Program Listing for File example_validators.hpp

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#pragma once

#include <string>

#include <rclcpp/rclcpp.hpp>

#include <fmt/core.h>
#include <tl_expected/expected.hpp>

namespace custom_validators {

// User defined parameter validation
tl::expected<void, std::string> validate_double_array_custom_func(
    const rclcpp::Parameter& parameter, double max_sum, double max_element) {
  const auto& double_array = parameter.as_double_array();
  double sum = 0.0;
  for (auto val : double_array) {
    sum += val;
    if (val > max_element) {
      return tl::make_unexpected(fmt::format(
          "The parameter contained an element greater than the max allowed "
          "value.  (%f) was greater than (%f)",
          val, max_element));
    }
  }
  if (sum > max_sum) {
    return tl::make_unexpected(fmt::format(
        "The sum of the parameter vector was greater than the max allowed "
        "value.  (%f) was greater than (%f)",
        sum, max_sum));
  }

  return {};
}

tl::expected<void, std::string> no_args_validator(const rclcpp::Parameter&) {
  return {};
}

}  // namespace custom_validators