param.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
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 * modification, are permitted provided that the following conditions are met:
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 *   * Redistributions in binary form must reproduce the above copyright
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 *     this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSCPP_PARAM_H
#define ROSCPP_PARAM_H
 
#include "forwards.h"
#include "common.h"
#include "xmlrpcpp/XmlRpcValue.h"
 
#include <vector>
#include <map>
 
namespace ros
{
 
namespace param
{
 
ROSCPP_DECL void set(const std::string& key, const XmlRpc::XmlRpcValue& v);
ROSCPP_DECL void set(const std::string& key, const std::string& s);
ROSCPP_DECL void set(const std::string& key, const char* s);
ROSCPP_DECL void set(const std::string& key, double d);
ROSCPP_DECL void set(const std::string& key, int i);
ROSCPP_DECL void set(const std::string& key, bool b);
 
 
ROSCPP_DECL void set(const std::string& key, const std::vector<std::string>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<double>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<float>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<int>& vec);
ROSCPP_DECL void set(const std::string& key, const std::vector<bool>& vec);
 
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, std::string>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, double>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, float>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, int>& map);
ROSCPP_DECL void set(const std::string& key, const std::map<std::string, bool>& map);
 
 
ROSCPP_DECL bool get(const std::string& key, std::string& s);
ROSCPP_DECL bool get(const std::string& key, double& d);
ROSCPP_DECL bool get(const std::string& key, float& f);
ROSCPP_DECL bool get(const std::string& key, int& i);
ROSCPP_DECL bool get(const std::string& key, bool& b);
ROSCPP_DECL bool get(const std::string& key, XmlRpc::XmlRpcValue& v);
 
ROSCPP_DECL bool getCached(const std::string& key, std::string& s);
ROSCPP_DECL bool getCached(const std::string& key, double& d);
ROSCPP_DECL bool getCached(const std::string& key, float& f);
ROSCPP_DECL bool getCached(const std::string& key, int& i);
ROSCPP_DECL bool getCached(const std::string& key, bool& b);
ROSCPP_DECL bool getCached(const std::string& key, XmlRpc::XmlRpcValue& v);
 
ROSCPP_DECL bool get(const std::string& key, std::vector<std::string>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<double>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<float>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<int>& vec);
ROSCPP_DECL bool get(const std::string& key, std::vector<bool>& vec);
 
ROSCPP_DECL bool getCached(const std::string& key, std::vector<std::string>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<double>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<float>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<int>& vec);
ROSCPP_DECL bool getCached(const std::string& key, std::vector<bool>& vec);
 
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, std::string>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, double>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, float>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, int>& map);
ROSCPP_DECL bool get(const std::string& key, std::map<std::string, bool>& map);
 
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, std::string>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, double>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, float>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, int>& map);
ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, bool>& map);
 
ROSCPP_DECL bool has(const std::string& key);
ROSCPP_DECL bool del(const std::string& key);
 
ROSCPP_DECL bool search(const std::string& ns, const std::string& key, std::string& result);
 
ROSCPP_DECL bool search(const std::string& key, std::string& result);
 
ROSCPP_DECL bool getParamNames(std::vector<std::string>& keys);
 
ROSCPP_DECL void unsubscribeCachedParam(const std::string& key);
 
ROSCPP_DECL void unsubscribeCachedParam(void);
 
template<typename T>
bool param(const std::string& param_name, T& param_val, const T& default_val)
{
  if (has(param_name))
  {
    if (get(param_name, param_val))
    {
      return true;
    }
  }
 
  param_val = default_val;
  return false;
}
 
template<typename T>
T param(const std::string& param_name, const T& default_val)
{
  T param_val;
  param(param_name, param_val, default_val);
  return param_val;
}
 
} // namespace param
 
} // namespace ros
 
#endif // ROSCPP_PARAM_H