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
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 *     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"
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 */

#ifndef ROSCPP_PARAM_H
#define ROSCPP_PARAM_H

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

#include <vector>
#include <map>

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 void set(const std::string& key, const std::vector<std::string>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<double>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<float>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<int>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<bool>& vec);

ROSCPP_DECL void set(const std::string& key, const std::map<std::string, std::string>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, double>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, float>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, int>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, bool>& map);


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, float& f);
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, float& f);
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 get(const std::string& key, std::vector<std::string>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<double>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<float>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<int>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<bool>& vec);

ROSCPP_DECL bool getCached(const std::string& key, std::vector<std::string>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<double>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<float>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<int>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<bool>& vec);

ROSCPP_DECL bool get(const std::string& key, std::map<std::string, std::string>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, double>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, float>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, int>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, bool>& map);

ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, std::string>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, double>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, float>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, int>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, bool>& map);

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);

ROSCPP_DECL bool getParamNames(std::vector<std::string>& keys);

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;
}

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

} // namespace param

} // namespace ros

#endif // ROSCPP_PARAM_H