param_provider.h

Go to the documentation of this file.

// clang: MatousFormat
#pragma once
 
#include <concepts>
#include <memory>
#include <optional>
 
#include <yaml-cpp/yaml.h>
#include <rclcpp/rclcpp.hpp>
 
namespace mrs_lib
{
 
  template <typename T>
  std::ostream& operator<<(std::ostream& os, const std::vector<T>& var);
 
  template <typename Key, typename Value>
  std::ostream& operator<<(std::ostream& os, const std::map<Key, Value>& var);
 
  std::ostream& operator<<(std::ostream& os, rclcpp::ParameterType& var);
 
  template <typename T>
  rclcpp::ParameterType to_param_type();
 
  template <typename T>
  concept numeric = (std::integral<T> || std::floating_point<T>) && !std::same_as<T, bool>;
 
  /*** ParamProvider CLASS //{ **/
 
  class ParamProvider
  {
  public:
    struct resolved_name_t;
 
    template <typename T>
    struct range_t
    {
      T minimum;
      T maximum;
    };
 
    template <typename T>
    struct declare_options_t
    {
      bool reconfigurable = false;
      std::optional<T> default_value = std::nullopt;
      std::optional<range_t<T>> range = std::nullopt;
    };
 
    template <typename T>
    struct get_options_t
    {
      bool always_declare = false;
      bool use_yaml = true;
      std::optional<bool> use_rosparam = std::nullopt;
      std::optional<std::string> prefix = std::nullopt;
      declare_options_t<T> declare_options = {};
    };
 
    enum class get_result_t
    {
      LOADED,
      DEFAULT,
      FAILED,
    };
 
    template <typename T>
    struct set_options_t
    {
      std::optional<std::string> prefix = std::nullopt;
      declare_options_t<T> declare_options = {};
    };
 
    ParamProvider(const std::shared_ptr<rclcpp::Node>& node, const bool use_rosparam = true);
 
    bool addYamlFile(const std::string& filepath);
 
    void copyYamls(const ParamProvider& param_provider);
 
    template <typename T>
    bool getParam(const std::string& param_name, T& value_out) const;
 
    template <typename T>
    get_result_t getParamResult(const std::string& param_name, T& value_out, const get_options_t<T>& opts = {}) const;
 
    template <typename T>
    bool getParam(const resolved_name_t& resolved_name, T& value_out, const get_options_t<T>& opts = {}) const;
 
    template <typename T>
    get_result_t getParamResult(const resolved_name_t& resolved_name, T& value_out, const get_options_t<T>& opts = {}) const;
 
    template <typename T>
    bool setParam(const std::string& param_name, const T& value) const;
 
    template <typename T>
    bool setParam(const resolved_name_t& resolved_name, const T& value, const set_options_t<T>& opts = {}) const;
 
    template <typename T>
    bool declareParam(const std::string& param_name) const;
 
    template <typename T>
    bool declareParam(const std::string& param_name, const T& default_value) const;
 
    template <typename T>
    bool declareParam(const resolved_name_t& resolved_name, const declare_options_t<T>& opts = {}) const;
 
    void setPrefix(const std::string& prefix);
 
    std::string getPrefix() const;
 
    resolved_name_t resolveName(const std::string& param_name) const;
 
  private:
    std::vector<std::shared_ptr<YAML::Node>> m_yamls;
    std::shared_ptr<rclcpp::Node> m_node;
    std::string m_node_name;
    bool m_use_rosparam;
    std::string m_prefix;
 
    std::optional<YAML::Node> findYamlNode(const resolved_name_t& resolved_name) const;
 
    template <typename T>
    static inline T degrees2radians(const T degrees);
 
    template <typename T>
    T applyTag(const YAML::Node& node) const;
 
    template <typename T>
    bool ranges_match(const rcl_interfaces::msg::ParameterDescriptor& descriptor, const range_t<T>& declare_range) const;
 
    template <typename T>
    bool loadFromYaml(const resolved_name_t& resolved_name, T& value_out, const get_options_t<T>& opts) const;
 
    template <typename T>
    bool loadFromROS(const resolved_name_t& resolved_name, T& value_out, const get_options_t<T>& opts) const;
  };
  //}
 
} // namespace mrs_lib
 
#ifndef PARAM_PROVIDER_HPP
#include <mrs_lib/impl/param_provider.hpp>
#endif