param.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 */

#ifndef ROSCPP_PARAM_H
#define ROSCPP_PARAM_H

#include "forwards.h"
#include "common.h"
#include "XmlRpcValue.h"

namespace ros
{

namespace param
{

ROSCPP_DECL void set(const std::string& key, const XmlRpc::XmlRpcValue& v);
ROSCPP_DECL void set(const std::string& key, const std::string& s);
ROSCPP_DECL void set(const std::string& key, const char* s);
ROSCPP_DECL void set(const std::string& key, double d);
ROSCPP_DECL void set(const std::string& key, int i);
ROSCPP_DECL void set(const std::string& key, bool b);

ROSCPP_DECL bool get(const std::string& key, std::string& s);
ROSCPP_DECL bool get(const std::string& key, double& d);
ROSCPP_DECL bool get(const std::string& key, int& i);
ROSCPP_DECL bool get(const std::string& key, bool& b);
ROSCPP_DECL bool get(const std::string& key, XmlRpc::XmlRpcValue& v);

ROSCPP_DECL bool getCached(const std::string& key, std::string& s);
ROSCPP_DECL bool getCached(const std::string& key, double& d);
ROSCPP_DECL bool getCached(const std::string& key, int& i);
ROSCPP_DECL bool getCached(const std::string& key, bool& b);
ROSCPP_DECL bool getCached(const std::string& key, XmlRpc::XmlRpcValue& v);

ROSCPP_DECL bool has(const std::string& key);
ROSCPP_DECL bool del(const std::string& key);

ROSCPP_DECL bool search(const std::string& ns, const std::string& key, std::string& result);

ROSCPP_DECL bool search(const std::string& key, std::string& result);

template<typename T>
void param(const std::string& param_name, T& param_val, const T& default_val)
{
  if (has(param_name))
  {
    if (get(param_name, param_val))
    {
      return;
    }
  }

  param_val = default_val;
}

} // namespace param

} // namespace param

#endif // ROSCPP_PARAM_H