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parameter_events_filter.hpp
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82 lines (72 loc) · 2.71 KB
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// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP__PARAMETER_EVENTS_FILTER_HPP_
#define RCLCPP__PARAMETER_EVENTS_FILTER_HPP_
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/msg/parameter_event.hpp"
#include "rcl_interfaces/msg/parameter_value.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rmw/rmw.h"
namespace rclcpp
{
class ParameterEventsFilter
{
public:
RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventsFilter)
enum class EventType {NEW, DELETED, CHANGED}; ///< An enum for the type of event.
/// Used for the listed results
using EventPair = std::pair<EventType, const rcl_interfaces::msg::Parameter *>;
/// Construct a filtered view of a parameter event.
/**
* \param[in] event The parameter event message to filter.
* \param[in] names A list of parameter names of interest.
* \param[in] types A list of the types of parameter events of iterest.
* EventType NEW, DELETED, or CHANGED
*
* Example Usage:
*
* If you have recieved a parameter event and are only interested in parameters foo and
* bar being added or changed but don't care about deletion.
*
* ```cpp
* auto res = rclcpp::ParameterEventsFilter(
* event_shared_ptr,
* {"foo", "bar"},
* {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
* ```
*/
RCLCPP_PUBLIC
ParameterEventsFilter(
std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event,
const std::vector<std::string> & names,
const std::vector<EventType> & types);
/// Get the result of the filter
/**
* \return A std::vector<EventPair> of all matching parameter changes in this event.
*/
RCLCPP_PUBLIC
const std::vector<EventPair> & get_events() const;
private:
// access only allowed via const accessor.
std::vector<EventPair> result_; ///< Storage of the resultant vector
std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event_; ///< Keep event in scope
};
} // namespace rclcpp
#endif // RCLCPP__PARAMETER_EVENTS_FILTER_HPP_