.. _program_listing_file__tmp_ws_src_sync_parameter_server_include_sync_parameter_server_sync_parameter_server.hh:

Program Listing for File sync_parameter_server.hh
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_sync_parameter_server_include_sync_parameter_server_sync_parameter_server.hh>` (``/tmp/ws/src/sync_parameter_server/include/sync_parameter_server/sync_parameter_server.hh``)

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

.. code-block:: cpp

   /*********************************************************************
    * 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 SYNC_PARAMETER_SERVER_SYNC_PARAMETER_SERVER_HH
   #define SYNC_PARAMETER_SERVER_SYNC_PARAMETER_SERVER_HH
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp/parameter_client.hpp>
   #include <rcl_interfaces/msg/parameter_event.hpp>
   
   namespace sync_parameter_server
   {
   
   class ParameterInfo
   {
   public:
     ParameterInfo(const std::string& node, const std::string& param,
                   const std::shared_ptr<rclcpp::AsyncParametersClient>& client);
   
     std::string node() const;
     std::string param() const;
     std::shared_ptr<rclcpp::AsyncParametersClient> client() const;
     rcl_interfaces::msg::ParameterValue value() const;
     void setValue(const rcl_interfaces::msg::ParameterValue& value);
   
   private:
     std::string node_;
     std::string param_;
     std::shared_ptr<rclcpp::AsyncParametersClient> client_;
     rcl_interfaces::msg::ParameterValue value_;
   };
   
   class SyncParameterServer : public rclcpp::Node
   {
   public:
     explicit SyncParameterServer(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
     ~SyncParameterServer() override;
     rcl_interfaces::msg::SetParametersResult setParameters(const std::vector<rclcpp::Parameter>& parameters);
     void updateParameterCallback(const std::string& sync_name, const std::string& node_name,
                                  const rclcpp::Parameter& param);
     void updateSyncSetting();
   
   private:
     void declareDefaultParameter(const rclcpp::Parameter& type, const std::string& param);
   
     std::unordered_map<std::string, std::pair<rclcpp::ParameterType, std::vector<std::shared_ptr<ParameterInfo>>>>
         sync_parameters_;
   
     std::shared_ptr<rclcpp::ParameterEventHandler> param_event_handler_;
     OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
     std::vector<std::shared_ptr<rclcpp::ParameterCallbackHandle>> cb_handles_;
   };
   }  // namespace sync_parameter_server
   
   #endif  // SYNC_PARAMETER_SERVER_SYNC_PARAMETER_SERVER_HH