This class provides a unified experience for nodes, nodelets and filters for getting ROS parameter values. Each parameter has to be provided a default value, and each parameter read is logged - specified parameters with INFO verbosity level, defaulted parameters with WARN level. There are also lots of template specializations for builtin ROS types or unsigned values which ease the process of reading the parameters correctly. More...

#include <param_helper.hpp>

Inheritance diagram for cras::ParamHelper:

[legend]

Public Member Functions
::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

Public 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...

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

Detailed Description

This class provides a unified experience for nodes, nodelets and filters for getting ROS parameter values. Each parameter has to be provided a default value, and each parameter read is logged - specified parameters with INFO verbosity level, defaulted parameters with WARN level. There are also lots of template specializations for builtin ROS types or unsigned values which ease the process of reading the parameters correctly.

Definition at line 31 of file param_utils/param_helper.hpp.

Constructor & Destructor Documentation

◆ ParamHelper()

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

inlineexplicit

Create the param helper using the given log helper for logging messages.

Parameters

log	The log helper to use for logging.

Definition at line 38 of file param_utils/param_helper.hpp.

◆ ~ParamHelper()

virtual cras::ParamHelper::~ParamHelper ( )

virtualdefault

Member Function Documentation

◆ getLogger()

::cras::LogHelperPtr cras::ParamHelper::getLogger ( ) const

inline

Return the log helper used for logging.

Returns: The log helper.

Definition at line 251 of file param_utils/param_helper.hpp.

◆ getParam() [1/4]

inline ::std::string cras::ParamHelper::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

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]	param	The parameter adapter from which parameters are read.
[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 218 of file param_utils/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::ParamHelper::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

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]	param	The parameter adapter from which parameters are read.
[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 122 of file param_utils/param_helper.hpp.

◆ getParam() [3/4]

inline ::std::string cras::ParamHelper::getParam	(	const ::cras::GetParamAdapter &	param,
		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]	param	The parameter adapter from which parameters are read.
[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 239 of file param_utils/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::ParamHelper::getParam	(	const ::cras::GetParamAdapter &	param,
		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]	param	The parameter adapter from which parameters are read.
[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 150 of file param_utils/param_helper.hpp.

◆ getParamVerbose() [1/4]

inline ::cras::GetParamResult<::std::string> cras::ParamHelper::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

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]	param	The parameter adapter from which parameters are read.
[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 175 of file param_utils/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::ParamHelper::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

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).

Overloads defining conversion to various types can be defined in several forms. You can either overload cras::convert() that converts the XmlRpcValue to an intermediate value, or you can make the intermediate value autoconvertible to the result type, or you can overload getParamVerbose() itself.

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]	param	The parameter adapter from which parameters are read.
[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 65 of file param_utils/param_helper.hpp.

◆ getParamVerbose() [3/4]

inline ::cras::GetParamResult<::std::string> cras::ParamHelper::getParamVerbose	(	const ::cras::GetParamAdapter &	param,
		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]	param	The parameter adapter from which parameters are read.
[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 196 of file param_utils/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::ParamHelper::getParamVerbose	(	const ::cras::GetParamAdapter &	param,
		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]	param	The parameter adapter from which parameters are read.
[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 93 of file param_utils/param_helper.hpp.

◆ setLogger()

void cras::ParamHelper::setLogger ( const ::cras::LogHelperPtr & logger )

inline

Set the log helper used for logging.

Parameters

[in] logger The new log helper.

Definition at line 260 of file param_utils/param_helper.hpp.

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

param_utils/param_helper.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ParamHelper()

◆ ~ParamHelper()

Member Function Documentation

◆ getLogger()

◆ getParam() [1/4]

◆ getParam() [2/4]

◆ getParam() [3/4]

◆ getParam() [4/4]

◆ getParamVerbose() [1/4]

◆ getParamVerbose() [2/4]

◆ getParamVerbose() [3/4]

◆ getParamVerbose() [4/4]

◆ setLogger()