dump_param.cpp

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// Small utility that prints a ROS parameter type and value
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>

#include <ros/ros.h>

#include <rosfmt/rosfmt.h>

int main(int argc, char** argv)
{
        ros::init(argc, argv, "dump_param", ros::init_options::AnonymousName);

        if(argc < 2 || std::string(argv[1]) == "--help")
        {
                fmt::print(stderr, "Usage: dump_param <name>\n");
                return 1;
        }

        ros::NodeHandle nh;

        using Value = XmlRpc::XmlRpcValue;
        Value value;

        if(!nh.getParam(argv[1], value))
        {
                fmt::print(stderr, "Could not retrieve parameter '{}', does it exist?", argv[1]);
                return 1;
        }

        switch(value.getType())
        {
                case Value::TypeString:
                        fmt::print("Type: String\n");
                        fmt::print("Value: '{}'\n", static_cast<std::string>(value));
                        break;

                case Value::TypeBoolean:
                        fmt::print("Type: Bool\n");
                        fmt::print("Value: {}\n", static_cast<bool>(value));
                        break;

                case Value::TypeDouble:
                {
                        fmt::print("Type: Double\n");

                        double v = value;
                        fmt::print("Value: {}\n", v);

                        uint64_t vhex = 0;
                        std::memcpy(&vhex, &v, sizeof(vhex));

                        fmt::print("Hex: 0x{:08X}\n", vhex);
                        break;
                }

                case Value::TypeInt:
                        fmt::print("Type: Int\n");
                        fmt::print("Value: {}\n", static_cast<int>(value));
                        break;

                case Value::TypeArray:
                        fmt::print("Type: Array\n");
                        break;

                case Value::TypeBase64:
                        fmt::print("Type: Base64\n");
                        break;

                case Value::TypeDateTime:
                        fmt::print("Type: DateTime\n");
                        break;

                case Value::TypeInvalid:
                        fmt::print("Type: Invalid\n");
                        break;

                case Value::TypeStruct:
                        fmt::print("Type: Struct\n");
                        break;

                default:
                        fmt::print("Type: Unknown\n");
                        break;
        }
}