Implementation of the NodeParameters part of the Node API. More...

#include <rclcpp/node_interfaces/node_parameters.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeParameters:

Collaboration diagram for rclcpp::node_interfaces::NodeParameters:

Public Types
using	PreSetCallbacksHandleContainer = std::list< PreSetParametersCallbackHandle::WeakPtr >

using	OnSetCallbacksHandleContainer = std::list< OnSetParametersCallbackHandle::WeakPtr >

using	PostSetCallbacksHandleContainer = std::list< PostSetParametersCallbackHandle::WeakPtr >

using	CallbacksContainerType = OnSetCallbacksHandleContainer

Public Types inherited from rclcpp::node_interfaces::NodeParametersInterface
using	OnSetParametersCallbackType = OnSetParametersCallbackHandle::OnSetParametersCallbackType

using	PostSetParametersCallbackType = PostSetParametersCallbackHandle::PostSetParametersCallbackType

using	PreSetParametersCallbackType = PreSetParametersCallbackHandle::PreSetParametersCallbackType

Public Member Functions
RCLCPP_PUBLIC	NodeParameters (const node_interfaces::NodeBaseInterface::SharedPtr node_base, const node_interfaces::NodeLoggingInterface::SharedPtr node_logging, const node_interfaces::NodeTopicsInterface::SharedPtr node_topics, const node_interfaces::NodeServicesInterface::SharedPtr node_services, const node_interfaces::NodeClockInterface::SharedPtr node_clock, const std::vector< Parameter > &parameter_overrides, bool start_parameter_services, bool start_parameter_event_publisher, const rclcpp::QoS &parameter_event_qos, const rclcpp::PublisherOptionsBase &parameter_event_publisher_options, bool allow_undeclared_parameters, bool automatically_declare_parameters_from_overrides)
	Constructor. More...

RCLCPP_PUBLIC const rclcpp::ParameterValue &	declare_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor{}, bool ignore_override=false) override
	Declare and initialize a parameter. More...

RCLCPP_PUBLIC const rclcpp::ParameterValue &	declare_parameter (const std::string &name, rclcpp::ParameterType type, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override=false) override
	Declare a parameter. More...

RCLCPP_PUBLIC void	undeclare_parameter (const std::string &name) override
	Undeclare a parameter. More...

RCLCPP_PUBLIC bool	has_parameter (const std::string &name) const override
	Return true if the parameter has been declared, otherwise false. More...

RCLCPP_PUBLIC std::vector< rcl_interfaces::msg::SetParametersResult >	set_parameters (const std::vector< rclcpp::Parameter > &parameters) override
	Set one or more parameters, one at a time. More...

RCLCPP_PUBLIC rcl_interfaces::msg::SetParametersResult	set_parameters_atomically (const std::vector< rclcpp::Parameter > &parameters) override
	Set one or more parameters, all at once. More...

RCLCPP_PUBLIC std::vector< rclcpp::Parameter >	get_parameters (const std::vector< std::string > &names) const override
	Get descriptions of parameters given their names.

RCLCPP_PUBLIC rclcpp::Parameter	get_parameter (const std::string &name) const override
	Get the description of one parameter given a name.

RCLCPP_PUBLIC bool	get_parameter (const std::string &name, rclcpp::Parameter &parameter) const override
	Get the description of one parameter given a name.

RCLCPP_PUBLIC bool	get_parameters_by_prefix (const std::string &prefix, std::map< std::string, rclcpp::Parameter > &parameters) const override
	Get all parameters that have the specified prefix into the parameters map.

RCLCPP_PUBLIC std::vector< rcl_interfaces::msg::ParameterDescriptor >	describe_parameters (const std::vector< std::string > &names) const override

RCLCPP_PUBLIC std::vector< uint8_t >	get_parameter_types (const std::vector< std::string > &names) const override

RCLCPP_PUBLIC rcl_interfaces::msg::ListParametersResult	list_parameters (const std::vector< std::string > &prefixes, uint64_t depth) const override

RCLCPP_PUBLIC RCUTILS_WARN_UNUSED PreSetParametersCallbackHandle::SharedPtr	add_pre_set_parameters_callback (PreSetParametersCallbackType callback) override
	Add a callback that gets triggered before parameters are validated. More...

RCLCPP_PUBLIC RCUTILS_WARN_UNUSED OnSetParametersCallbackHandle::SharedPtr	add_on_set_parameters_callback (OnSetParametersCallbackType callback) override
	Add a callback to validate parameters before they are set. More...

RCLCPP_PUBLIC RCUTILS_WARN_UNUSED PostSetParametersCallbackHandle::SharedPtr	add_post_set_parameters_callback (PostSetParametersCallbackType callback) override
	Add a callback that gets triggered after parameters are set successfully. More...

RCLCPP_PUBLIC void	remove_on_set_parameters_callback (const OnSetParametersCallbackHandle *const handler) override
	Remove a callback registered with `add_on_set_parameters_callback`. More...

RCLCPP_PUBLIC void	remove_post_set_parameters_callback (const PostSetParametersCallbackHandle *const handler) override
	Remove a callback registered with `add_post_set_parameters_callback`. More...

RCLCPP_PUBLIC void	remove_pre_set_parameters_callback (const PreSetParametersCallbackHandle *const handler) override
	Remove a callback registered with `add_pre_set_parameters_callback`. More...

RCLCPP_PUBLIC const std::map< std::string, rclcpp::ParameterValue > &	get_parameter_overrides () const override
	Return the initial parameter values used by the NodeParameters to override default values.

RCLCPP_PUBLIC void	enable_parameter_modification () override
	Enable parameter modification recursively during parameter callbacks. More...

Protected Member Functions
RCLCPP_PUBLIC void	perform_automatically_declare_parameters_from_overrides ()

Detailed Description

Implementation of the NodeParameters part of the Node API.

Definition at line 83 of file node_parameters.hpp.

Constructor & Destructor Documentation

◆ NodeParameters()

NodeParameters::NodeParameters	(	const node_interfaces::NodeBaseInterface::SharedPtr	node_base,
		const node_interfaces::NodeLoggingInterface::SharedPtr	node_logging,
		const node_interfaces::NodeTopicsInterface::SharedPtr	node_topics,
		const node_interfaces::NodeServicesInterface::SharedPtr	node_services,
		const node_interfaces::NodeClockInterface::SharedPtr	node_clock,
		const std::vector< Parameter > &	parameter_overrides,
		bool	start_parameter_services,
		bool	start_parameter_event_publisher,
		const rclcpp::QoS &	parameter_event_qos,
		const rclcpp::PublisherOptionsBase &	parameter_event_publisher_options,
		bool	allow_undeclared_parameters,
		bool	automatically_declare_parameters_from_overrides
	)

Constructor.

If using automatically_declare_parameters_from_overrides, overrides of get_parameter_overrides(), has_parameter(), declare_parameter() will not be respected. If this is an issue, pass false for automatically_declare_parameters_from_overrides and invoke perform_automatically_declare_parameters_from_overrides() manually after construction.

Definition at line 67 of file node_parameters.cpp.

References rclcpp::PublisherOptionsWithAllocator< Allocator >::allocator, rcl_node_options_s::arguments, declare_parameter(), get_parameter_overrides(), has_parameter(), rcl_node_get_options(), and rcl_node_options_s::use_global_arguments.

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Member Function Documentation

◆ add_on_set_parameters_callback()

OnSetParametersCallbackHandle::SharedPtr NodeParameters::add_on_set_parameters_callback ( OnSetParametersCallbackType callback )

overridevirtual

Add a callback to validate parameters before they are set.

See also: rclcpp::Node::add_on_set_parameters_callback

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 1212 of file node_parameters.cpp.

◆ add_post_set_parameters_callback()

PostSetParametersCallbackHandle::SharedPtr NodeParameters::add_post_set_parameters_callback ( PostSetParametersCallbackType callback )

overridevirtual

Add a callback that gets triggered after parameters are set successfully.

See also: rclcpp::Node::add_post_set_parameters_callback

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 1225 of file node_parameters.cpp.

◆ add_pre_set_parameters_callback()

PreSetParametersCallbackHandle::SharedPtr NodeParameters::add_pre_set_parameters_callback ( PreSetParametersCallbackType callback )

overridevirtual

Add a callback that gets triggered before parameters are validated.

See also: rclcpp::Node::add_pre_set_parameters_callback

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 1199 of file node_parameters.cpp.

◆ declare_parameter() [1/2]

const rclcpp::ParameterValue & NodeParameters::declare_parameter	(	const std::string &	name,
		const rclcpp::ParameterValue &	default_value,
		const rcl_interfaces::msg::ParameterDescriptor &	parameter_descriptor = `rcl_interfaces::msg::ParameterDescriptor{}`,
		bool	ignore_override = `false`
	)

overridevirtual

Declare and initialize a parameter.

See also: rclcpp::Node::declare_parameter

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 624 of file node_parameters.cpp.

Referenced by NodeParameters().

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◆ declare_parameter() [2/2]

const rclcpp::ParameterValue & NodeParameters::declare_parameter	(	const std::string &	name,
		rclcpp::ParameterType	type,
		const rcl_interfaces::msg::ParameterDescriptor &	parameter_descriptor = `rcl_interfaces::msg::ParameterDescriptor()`,
		bool	ignore_override = `false`
	)

overridevirtual

Declare a parameter.

See also: rclcpp::Node::declare_parameter

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 649 of file node_parameters.cpp.

◆ enable_parameter_modification()

void NodeParameters::enable_parameter_modification ( )

overridevirtual

Enable parameter modification recursively during parameter callbacks.

This function is used to enable parameter modification during parameter callbacks.

There are times when it does not allow parameter modification, such as when the parameter callbacks are being called and tries to modify the parameters with set_parameter and declare_parameter to avoid recursive parameter modification. This is protected by rclcpp::node_interfaces::ParameterMutationRecursionGuard.

This function is explicitly called to allow the recursive parameter operation during parameter callbacks by the application. Once it is enabled, the next parameter operation set/declare/undeclare_parameter are allowed to execute in the parameter callback. But, no more further recursive operation is allowed, unless user application calls this API again.

Implements rclcpp::node_interfaces::NodeParametersInterface.

Definition at line 1245 of file node_parameters.cpp.