fix: avoid conflict with get_parameter (#42)

aica-technology · Oct 24, 2023 · 4fcd1e5 · 4fcd1e5
1 parent 9fddd2d
commit 4fcd1e5
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -12,6 +12,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- Avoid conflict with get_parameter (#42)
 - Revise ComponentInterface by moving implementations to source file (#39)
 - Update component classes to inherit from new ComponentInterface (#38)
 - Refactor ComponentInterface to use node interfaces (#33)

diff --git a/source/modulo_components/include/modulo_components/Component.hpp b/source/modulo_components/include/modulo_components/Component.hpp
@@ -37,6 +37,11 @@ class Component : public rclcpp::Node, public ComponentInterface {
   virtual ~Component() = default;
 
 protected:
+  /**
+   * @copydoc ComponentInterface::get_parameter
+   */
+  [[nodiscard]] std::shared_ptr<state_representation::ParameterInterface> get_parameter(const std::string& name) const;
+
   /**
    * @brief Start the execution thread.
    */
@@ -76,6 +81,7 @@ class Component : public rclcpp::Node, public ComponentInterface {
   void on_execute();
 
   // TODO hide ROS methods
+  using ComponentInterface::get_parameter;
   using ComponentInterface::create_output;
   using ComponentInterface::inputs_;
   using ComponentInterface::outputs_;
@@ -84,6 +90,7 @@ class Component : public rclcpp::Node, public ComponentInterface {
   using ComponentInterface::publish_predicates;
   using ComponentInterface::publish_outputs;
   using ComponentInterface::evaluate_periodic_callbacks;
+  using rclcpp::Node::get_parameter;
 
   std::thread execute_thread_; ///< The execution thread of the component
   bool started_; ///< Flag that indicates if execution has started or not

diff --git a/source/modulo_components/include/modulo_components/LifecycleComponent.hpp b/source/modulo_components/include/modulo_components/LifecycleComponent.hpp
@@ -45,6 +45,11 @@ class LifecycleComponent : public rclcpp_lifecycle::LifecycleNode, public Compon
   virtual ~LifecycleComponent() = default;
 
 protected:
+  /**
+   * @copydoc ComponentInterface::get_parameter
+   */
+  [[nodiscard]] std::shared_ptr<state_representation::ParameterInterface> get_parameter(const std::string& name) const;
+
   /**
    * @brief Steps to execute when configuring the component.
    * @details This method can be overridden by derived Component classes.
@@ -256,6 +261,7 @@ class LifecycleComponent : public rclcpp_lifecycle::LifecycleNode, public Compon
   bool clear_signals();
 
   // TODO hide ROS methods
+  using ComponentInterface::get_parameter;
   using ComponentInterface::create_output;
   using ComponentInterface::inputs_;
   using ComponentInterface::outputs_;
@@ -264,6 +270,7 @@ class LifecycleComponent : public rclcpp_lifecycle::LifecycleNode, public Compon
   using ComponentInterface::publish_predicates;
   using ComponentInterface::publish_outputs;
   using ComponentInterface::evaluate_periodic_callbacks;
+  using rclcpp_lifecycle::LifecycleNode::get_parameter;
 };
 
 template<typename DataT>

diff --git a/source/modulo_components/src/Component.cpp b/source/modulo_components/src/Component.cpp
@@ -56,4 +56,9 @@ void Component::on_execute() {
 bool Component::on_execute_callback() {
   return true;
 }
+
+std::shared_ptr<state_representation::ParameterInterface>
+Component::get_parameter(const std::string& name) const {
+  return ComponentInterface::get_parameter(name);
+}
 }// namespace modulo_components
diff --git a/source/modulo_components/src/LifecycleComponent.cpp b/source/modulo_components/src/LifecycleComponent.cpp
@@ -34,6 +34,11 @@ LifecycleComponent::LifecycleComponent(const rclcpp::NodeOptions& node_options,
       });
 }
 
+std::shared_ptr<state_representation::ParameterInterface>
+LifecycleComponent::get_parameter(const std::string& name) const {
+    return ComponentInterface::get_parameter(name);
+}
+
 void LifecycleComponent::step() {
   try {
     if (this->get_predicate("is_active")) {