motor_parmeters.h

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#ifndef UBIQUITY_MOTOR_MOTOR_PARMETERS_H
#define UBIQUITY_MOTOR_MOTOR_PARMETERS_H

#include <ros/ros.h>

template <typename T>
T getParamOrDefault(ros::NodeHandle nh, std::string parameter_name,
                    T default_val) {
    T value = default_val;
    if (!nh.getParam(parameter_name, value)) {
        nh.setParam(parameter_name, value);
    }
    return value;
}

struct FirmwareParams {
    int32_t pid_proportional;
    int32_t pid_integral;
    int32_t pid_derivative;
    int32_t pid_denominator;
    int32_t pid_moving_buffer_size;
    int32_t deadman_timer;

    FirmwareParams()
        : pid_proportional(5000),
          pid_integral(10),
          pid_derivative(1),
          pid_denominator(1000),
          pid_moving_buffer_size(10),
          deadman_timer(2400000){};

    FirmwareParams(ros::NodeHandle nh)
        : pid_proportional(5000),
          pid_integral(10),
          pid_derivative(1),
          pid_denominator(1000),
          pid_moving_buffer_size(10),
          deadman_timer(2400000) {
        // clang-format off
        pid_proportional = getParamOrDefault(
            nh, "ubiquity_motor/pid_proportional", pid_proportional);
        pid_integral = getParamOrDefault(
            nh, "ubiquity_motor/pid_integral", pid_integral);
        pid_derivative = getParamOrDefault(
            nh, "ubiquity_motor/pid_derivative", pid_derivative);
        pid_denominator = getParamOrDefault(
            nh, "ubiquity_motor/pid_denominator", pid_denominator);
        pid_moving_buffer_size = getParamOrDefault(
            nh, "ubiquity_motor/window_size", pid_moving_buffer_size);
        deadman_timer = getParamOrDefault(
            nh, "ubiquity_motor/deadman_timer", deadman_timer);
        // clang-format on
    };
};

struct CommsParams {
    std::string serial_port;
    int32_t baud_rate;
    double serial_loop_rate;

    CommsParams()
        : serial_port("/dev/ttyS0"), baud_rate(9600), serial_loop_rate(100.0){};

    CommsParams(ros::NodeHandle nh)
        : serial_port("/dev/ttyS0"), baud_rate(9600), serial_loop_rate(100.0) {
        // clang-format off
        serial_port = getParamOrDefault(
            nh, "ubiquity_motor/serial_port", serial_port);
        baud_rate = getParamOrDefault(
            nh, "ubiquity_motor/serial_baud", baud_rate);
        serial_loop_rate = getParamOrDefault(
            nh, "ubiquity_motor/serial_loop_rate", serial_loop_rate);
        // clang-format on
    };
};

struct NodeParams {
    double controller_loop_rate;

    NodeParams() : controller_loop_rate(10.0){};
    NodeParams(ros::NodeHandle nh) : controller_loop_rate(10.0) {
        // clang-format off
        controller_loop_rate = getParamOrDefault(
            nh, "ubiquity_motor/controller_loop_rate", controller_loop_rate);
        // clang-format on
    };
};

#endif  // UBIQUITY_MOTOR_MOTOR_PARMETERS_H