parameter_interface.hpp

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#pragma once
 
#include <chrono>
#include <functional>
#include <mutex>
#include <regex>
#include <string>
#include <unordered_set>
#include <vector>
 
#include <rclcpp/rclcpp.hpp>
 
#include <foxglove_bridge/parameter.hpp>
 
namespace foxglove_bridge {
 
using ParameterList = std::vector<foxglove::Parameter>;
using ParamUpdateFunc = std::function<void(const ParameterList&)>;
 
enum class UnresponsiveNodePolicy {
  Ignore,
  Retry,
};
 
class ParameterInterface {
public:
  ParameterInterface(rclcpp::Node* node, std::vector<std::regex> paramWhitelistPatterns,
                     UnresponsiveNodePolicy unresponsiveNodePolicy);
 
  ParameterList getParams(const std::vector<std::string>& paramNames,
                          const std::chrono::duration<double>& timeout);
  void setParams(const ParameterList& params, const std::chrono::duration<double>& timeout);
  void subscribeParams(const std::vector<std::string>& paramNames);
  void unsubscribeParams(const std::vector<std::string>& paramNames);
  void setParamUpdateCallback(ParamUpdateFunc paramUpdateFunc);
 
private:
  rclcpp::Node* _node;
  std::vector<std::regex> _paramWhitelistPatterns;
  rclcpp::CallbackGroup::SharedPtr _callbackGroup;
  std::mutex _mutex;
  std::unordered_map<std::string, rclcpp::AsyncParametersClient::SharedPtr> _paramClientsByNode;
  std::unordered_map<std::string, std::unordered_set<std::string>> _subscribedParamsByNode;
  std::unordered_map<std::string, rclcpp::SubscriptionBase::SharedPtr> _paramSubscriptionsByNode;
  std::unordered_set<std::string> _ignoredNodeNames;
  UnresponsiveNodePolicy _unresponsiveNodePolicy;
  ParamUpdateFunc _paramUpdateFunc;
 
  ParameterList getNodeParameters(rclcpp::AsyncParametersClient::SharedPtr paramClient,
                                  const std::string& nodeName,
                                  const std::vector<std::string>& paramNames,
                                  const std::chrono::duration<double>& timeout);
  void setNodeParameters(rclcpp::AsyncParametersClient::SharedPtr paramClient,
                         const std::string& nodeName, const std::vector<rclcpp::Parameter>& params,
                         const std::chrono::duration<double>& timeout);
  bool isWhitelistedParam(const std::string& paramName);
};
 
}  // namespace foxglove_bridge