Added support for bytes

ros2 · Apr 30, 2015 · 54acb9c · 54acb9c
1 parent f23b9e8
commit 54acb9c
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/rclcpp/include/rclcpp/parameter.hpp b/rclcpp/include/rclcpp/parameter.hpp
@@ -80,6 +80,12 @@ class ParameterVariant
     value_.string_value = string_value;
     value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_STRING;
   }
+  ParameterVariant(const std::string & name, const std::vector<int8_t> & bytes_value)
+  : name_(name)
+  {
+    value_.bytes_value = bytes_value;
+    value_.parameter_type = rcl_interfaces::ParameterType::PARAMETER_BYTES;
+  }
 
   /* Templated getter */
   template<typename T>
@@ -136,6 +142,15 @@ inline bool ParameterVariant::get_value() const
   }
   return value_.bool_value;
 }
+template<>
+inline std::vector<int8_t> ParameterVariant::get_value() const
+{
+  if (value_.parameter_type != rcl_interfaces::ParameterType::PARAMETER_BYTES) {
+    // TODO: use custom exception
+    throw std::runtime_error("Invalid type");
+  }
+  return value_.bytes_value;
+}
 
 class AsyncParametersClient
 {