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Add parameter-related templates to LifecycleNode (#645)

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* Add parameter-related templates to LifecycleNode

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* Update rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

Co-Authored-By: vinnamkim <vinnam.kim@gmail.com>

* Update rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
This commit is contained in:
Vinnam Kim 2019-03-28 13:05:42 +09:00 • committed by Karsten Knese
parent b352d45031
commit cb20529e5e
2 changed files with 150 additions and 0 deletions
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63
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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@ -255,6 +255,26 @@ public:
rcl_interfaces::msg::SetParametersResult
set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
template<typename ParameterT>
void
set_parameter_if_not_set(
const std::string & name,
const ParameterT & value);
/// Set a map of parameters with the same prefix.
/**
* For each key in the map, a parameter with a name of "name.key" will be set
* to the value in the map.
*
* \param[in] name The prefix of the parameters to set.
* \param[in] values The parameters to set in the given prefix.
*/
template<typename MapValueT>
void
set_parameters_if_not_set(
const std::string & name,
const std::map<std::string, MapValueT> & values);
RCLCPP_LIFECYCLE_PUBLIC
std::vector<rclcpp::Parameter>
get_parameters(const std::vector<std::string> & names) const;
@ -273,6 +293,49 @@ public:
bool
get_parameter(const std::string & name, ParameterT & parameter) const;
/// Assign the value of the map parameter if set into the values argument.
/**
* Parameter names that are part of a map are of the form "name.member".
* This API gets all parameters that begin with "name", storing them into the
* map with the name of the parameter and their value.
* If there are no members in the named map, then the "values" argument is not changed.
*
* \param[in] name The prefix of the parameters to get.
* \param[out] values The map of output values, with one std::string,MapValueT
* per parameter.
* \returns true if values was changed, false otherwise
*/
template<typename MapValueT>
bool
get_parameters(
const std::string & name,
std::map<std::string, MapValueT> & values) const;
template<typename ParameterT>
bool
get_parameter_or(
const std::string & name,
ParameterT & value,
const ParameterT & alternative_value) const;
/// Get the parameter value; if not set, set the "alternative value" and store it in the node.
/**
* If the parameter is set, then the "value" argument is assigned the value
* in the parameter.
* If the parameter is not set, then the "value" argument is assigned the "alternative_value",
* and the parameter is set to the "alternative_value" on the node.
*
* \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 and parameter if the parameter was not set.
*/
template<typename ParameterT>
void
get_parameter_or_set(
const std::string & name,
ParameterT & value,
const ParameterT & alternative_value);
RCLCPP_LIFECYCLE_PUBLIC
std::vector<rcl_interfaces::msg::ParameterDescriptor>
describe_parameters(const std::vector<std::string> & names) const;