parameter_service.hpp

// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// 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 RCLCPP__PARAMETER_SERVICE_HPP_
#define RCLCPP__PARAMETER_SERVICE_HPP_
 
#include <memory>
#include <string>
 
#include "rcl_interfaces/srv/describe_parameters.hpp"
#include "rcl_interfaces/srv/get_parameter_types.hpp"
#include "rcl_interfaces/srv/get_parameters.hpp"
#include "rcl_interfaces/srv/list_parameters.hpp"
#include "rcl_interfaces/srv/set_parameters.hpp"
#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
#include "rclcpp/executors.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rmw/rmw.h"
 
namespace rclcpp
{
 
class ParameterService
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(ParameterService)
 
  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
  RCLCPP_PUBLIC
  ParameterService(
    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
    rclcpp::node_interfaces::NodeParametersInterface * node_params,
    const rmw_qos_profile_t & qos_profile)
  : ParameterService(
      node_base,
      node_services,
      node_params,
      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
  {}
 
  RCLCPP_PUBLIC
  ParameterService(
    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
    rclcpp::node_interfaces::NodeParametersInterface * node_params,
    const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS());
 
private:
  rclcpp::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
  rclcpp::Service<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
    get_parameter_types_service_;
  rclcpp::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
  rclcpp::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
    set_parameters_atomically_service_;
  rclcpp::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
    describe_parameters_service_;
  rclcpp::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
};
 
}  // namespace rclcpp
 
#endif  // RCLCPP__PARAMETER_SERVICE_HPP_