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parameter.hpp
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245 lines (194 loc) · 5.59 KB
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// Copyright 2015 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_HPP_
#define RCLCPP__PARAMETER_HPP_
#include <iostream>
#include <ostream>
#include <sstream>
#include <string>
#include <vector>
#include "rcl_interfaces/msg/parameter.hpp"
#include "rclcpp/parameter_value.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
class Parameter;
namespace node_interfaces
{
struct ParameterInfo;
} // namespace node_interfaces
namespace detail
{
// This helper function is required because you cannot do specialization on a
// class method, so instead we specialize this template function and call it
// from the unspecialized, but dependent, class method.
template<typename T>
auto
get_value_helper(const rclcpp::Parameter * parameter);
} // namespace detail
/// Structure to store an arbitrary parameter with templated get/set methods.
class Parameter
{
public:
/// Construct with an empty name and a parameter value of type rclcpp::PARAMETER_NOT_SET.
RCLCPP_PUBLIC
Parameter();
/// Construct with given name and a parameter value of type rclcpp::PARAMETER_NOT_SET.
RCLCPP_PUBLIC
explicit Parameter(const std::string & name);
/// Construct with given name and given parameter value.
RCLCPP_PUBLIC
Parameter(const std::string & name, const ParameterValue & value);
/// Construct with given name and given parameter value.
template<typename ValueTypeT>
Parameter(const std::string & name, ValueTypeT value)
: Parameter(name, ParameterValue(value))
{}
RCLCPP_PUBLIC
explicit Parameter(const rclcpp::node_interfaces::ParameterInfo & parameter_info);
/// Equal operator.
RCLCPP_PUBLIC
bool
operator==(const Parameter & rhs) const;
/// Not equal operator.
RCLCPP_PUBLIC
bool
operator!=(const Parameter & rhs) const;
RCLCPP_PUBLIC
ParameterType
get_type() const;
RCLCPP_PUBLIC
std::string
get_type_name() const;
RCLCPP_PUBLIC
const std::string &
get_name() const;
RCLCPP_PUBLIC
rcl_interfaces::msg::ParameterValue
get_value_message() const;
/// Get the internal storage for the parameter value.
RCLCPP_PUBLIC
const rclcpp::ParameterValue &
get_parameter_value() const;
/// Get value of parameter using rclcpp::ParameterType as template argument.
template<ParameterType ParamT>
decltype(auto)
get_value() const
{
return value_.get<ParamT>();
}
/// Get value of parameter using c++ types as template argument.
template<typename T>
decltype(auto)
get_value() const;
RCLCPP_PUBLIC
bool
as_bool() const;
RCLCPP_PUBLIC
int64_t
as_int() const;
RCLCPP_PUBLIC
double
as_double() const;
RCLCPP_PUBLIC
const std::string &
as_string() const;
RCLCPP_PUBLIC
const std::vector<uint8_t> &
as_byte_array() const;
RCLCPP_PUBLIC
const std::vector<bool> &
as_bool_array() const;
RCLCPP_PUBLIC
const std::vector<int64_t> &
as_integer_array() const;
RCLCPP_PUBLIC
const std::vector<double> &
as_double_array() const;
RCLCPP_PUBLIC
const std::vector<std::string> &
as_string_array() const;
RCLCPP_PUBLIC
static Parameter
from_parameter_msg(const rcl_interfaces::msg::Parameter & parameter);
RCLCPP_PUBLIC
rcl_interfaces::msg::Parameter
to_parameter_msg() const;
RCLCPP_PUBLIC
std::string
value_to_string() const;
private:
std::string name_;
ParameterValue value_;
};
/// Return a json encoded version of the parameter intended for a dict.
RCLCPP_PUBLIC
std::string
_to_json_dict_entry(const Parameter & param);
RCLCPP_PUBLIC
std::ostream &
operator<<(std::ostream & os, const rclcpp::Parameter & pv);
RCLCPP_PUBLIC
std::ostream &
operator<<(std::ostream & os, const std::vector<Parameter> & parameters);
namespace detail
{
template<typename T>
auto
get_value_helper(const rclcpp::Parameter * parameter)
{
return parameter->get_parameter_value().get<T>();
}
// Specialization allowing Parameter::get() to return a const ref to the parameter value object.
template<>
inline
auto
get_value_helper<rclcpp::ParameterValue>(const rclcpp::Parameter * parameter)
{
return parameter->get_parameter_value();
}
// Specialization allowing Parameter::get() to return a const ref to the parameter itself.
template<>
inline
auto
get_value_helper<rclcpp::Parameter>(const rclcpp::Parameter * parameter)
{
// Use this lambda to ensure it's a const reference being returned (and not a copy).
auto type_enforcing_lambda =
[¶meter]() -> const rclcpp::Parameter & {
return *parameter;
};
return type_enforcing_lambda();
}
} // namespace detail
template<typename T>
decltype(auto)
Parameter::get_value() const
{
// use the helper to specialize for the ParameterValue and Parameter cases.
return detail::get_value_helper<T>(this);
}
} // namespace rclcpp
namespace std
{
/// Return a json encoded version of the parameter intended for a list.
RCLCPP_PUBLIC
std::string
to_string(const rclcpp::Parameter & param);
/// Return a json encoded version of a vector of parameters, as a string.
RCLCPP_PUBLIC
std::string
to_string(const std::vector<rclcpp::Parameter> & parameters);
} // namespace std
#endif // RCLCPP__PARAMETER_HPP_