.. _program_listing_file_include_dynamic_params.h:

Program Listing for File dynamic_params.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_dynamic_params.h>` (``include/dynamic_params.h``)

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

.. code-block:: cpp

   // Copyright 2023 Intel Corporation. All Rights Reserved.
   //
   // 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.
   
   #pragma once
   #include <ros_utils.h>
   #include "constants.h"
   #include <deque>
   #include "ros_param_backend.h"
   
   namespace realsense2_camera
   {
       class Parameters
       {
           public:
               Parameters(rclcpp::Node& node);
               ~Parameters();
               template <class T>
               T setParam(std::string param_name, const T& initial_value, 
                                       std::function<void(const rclcpp::Parameter&)> func = std::function<void(const rclcpp::Parameter&)>(), 
                                       rcl_interfaces::msg::ParameterDescriptor descriptor=rcl_interfaces::msg::ParameterDescriptor());
   
               template <class T>
               T readAndDeleteParam(std::string param_name, const T& initial_value);
   
               template <class T>
               void setParamT(std::string param_name, T& param,
                              std::function<void(const rclcpp::Parameter&)> func = std::function<void(const rclcpp::Parameter&)>(),
                              rcl_interfaces::msg::ParameterDescriptor descriptor=rcl_interfaces::msg::ParameterDescriptor());
               template <class T>
               void setParamValue(T& param, const T& value); // function updates the parameter value both locally and in the parameters server
   
               void setRosParamValue(const std::string param_name, void const* const value); // function updates the parameters server
               void removeParam(std::string param_name);
               void pushUpdateFunctions(std::vector<std::function<void()> > funcs);
   
               template <class T>
               void queueSetRosValue(const std::string& param_name, const T value);
   
               template <class T>
               T getParam(std::string param_name);
   
           private:
               void monitor_update_functions();
   
           private:
               rclcpp::Node& _node;
               rclcpp::Logger _logger;
               std::map<std::string, std::function<void(const rclcpp::Parameter&)> > _param_functions;
               std::map<void*, std::string> _param_names;
               ParametersBackend _params_backend;
               std::condition_variable _update_functions_cv;
               bool _is_running;
               std::shared_ptr<std::thread> _update_functions_t;
               std::deque<std::function<void()> > _update_functions_v;
               std::list<std::string> self_set_parameters;
               std::mutex _mu;
   
       };
   }