node_utils.hpp

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#pragma once
 
#include <memory>
#include <string>
 
#include <ros/ros.h>
 
#include <cras_cpp_common/log_utils/node.h>
#include <cras_cpp_common/node_utils/node_handle.h>
#include <cras_cpp_common/optional.hpp>
#include <cras_cpp_common/param_utils/bound_param_helper.hpp>
#include <cras_cpp_common/param_utils/param_helper.hpp>
#include <cras_cpp_common/param_utils/get_param_adapters/node_handle.hpp>
 
namespace cras
{
 
const ParamHelper paramHelper(::std::make_shared<::cras::NodeLogHelper>());
 
template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
  ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
inline GetParamResult<ResultType> getParamVerbose(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const ::cras::optional<ResultType>& defaultValue = ResultType(),
  const ::std::string& unit = "",
  const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParamVerbose(param, name, defaultValue, unit, options);
}
 
template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
  ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
inline GetParamResult<ResultType> getParamVerbose(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const ResultType& defaultValue = ResultType(),
  const ::std::string& unit = "",
  const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParamVerbose(param, name, defaultValue, unit, options);
}
 
template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
  ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
inline ResultType getParam(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const ::cras::optional<ResultType>& defaultValue = ResultType(),
  const ::std::string& unit = "",
  const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParam(param, name, defaultValue, unit, options);
}
 
template<typename ResultType, typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type,
  ::cras::check_get_param_types<ResultType, ParamServerType>* = nullptr>
inline ResultType getParam(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const ResultType& defaultValue = ResultType(),
  const ::std::string& unit = "",
  const ::cras::GetParamOptions<ResultType, ParamServerType>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParam(param, name, defaultValue, unit, options);
}
 
// std::string - char interop specializations
 
inline GetParamResult<::std::string> getParamVerbose(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const ::cras::optional<const char*>& defaultValue, const ::std::string& unit = "",
  const ::cras::GetParamOptions<::std::string>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParamVerbose(param, name, defaultValue, unit, options);
}
 
inline GetParamResult<::std::string> getParamVerbose(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const char* defaultValue, const ::std::string& unit = "",
  const ::cras::GetParamOptions<::std::string>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParamVerbose(param, name, defaultValue, unit, options);
}
 
inline ::std::string getParam(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const ::cras::optional<const char*>& defaultValue, const ::std::string& unit = "",
  const ::cras::GetParamOptions<::std::string>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParam(param, name, defaultValue, unit, options);
}
 
inline ::std::string getParam(
  const ::ros::NodeHandle& node, const ::std::string& name,
  const char* defaultValue, const ::std::string& unit = "",
  const ::cras::GetParamOptions<std::string>& options = {})
{
  const auto param = ::cras::NodeHandleGetParamAdapter(node);
  return paramHelper.getParam(param, name, defaultValue, unit, options);
}
 
inline ::cras::BoundParamHelperPtr nodeParams(const ::ros::NodeHandle& node, const ::std::string& ns = "")
{
  const auto log = ::std::make_shared<NodeLogHelper>();
  const auto param = ::std::make_shared<NodeHandleGetParamAdapter>(node);
  auto result = ::std::make_shared<BoundParamHelper>(log, param);
  if (!ns.empty())
    result = result->paramsInNamespace(ns);
  return result;
}
 
inline ::cras::BoundParamHelperPtr paramsForNodeHandle(const ::ros::NodeHandle& node)
{
  return ::cras::nodeParams(node);
}
 
}