.. _program_listing_file_include_tuw_node.hpp:

Program Listing for File node.hpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_tuw_node.hpp>` (``include/tuw/node.hpp``)

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

.. code-block:: cpp

   /*
   Copyright (c) 2024, Markus Bader
   All rights reserved.
   
   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:
   
    * Redistributions of source code must retain the above copyright notice,
      this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of TU Wien nor the names of its contributors may be
      used to endorse or promote products derived from this software without
      specific prior written permission.
   
   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   POSSIBILITY OF SUCH DAMAGE.
   */
   
   #ifndef TUW__TUW_NODE_HPP_
   #define TUW__TUW_NODE_HPP_
   
   #include <rclcpp/rclcpp.hpp>
   namespace tuw
   {
   class Node : public rclcpp::Node
   {
   private:
     bool new_parameters_avaliable_{true};  
   
   public:
     using rclcpp::Node::Node;
   
     bool parameters_changed() {return new_parameters_avaliable_;}
   
     void parameters_applied() {new_parameters_avaliable_ = false;}
   
     void parameters_has_changed() {new_parameters_avaliable_ = true;}
   
     void update_parameter_and_log(
       const char * name, double & value, bool & flag_changed, bool force_update)
     {
       double tmp = std::numeric_limits<double>::quiet_NaN();
       this->get_parameter<double>(name, tmp);
       if (force_update || (tmp != value)) {
         flag_changed = true;
         RCLCPP_INFO(this->get_logger(), "%s: %f", name, tmp);
       }
       value = tmp;
     }
   
     void update_parameter_and_log(
       const char * name, bool & value, bool & flag_changed, bool force_update)
     {
       bool tmp = false;
       this->get_parameter<bool>(name, tmp);
       if (force_update || (tmp != value)) {
         flag_changed = true;
         RCLCPP_INFO(this->get_logger(), "%s: %s", name, (value ? "true" : "false"));
       }
       value = tmp;
     }
   
     void update_parameter_and_log(
       const char * name, int & value, bool & flag_changed, bool force_update)
     {
       int tmp = 0;
       this->get_parameter<int>(name, tmp);
       if (force_update || (tmp != value)) {
         flag_changed = true;
         RCLCPP_INFO(this->get_logger(), "%s: %4d", name, tmp);
       }
       value = tmp;
     }
     void get_parameter_and_log(const char * name, bool & value)
     {
       this->get_parameter<bool>(name, value);
       RCLCPP_INFO(this->get_logger(), "%s: %s", name, (value ? "true" : "false"));
     }
     void get_parameter_and_log(const char * name, int & value)
     {
       this->get_parameter<int>(name, value);
       RCLCPP_INFO(this->get_logger(), "%s: %4d", name, value);
     }
     void get_parameter_and_log(const char * name, double & value)
     {
       this->get_parameter<double>(name, value);
       RCLCPP_INFO(this->get_logger(), "%s: %f", name, value);
     }
     void get_parameter_and_log(const char * name, std::string & value)
     {
       this->get_parameter<std::string>(name, value);
       RCLCPP_INFO(this->get_logger(), "%s: %s", name, value.c_str());
     }
   
     void declare_parameters_with_description(
       const char * name, const char * default_value, const char * description)
     {
       auto descriptor = rcl_interfaces::msg::ParameterDescriptor{};
       descriptor.description = description;
       this->declare_parameter<std::string>(name, default_value, descriptor);
     }
   
     void declare_parameters_with_description(
       const char * name, bool default_value, const char * description)
     {
       auto descriptor = rcl_interfaces::msg::ParameterDescriptor{};
       descriptor.description = description;
       this->declare_parameter<bool>(name, default_value, descriptor);
     }
     void declare_parameters_with_description(
       const char * name, double default_value, const char * description)
     {
       auto descriptor = rcl_interfaces::msg::ParameterDescriptor{};
       descriptor.description = description;
       this->declare_parameter<double>(name, default_value, descriptor);
     }
     void declare_parameters_with_description(
       const char * name, double default_value, const char * description, double min, double max,
       double step_size = 0.01)
     {
       auto descriptor = rcl_interfaces::msg::ParameterDescriptor{};
       rcl_interfaces::msg::FloatingPointRange range;
       range.set__from_value(min).set__to_value(max).set__step(step_size);
       descriptor.floating_point_range = {range};
       descriptor.description = description;
       this->declare_parameter<double>(name, default_value, descriptor);
     }
     void declare_parameters_with_description(
       const char * name, int default_value, const char * description)
     {
       auto descriptor = rcl_interfaces::msg::ParameterDescriptor{};
       descriptor.description = description;
       this->declare_parameter<int>(name, default_value, descriptor);
     }
     void declare_parameters_with_description(
       const char * name, int default_value, const char * description, int min, int max,
       int step_size = 1)
     {
       auto descriptor = rcl_interfaces::msg::ParameterDescriptor{};
       rcl_interfaces::msg::IntegerRange range;
       range.set__from_value(min).set__to_value(max).set__step(step_size);
       descriptor.integer_range = {range};
       descriptor.description = description;
       this->declare_parameter<int>(name, default_value, descriptor);
     }
   };
   }  // namespace tuw
   #endif  // TUW__TUW_NODE_HPP_