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add example of registering custom parameter validation callbacks (#273)
* add example of registering custom parameter validation callbacks * add ':' before parameter value
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// Copyright 2018 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. | ||
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#include <memory> | ||
#include <vector> | ||
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#include "rclcpp/rclcpp.hpp" | ||
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class EvenParameterNode : public rclcpp::Node | ||
{ | ||
public: | ||
EvenParameterNode() | ||
: Node("even_parameters_node") | ||
{ | ||
// Declare a parameter change request callback | ||
// This function will enforce that only setting even integer parameters is allowed | ||
// any other change will be discarded | ||
auto param_change_callback = | ||
[this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult | ||
{ | ||
auto result = rcl_interfaces::msg::SetParametersResult(); | ||
result.successful = true; | ||
for (auto parameter : parameters) { | ||
rclcpp::ParameterType parameter_type = parameter.get_type(); | ||
if (rclcpp::ParameterType::PARAMETER_NOT_SET == parameter_type) { | ||
RCLCPP_INFO(this->get_logger(), | ||
"parameter '%s' deleted successfully", | ||
parameter.get_name().c_str() | ||
); | ||
result.successful &= true; | ||
} else if (rclcpp::ParameterType::PARAMETER_INTEGER == parameter_type) { | ||
if (parameter.as_int() % 2 != 0) { | ||
RCLCPP_INFO(this->get_logger(), | ||
"Requested value '%d' for parameter '%s' is not an even number:" | ||
" rejecting change...", | ||
parameter.as_int(), | ||
parameter.get_name().c_str() | ||
); | ||
result.successful = false; | ||
} else { | ||
RCLCPP_INFO(this->get_logger(), | ||
"parameter '%s' has changed and is now: %s", | ||
parameter.get_name().c_str(), | ||
parameter.value_to_string().c_str() | ||
); | ||
result.successful &= true; | ||
} | ||
} else { | ||
RCLCPP_INFO(this->get_logger(), | ||
"only integer parameters can be set\n" | ||
"requested value for parameter '%s' is not an even number, rejecting change...", | ||
parameter.get_name().c_str() | ||
); | ||
result.successful = false; | ||
} | ||
} | ||
return result; | ||
}; | ||
this->register_param_change_callback(param_change_callback); | ||
} | ||
}; | ||
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int main(int argc, char ** argv) | ||
{ | ||
// Force flush of the stdout buffer. | ||
setvbuf(stdout, NULL, _IONBF, BUFSIZ); | ||
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rclcpp::init(argc, argv); | ||
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auto node = std::make_shared<EvenParameterNode>(); | ||
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rclcpp::spin(node); | ||
rclcpp::shutdown(); | ||
return 0; | ||
} |