From 2009ca676b141306aabcf6e396231f9a1bab3186 Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Mon, 20 Mar 2017 17:04:12 -0700
Subject: [PATCH] add a new Node::get_parameter() with a default value (#309)

* add a new Node::get_parameter() with a default value

* update function parameter name (signature)

* update function parameter name (definition)

* rename new function to get_parameter_or

* rename arg "parameter" to "value" and fix get_parameter

* add set_parameter_if_not_set

* add some comments to clarify logic in set_parameters_atomically

* uncrustify

* address comments

* add some docs for get_parameter*
---
 rclcpp/include/rclcpp/node.hpp                | 32 ++++++++++++++++
 rclcpp/include/rclcpp/node_impl.hpp           | 38 +++++++++++++++++--
 .../node_interfaces/node_parameters.cpp       |  7 ++++
 3 files changed, 73 insertions(+), 4 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 48ff732..40679ff 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -235,6 +235,12 @@ public:
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
+  template<typename ParameterT>
+  void
+  set_parameter_if_not_set(
+    const std::string & name,
+    const ParameterT & value);
+
   RCLCPP_PUBLIC
   std::vector<rclcpp::parameter::ParameterVariant>
   get_parameters(const std::vector<std::string> & names) const;
@@ -249,10 +255,36 @@ public:
     const std::string & name,
     rclcpp::parameter::ParameterVariant & parameter) const;
 
+  /// Assign the value of the parameter if set into the parameter argument.
+  /**
+   * If the parameter was not set, then the "parameter" argument is never assigned a value.
+   *
+   * \param[in] name The name of the parameter to get.
+   * \param[out] parameter The output where the value of the parameter should be assigned.
+   * \returns true if the parameter was set, false otherwise
+   */
   template<typename ParameterT>
   bool
   get_parameter(const std::string & name, ParameterT & parameter) const;
 
+  /// Get the parameter value, or the "alternative value" if not set, and assign it to "value".
+  /**
+   * If the parameter was not set, then the "value" argument is assigned
+   * the "alternative_value".
+   * In all cases, the parameter remains not set after this function is called.
+   *
+   * \param[in] name The name of the parameter to get.
+   * \param[out] value The output where the value of the parameter should be assigned.
+   * \param[in] alternative_value Value to be stored in output if the parameter was not set.
+   * \returns true if the parameter was set, false otherwise
+   */
+  template<typename ParameterT>
+  bool
+  get_parameter_or(
+    const std::string & name,
+    ParameterT & value,
+    const ParameterT & alternative_value) const;
+
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index b249bc3..5a2f01f 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -208,16 +208,46 @@ Node::register_param_change_callback(CallbackT && callback)
 }
 
 template<typename ParameterT>
-bool
-Node::get_parameter(const std::string & name, ParameterT & parameter) const
+void
+Node::set_parameter_if_not_set(
+  const std::string & name,
+  const ParameterT & value)
 {
-  rclcpp::parameter::ParameterVariant parameter_variant(name, parameter);
+  rclcpp::parameter::ParameterVariant parameter_variant;
+  if (!this->get_parameter(name, parameter_variant)) {
+    this->set_parameters({
+          rclcpp::parameter::ParameterVariant(name, value),
+        });
+  }
+}
+
+template<typename ParameterT>
+bool
+Node::get_parameter(const std::string & name, ParameterT & value) const
+{
+  rclcpp::parameter::ParameterVariant parameter_variant;
   bool result = get_parameter(name, parameter_variant);
-  parameter = parameter_variant.get_value<ParameterT>();
+  if (result) {
+    value = parameter_variant.get_value<ParameterT>();
+  }
 
   return result;
 }
 
+template<typename ParameterT>
+bool
+Node::get_parameter_or(
+  const std::string & name,
+  ParameterT & value,
+  const ParameterT & alternative_value) const
+{
+  bool got_parameter = get_parameter(name, value);
+  if (!got_parameter) {
+    value = alternative_value;
+  }
+  return got_parameter;
+}
+
 }  // namespace node
 }  // namespace rclcpp
 
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
index 61a79f0..37e57a2 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -83,11 +83,18 @@ NodeParameters::set_parameters_atomically(
   for (auto p : parameters) {
     if (parameters_.find(p.get_name()) == parameters_.end()) {
       if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
+        // case: parameter not set before, and input is something other than "NOT_SET"
         parameter_event->new_parameters.push_back(p.to_parameter());
       }
     } else if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
+      // case: parameter was set before, and input is something other than "NOT_SET"
       parameter_event->changed_parameters.push_back(p.to_parameter());
     } else {
+      // case: parameter was set before, and input is "NOT_SET"
+      // therefore we will "unset" the previously set parameter
+      // it is not necessary to erase the parameter from parameters_
+      // because the new value for this key (p.get_name()) will be a
+      // ParameterVariant with type "NOT_SET"
       parameter_event->deleted_parameters.push_back(p.to_parameter());
     }
     tmp_map[p.get_name()] = p;