.. _program_listing_file_include_rclcpp_copy_all_parameter_values.hpp:

Program Listing for File copy_all_parameter_values.hpp
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_copy_all_parameter_values.hpp>` (``include/rclcpp/copy_all_parameter_values.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2023 Open Navigation LLC
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
   #define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
   
   #include <string>
   #include <vector>
   
   #include "rcl_interfaces/srv/list_parameters.hpp"
   #include "rcl_interfaces/msg/parameter_descriptor.hpp"
   #include "rcl_interfaces/msg/set_parameters_result.hpp"
   
   #include "rclcpp/parameter.hpp"
   #include "rclcpp/logger.hpp"
   #include "rclcpp/logging.hpp"
   
   namespace rclcpp
   {
   
   template<typename NodeT1, typename NodeT2>
   void
   copy_all_parameter_values(
     const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false)
   {
     using Parameters = std::vector<rclcpp::Parameter>;
     using Descriptions = std::vector<rcl_interfaces::msg::ParameterDescriptor>;
     auto source_params = source->get_node_parameters_interface();
     auto dest_params = destination->get_node_parameters_interface();
     rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger();
   
     std::vector<std::string> param_names = source_params->list_parameters({}, 0).names;
     Parameters params = source_params->get_parameters(param_names);
     Descriptions descriptions = source_params->describe_parameters(param_names);
   
     for (unsigned int idx = 0; idx != params.size(); idx++) {
       if (!dest_params->has_parameter(params[idx].get_name())) {
         dest_params->declare_parameter(
           params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]);
       } else if (override_existing_params) {
         try {
           rcl_interfaces::msg::SetParametersResult result =
             dest_params->set_parameters_atomically({params[idx]});
           if (!result.successful) {
             // Parameter update rejected or read-only
             RCLCPP_WARN(
               logger,
               "Unable to set parameter (%s): %s!",
               params[idx].get_name().c_str(), result.reason.c_str());
           }
         } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
           RCLCPP_WARN(
             logger,
             "Unable to set parameter (%s): incompatable parameter type (%s)!",
             params[idx].get_name().c_str(), e.what());
         }
       }
     }
   }
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_