Bound param helper (allows omitting the param adapter in each getParam call). More...

#include <bound_param_helper.hpp>

Inheritance diagram for cras::BoundParamHelper:

[legend]

Public Member Functions
	BoundParamHelper (const ::cras::LogHelperPtr &log, const ::cras::GetParamAdapterPtr &param)

inline ::std::string	getNamespace () const
	Return the namespace this helper operates in. More...

inline ::std::string	getParam (const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions< std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult< std::string >	getParamVerbose (const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

bool	hasParam (const ::std::string &name, const bool searchNested=true) const
	Whether a parameter with the given name exists. More...

inline ::cras::BoundParamHelperPtr	paramsInNamespace (const ::std::string &ns) const
	Return a parameter helper of a sub-namespace. More...

	~BoundParamHelper () override=default

Protected Attributes
::cras::GetParamAdapterPtr	param
	The bound parameter adapter. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log
	Log helper. More...

Additional Inherited Members
Protected Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const
	Return the log helper used for logging. More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

	ParamHelper (const ::cras::LogHelperPtr &log)

void	setLogger (const ::cras::LogHelperPtr &logger)
	Set the log helper used for logging. More...

virtual	~ParamHelper ()=default

Protected Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	This is the function picked up by `CRAS_*` logging macros. More...

	HasLogger (const ::cras::LogHelperPtr &log)
	Associate the logger with this interface. More...

void	setCrasLogger (const ::cras::LogHelperPtr &log)
	Set the logger to be used for logging. More...

Detailed Description

Bound param helper (allows omitting the param adapter in each getParam call).

Definition at line 30 of file bound_param_helper.hpp.

Constructor & Destructor Documentation

◆ BoundParamHelper()

cras::BoundParamHelper::BoundParamHelper	(	const ::cras::LogHelperPtr &	log,
		const ::cras::GetParamAdapterPtr &	param
	)

inline

Create the bound param helper.

Parameters

log	The log helper to use for logging parameter read messages.
param	The raw parameter adapter to bind to.

Definition at line 38 of file bound_param_helper.hpp.

◆ ~BoundParamHelper()

cras::BoundParamHelper::~BoundParamHelper ( )

overridedefault

Member Function Documentation

◆ getNamespace()

inline ::std::string cras::BoundParamHelper::getNamespace ( ) const

inline

Return the namespace this helper operates in.

Returns: The namespace.

Definition at line 271 of file bound_param_helper.hpp.

◆ getParam() [1/4]

inline ::std::string cras::BoundParamHelper::getParam	(	const ::std::string &	name,
		const ::cras::optional< const char * > &	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions<::std::string > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 202 of file bound_param_helper.hpp.

◆ getParam() [2/4]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::BoundParamHelper::getParam	(	const ::std::string &	name,
		const ::cras::optional< ResultType > &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 116 of file bound_param_helper.hpp.

◆ getParam() [3/4]

inline ::std::string cras::BoundParamHelper::getParam	(	const ::std::string &	name,
		const char *	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< std::string > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 221 of file bound_param_helper.hpp.

◆ getParam() [4/4]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

ResultType cras::BoundParamHelper::getParam	(	const ::std::string &	name,
		const ResultType &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: The loaded parameter value.

Definition at line 141 of file bound_param_helper.hpp.

◆ getParamVerbose() [1/4]

inline ::cras::GetParamResult<::std::string> cras::BoundParamHelper::getParamVerbose	(	const ::std::string &	name,
		const ::cras::optional< const char * > &	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions<::std::string > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 163 of file bound_param_helper.hpp.

◆ getParamVerbose() [2/4]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

inline ::cras::GetParamResult<ResultType> cras::BoundParamHelper::getParamVerbose	(	const ::std::string &	name,
		const ::cras::optional< ResultType > &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use. If std::nullopt, then the parameter is required. If a required param is not found, a GetParamException is thrown.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 64 of file bound_param_helper.hpp.

◆ getParamVerbose() [3/4]

inline ::cras::GetParamResult<std::string> cras::BoundParamHelper::getParamVerbose	(	const ::std::string &	name,
		const char *	defaultValue,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions<::std::string > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

This is a variant allowing use of C-string instead of std::string.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 182 of file bound_param_helper.hpp.

◆ getParamVerbose() [4/4]

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>

inline ::cras::GetParamResult<ResultType> cras::BoundParamHelper::getParamVerbose	(	const ::std::string &	name,
		const ResultType &	defaultValue = `ResultType()`,
		const ::std::string &	unit = `""`,
		const ::cras::GetParamOptions< ResultType, ParamServerType > &	options = `{}`
	)		const

inline

Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified).

Template Parameters

ResultType	Param type (the C++ type). It is converted from the intermediate ParamServerType using options.toResult function (which defaults to static_cast).
ParamServerType	Intermediate type to which the XmlRpcValue read from parameter server is converted. The conversion is done using options.toParam function (which defaults to cras::convert). Most overloads of cras::convert are in xmlrpc_value_utils.hpp, but you can add your own.

Parameters

[in]	name	Name of the parameter.
[in]	defaultValue	The default value to use.
[in]	unit	Optional string serving as a [physical/SI] unit of the parameter, just to make the messages more informative.
[in]	options	Options specifying detailed behavior of this function. Use the braced initializer syntax for comfortable writing, e.g. `{.throwIfConvertFails = true, .allowNestedParams = false}`.

Returns: A wrapper containing the loaded parameter value and details about the function execution.

Definition at line 89 of file bound_param_helper.hpp.

◆ hasParam()

bool cras::BoundParamHelper::hasParam	(	const ::std::string &	name,
		const bool	searchNested = `true`
	)		const

inline

Whether a parameter with the given name exists.

Parameters

[in]	name	Name of the parameter.
[in]	searchNested	If true, nested parameters (containing slash) will be looked up recursively. Otherwise, exact name match is required and slashes in name will result in failure (returning false).

Returns: Whether the parameter exists.

Definition at line 235 of file bound_param_helper.hpp.

◆ paramsInNamespace()

inline ::cras::BoundParamHelperPtr cras::BoundParamHelper::paramsInNamespace ( const ::std::string & ns ) const

inline

Return a parameter helper of a sub-namespace.

Parameters

[in] ns Namespace.

Returns: The new helper.

Definition at line 262 of file bound_param_helper.hpp.

Member Data Documentation

◆ param

::cras::GetParamAdapterPtr cras::BoundParamHelper::param

protected

The bound parameter adapter.

Definition at line 280 of file bound_param_helper.hpp.

The documentation for this class was generated from the following file:

bound_param_helper.hpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BoundParamHelper()

◆ ~BoundParamHelper()

Member Function Documentation

◆ getNamespace()

◆ getParam() [1/4]

◆ getParam() [2/4]

◆ getParam() [3/4]

◆ getParam() [4/4]

◆ getParamVerbose() [1/4]

◆ getParamVerbose() [2/4]

◆ getParamVerbose() [3/4]

◆ getParamVerbose() [4/4]

◆ hasParam()

◆ paramsInNamespace()

Member Data Documentation

◆ param