nodelet_utils/param_helper.hpp

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#pragma once

#include <functional>
#include <memory>
#include <string>

#include <ros/ros.h>

#include <cras_cpp_common/param_utils.hpp>
#include <cras_cpp_common/param_utils/bound_param_helper.hpp>
#include <cras_cpp_common/param_utils/param_helper.hpp>
#include <cras_cpp_common/param_utils/get_param_adapters/node_handle.hpp>

namespace cras
{

template <typename NodeletType>
class NodeletParamHelper : public virtual NodeletType, public ::cras::ParamHelper
{
public:
  NodeletParamHelper();
  ~NodeletParamHelper() override;

protected:
  template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
    ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
  inline ::cras::GetParamResult<ResultType> getParamVerbose(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const ::cras::optional<ResultType>& defaultValue = ResultType(),
    const ::std::string& unit = "",
    const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParamVerbose(param, name, defaultValue, unit, options);
  }

  template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
    ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
  inline ::cras::GetParamResult<ResultType> getParamVerbose(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const ResultType& defaultValue = ResultType(),
    const ::std::string& unit = "",
    const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParamVerbose(param, name, defaultValue, unit, options);
  }

  template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
    ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
  inline ResultType getParam(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const ::cras::optional<ResultType>& defaultValue = ResultType(),
    const ::std::string& unit = "",
    const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParam(param, name, defaultValue, unit, options);
  }

  template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
    ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
  inline ResultType getParam(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const ResultType& defaultValue = ResultType(),
    const ::std::string& unit = "",
    const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParam(param, name, defaultValue, unit, options);
  }

  // std::string - char interop specializations

  inline ::cras::GetParamResult<::std::string> getParamVerbose(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const ::cras::optional<const char*>& defaultValue, const ::std::string& unit = "",
    const ::cras::GetParamOptions<::std::string>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParamVerbose(param, name, defaultValue, unit, options);
  }

  inline ::cras::GetParamResult<::std::string> getParamVerbose(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const char* defaultValue, const ::std::string& unit = "",
    const ::cras::GetParamOptions<::std::string>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParamVerbose(param, name, defaultValue, unit, options);
  }

  inline ::std::string getParam(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const ::cras::optional<const char*>& defaultValue, const ::std::string& unit = "",
    const ::cras::GetParamOptions<::std::string>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParam(param, name, defaultValue, unit, options);
  }

  inline ::std::string getParam(
    const ::ros::NodeHandle& node, const ::std::string& name,
    const char* defaultValue, const ::std::string& unit = "",
    const ::cras::GetParamOptions<::std::string>& options = {})
  {
    const auto param = ::cras::NodeHandleGetParamAdapter(node);
    return ::cras::ParamHelper::getParam(param, name, defaultValue, unit, options);
  }

  ::cras::BoundParamHelperPtr params(const ::ros::NodeHandle& node, const ::std::string& ns = "") const;

  ::cras::BoundParamHelperPtr privateParams(const ::std::string& ns = "") const;

  ::cras::BoundParamHelperPtr publicParams(const ::std::string& ns = "") const;

  ::cras::BoundParamHelperPtr paramsForNodeHandle(const ::ros::NodeHandle& node) const;

protected:
  using NodeletType::getName;
};

}

#include "impl/param_helper.hpp"