dynparam_mgr.h

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// clang: MatousFormat
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <mrs_lib/param_provider.h>
 
namespace mrs_lib
{
 
  class DynparamMgr
  {
 
  public:
    using valid_types_t = std::tuple<int, int64_t, float, double, bool, std::string, std::vector<uint8_t>, std::vector<int64_t>, std::vector<double>,
                                     std::vector<bool>, std::vector<std::string>>;
 
    template <typename T>
    using update_cbk_t = std::function<void(const T&)>;
 
    template <typename T>
    using range_t = ParamProvider::range_t<T>;
 
    DynparamMgr(const std::shared_ptr<rclcpp::Node>& node, std::mutex& mtx);
 
    template <typename MemT>
    bool register_param(const std::string& name, MemT* param_var, const update_cbk_t<MemT>& update_cbk = {});
 
    template <typename MemT>
    bool register_param(const std::string& name, MemT* param_var, const MemT& default_value, const update_cbk_t<MemT>& update_cbk = {});
 
    template <typename MemT>
    bool register_param(const std::string& name, MemT* param_var, const range_t<MemT>& valid_range, const update_cbk_t<MemT>& update_cbk = {})
      requires(numeric<MemT>);
 
    template <typename MemT>
    bool register_param(const std::string& name, MemT* param_var, const MemT& default_value, const range_t<MemT>& valid_range,
                        const update_cbk_t<MemT>& update_cbk = {})
      requires(numeric<MemT>);
 
    bool loaded_successfully() const;
 
    rcl_interfaces::msg::SetParametersResult update_to_ros();
 
    mrs_lib::ParamProvider& get_param_provider()
    {
      return m_pp;
    };
 
  private:
    std::shared_ptr<rclcpp::Node> m_node;
    mrs_lib::ParamProvider m_pp;
    rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr m_param_cbk;
 
    rcl_interfaces::msg::SetParametersResult cbk_param_update(const std::vector<rclcpp::Parameter>& parameters);
 
    template <typename MemT>
    bool register_param_impl(const std::string& name, MemT* param_var, const std::optional<MemT>& default_value,
                             const std::optional<range_t<MemT>>& valid_range, const update_cbk_t<MemT>& update_cbk);
 
    bool m_load_successful;
 
    struct registered_param_t;
    std::mutex& m_mtx;
    std::vector<registered_param_t> m_registered_params;
  };
 
} // namespace mrs_lib
 
#include <mrs_lib/impl/dynparam_mgr.hpp>