added realdds -msg code for paramerers

third-party/realdds/include/realdds/topics/ros2/describe-parameters-msg.h

@@ -0,0 +1,114 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+#pragma once
+
+#include <realdds/dds-defines.h>
+
+#include <realdds/topics/ros2/DescribeParameters.h>
+#include <realdds/topics/ros2/ParameterDescriptor.h>
+
+#include <string>
+#include <memory>
+#include <vector>
+
+
+namespace rcl_interfaces {
+namespace srv {
+class DescribeParameters_RequestPubSubType;
+class DescribeParameters_ResponsePubSubType;
+}  // namespace srv
+}  // namespace rcl_interfaces
+
+
+namespace realdds {
+
+
+class dds_participant;
+class dds_topic;
+class dds_topic_reader;
+class dds_topic_writer;
+
+
+namespace topics {
+namespace ros2 {
+
+
+class describe_parameters_request_msg
+{
+    rcl_interfaces::srv::DescribeParameters_Request _raw;
+
+public:
+    using type = rcl_interfaces::srv::DescribeParameters_RequestPubSubType;
+
+    void clear() { _raw.names().clear(); }
+    std::vector< std::string > const & names() const { return _raw.names(); }
+    void add( std::string const & name ) { _raw.names().push_back( name ); }
+
+    bool is_valid() const { return ! names().empty(); }
+    void invalidate() { clear(); }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    static bool take_next( dds_topic_reader &,
+                           describe_parameters_request_msg * output,
+                           dds_sample * optional_sample = nullptr );
+};
+
+
+class describe_parameters_response_msg
+{
+    rcl_interfaces::srv::DescribeParameters_Response _raw;
+
+public:
+    using type = rcl_interfaces::srv::DescribeParameters_ResponsePubSubType;
+
+    using descriptor_type = rcl_interfaces::msg::ParameterDescriptor;
+
+    std::vector< descriptor_type > const & descriptors() const { return _raw.descriptors(); }
+    bool is_valid() const { return ! descriptors().empty(); }
+    void invalidate() { _raw.descriptors().clear(); }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // Returns some unique (to the writer) identifier for the sample that was sent, or 0 if unsuccessful
+    dds_sequence_number write_to( dds_topic_writer & );
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    static bool take_next( dds_topic_reader &,
+                           describe_parameters_response_msg * output,
+                           dds_sample * optional_sample = nullptr );
+};
+
+
+}  // namespace ros2
+}  // namespace topics
+}  // namespace realdds

third-party/realdds/include/realdds/topics/ros2/get-parameters-msg.h

@@ -0,0 +1,114 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+#pragma once
+
+#include <realdds/dds-defines.h>
+
+#include <realdds/topics/ros2/GetParameters.h>
+#include <realdds/topics/ros2/ParameterValue.h>
+
+#include <string>
+#include <memory>
+#include <vector>
+
+
+namespace rcl_interfaces {
+namespace srv {
+class GetParameters_RequestPubSubType;
+class GetParameters_ResponsePubSubType;
+}  // namespace srv
+}  // namespace rcl_interfaces
+
+
+namespace realdds {
+
+
+class dds_participant;
+class dds_topic;
+class dds_topic_reader;
+class dds_topic_writer;
+
+
+namespace topics {
+namespace ros2 {
+
+
+class get_parameters_request_msg
+{
+    rcl_interfaces::srv::GetParameters_Request _raw;
+
+public:
+    using type = rcl_interfaces::srv::GetParameters_RequestPubSubType;
+
+    void clear() { _raw.names().clear(); }
+    std::vector< std::string > const & names() const { return _raw.names(); }
+    void add( std::string const & name ) { _raw.names().push_back( name ); }
+
+    bool is_valid() const { return ! names().empty(); }
+    void invalidate() { clear(); }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    static bool take_next( dds_topic_reader &,
+                           get_parameters_request_msg * output,
+                           dds_sample * optional_sample = nullptr );
+};
+
+
+class get_parameters_response_msg
+{
+    rcl_interfaces::srv::GetParameters_Response _raw;
+
+public:
+    using type = rcl_interfaces::srv::GetParameters_ResponsePubSubType;
+
+    using value_type = rcl_interfaces::msg::ParameterValue;
+
+    std::vector< value_type > const & values() const { return _raw.values(); }
+    void add( value_type const & value ) { _raw.values().push_back( value ); }
+    bool is_valid() const { return ! values().empty(); }
+    void invalidate() { _raw.values().clear(); }
+
+    // Returns some unique (to the writer) identifier for the sample that was sent, or 0 if unsuccessful
+    dds_sequence_number write_to( dds_topic_writer & );
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    static bool take_next( dds_topic_reader &,
+                           get_parameters_response_msg * output,
+                           dds_sample * optional_sample = nullptr );
+};
+
+
+}  // namespace ros2
+}  // namespace topics
+}  // namespace realdds

third-party/realdds/include/realdds/topics/ros2/list-parameters-msg.h

@@ -0,0 +1,122 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+#pragma once
+
+#include <realdds/dds-defines.h>
+
+#include <realdds/topics/ros2/ListParameters.h>
+#include <realdds/topics/ros2/ListParametersResult.h>
+
+#include <string>
+#include <memory>
+#include <vector>
+
+
+namespace rcl_interfaces {
+namespace srv {
+class ListParameters_RequestPubSubType;
+class ListParameters_ResponsePubSubType;
+}  // namespace srv
+}  // namespace rcl_interfaces
+
+
+namespace realdds {
+
+
+class dds_participant;
+class dds_topic;
+class dds_topic_reader;
+class dds_topic_writer;
+
+
+namespace topics {
+namespace ros2 {
+
+
+class list_parameters_request_msg
+{
+    rcl_interfaces::srv::ListParameters_Request _raw;
+
+public:
+    using type = rcl_interfaces::srv::ListParameters_RequestPubSubType;
+
+    static const auto DEPTH_RECURSIVE = rcl_interfaces::srv::ListParameters_Request_Constants::DEPTH_RECURSIVE;
+
+    // Relative depth from given prefixes
+    // Use DEPTH_RECURSIVE (the default) to get the recursive parameters and prefixes for each prefix; unlimited depth
+    uint64_t depth() const { return _raw.depth(); }
+    void depth( uint64_t d ) { _raw.depth( d ); }
+
+    // If the prefixes are empty, returns all parameters
+
+    void clear() { _raw.prefixes().clear(); }
+    std::vector< std::string > const & prefixes() const { return _raw.prefixes(); }
+    void add( std::string const & prefix ) { _raw.prefixes().push_back( prefix ); }
+
+    bool is_valid() const { return depth() != 0xBADF00D; }
+    void invalidate() { depth( 0xBADF00D ); }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    static bool take_next( dds_topic_reader &,
+                           list_parameters_request_msg * output,
+                           dds_sample * optional_sample = nullptr );
+};
+
+
+class list_parameters_response_msg
+{
+    rcl_interfaces::srv::ListParameters_Response _raw;
+
+public:
+    using type = rcl_interfaces::srv::ListParameters_ResponsePubSubType;
+
+    std::vector< std::string > const & names() const { return _raw.result().names(); }
+    std::vector< std::string > const & prefixes() const { return _raw.result().prefixes(); }
+    bool is_valid() const { return true; }
+    void clear() { _raw.result().names().clear(); }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // Returns some unique (to the writer) identifier for the sample that was sent, or 0 if unsuccessful
+    dds_sequence_number write_to( dds_topic_writer & );
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    static bool take_next( dds_topic_reader &,
+                           list_parameters_response_msg * output,
+                           dds_sample * optional_sample = nullptr );
+};
+
+
+}  // namespace ros2
+}  // namespace topics
+}  // namespace realdds