mc_core

Struct ForeignParameters

Source 
pub struct ForeignParameters {
    pub nodes: RwLock<IndexMap<String, IndexMap<String, Parameter>>>,
    /* private fields */
}
Expand description

parameters from other ROS nodes

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§nodes: RwLock<IndexMap<String, IndexMap<String, Parameter>>>

parameters from other ROS nodes

Implementations§

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impl ForeignParameters

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pub async fn new( persistent: &Arc<Persistent>, ros: &Arc<Ros>, monitors: &Arc<Monitors>, ) -> Result<Self>

Create new foreign parameters. Also, load persistent parameter data from file.

§Arguments
  • persistent - persistent data
  • ros - ROS interface
  • monitors - the connected monitors
§Returns

Ok(ForeignParameters) if the foreign parameters were created successfully, Err(e) otherwise

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pub async fn declare_empty_node(self: &Arc<Self>, node: &str)

Declare node without parameters.

§Arguments
  • node - name of the node
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pub async fn declare( self: &Arc<Self>, node: &str, name: &str, parameter: Parameter, )

Declare a new foreign parameter.

§Arguments
  • node - name of the node
  • name - name of the parameter
  • parameter - parameter to declare
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pub async fn undeclare(self: &Arc<Self>, node: &str, name: &str)

Undeclare a foreign parameter.

§Arguments
  • node - name of the node
  • name - name of the parameter
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pub async fn undeclare_all(self: &Arc<Self>, node: &str)

Undeclare all parameters from a node.

§Arguments
  • node - name of the node
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pub async fn get(self: &Arc<Self>, node: &str, name: &str) -> Parameter

Get foreign parameter.

§Arguments
  • node - name of the node
  • name - name of the parameter
§Returns

the parameter; this method panics when the parameter could not be found, signaling a development-time bug

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pub async fn set_bson(self: &Arc<Self>, node: &str, name: &str, bson: &Bson)

Set foreign parameter from BSON value.

§Arguments
  • node - name of the node
  • name - name of the parameter
  • bson - BSON value to set
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pub async fn set_rcl( self: &Arc<Self>, node: &str, name: &str, rcl: &ParameterValue, )

Set foreign parameter from RCL value.

§Arguments
  • node - name of the node
  • name - name of the parameter
  • rcl - RCL value to set
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pub async fn contains(self: &Arc<Self>, node: &str, name: &str) -> bool

Check if a foreign parameter exists.

§Arguments
  • node - name of the node
  • name - name of the parameter
§Returns

true if the parameter exists, false otherwise

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