters/SyncParametersClientTest.java"
Expand All @@ -237,6 +240,8 @@ if(BUILD_TESTING)
"org.ros2.rcljava.SpinTest"
"org.ros2.rcljava.TimeTest"
# "org.ros2.rcljava.client.ClientTest"
"org.ros2.rcljava.node.NodeParametersTest"
"org.ros2.rcljava.node.NodeUndeclaredParametersTest"
"org.ros2.rcljava.node.NodeTest"
# "org.ros2.rcljava.parameters.SyncParametersClientTest"
"org.ros2.rcljava.publisher.PublisherTest"
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8 changes: 6 additions & 2 deletions rcljava/src/main/java/org/ros2/rcljava/RCLJava.java
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Original file line number Diff line number Diff line change
Expand Up @@ -234,7 +234,7 @@ public static Context createContext() {
* structure.
*/
public static Node createNode(final String nodeName) {
return createNode(nodeName, "", RCLJava.getDefaultContext());
return createNode(nodeName, "", RCLJava.getDefaultContext(), false);
}

/**
Expand All @@ -246,8 +246,12 @@ public static Node createNode(final String nodeName) {
* structure.
*/
public static Node createNode(final String nodeName, final String namespace, final Context context) {
return createNode(nodeName, namespace, context, false);
}

public static Node createNode(final String nodeName, final String namespace, final Context context, final boolean allowUndeclaredParameters) {
long nodeHandle = nativeCreateNodeHandle(nodeName, namespace, context.getHandle());
Node node = new NodeImpl(nodeHandle, nodeName, context);
Node node = new NodeImpl(nodeHandle, nodeName, context, allowUndeclaredParameters);
nodes.add(node);
return node;
}
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