Add parameters component

CMakeLists.txt

@@ -110,7 +110,7 @@ ign_find_package(SQLite3
 # Configure the build
 #============================================================================
 ign_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS log)
+  COMPONENTS log parameters)
 
 #============================================================================
 # ign command line support

parameters/include/ignition/transport/CMakeLists.txt

@@ -0,0 +1,2 @@
+
+ign_install_all_headers(COMPONENT parameters)

parameters/include/ignition/transport/parameters/Client.hh

@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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 IGNITION_TRANSPORT_PARAMETERS_CLIENT_HH_
+#define IGNITION_TRANSPORT_PARAMETERS_CLIENT_HH_
+
+#include <memory>
+#include <string>
+
+#include "google/protobuf/message.h"
+
+#include "ignition/msgs/parameter_declarations.pb.h"
+
+#include "ignition/transport/Node.hh"
+
+namespace ignition
+{
+  namespace transport
+  {
+    namespace parameters
+    {
+
+      // Inline bracket to help doxygen filtering.
+      inline namespace IGNITION_TRANSPORT_VERSION_NAMESPACE {
+
+      class ParametersClient
+      {
+      public:
+        ParametersClient(
+          std::string _serverNamespace = "",
+          unsigned int _timeoutMs = kDefaultTimeoutMs);
+
+        std::unique_ptr<google::protobuf::Message>
+        GetParameter(const std::string & _parameterName);
+
+        void
+        SetParameter(const std::string & _parameterName, const google::protobuf::Message & _msg);
+
+        void
+        DeclareParameter(const std::string & _parameterName, const google::protobuf::Message & _msg);
+
+        ignition::msgs::ParameterDeclarations
+        ListParameters();
+
+      private:
+        std::string serverNamespace;
+        ignition::transport::Node node;
+        unsigned int timeoutMs;
+
+        constexpr static inline unsigned int kDefaultTimeoutMs = 5000;
+      };
+      }
+    }
+  }
+}
+
+#endif

parameters/include/ignition/transport/parameters/Registry.hh

@@ -0,0 +1,108 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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 IGNITION_TRANSPORT_PARAMETERS_REGISTRY_HH_
+#define IGNITION_TRANSPORT_PARAMETERS_REGISTRY_HH_
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include <google/protobuf/message.h>
+
+#include "ignition/msgs/parameter_declarations.pb.h"
+
+#include "ignition/transport/config.hh"
+#include "ignition/transport/parameters/exceptions.hh"
+
+namespace ignition
+{
+  namespace transport
+  {
+    namespace parameters
+    {
+      // Inline bracket to help doxygen filtering.
+      inline namespace IGNITION_TRANSPORT_VERSION_NAMESPACE {
+
+      struct ParametersRegistryPrivate;
+
+      class ParametersRegistry
+      {
+        public: struct ParameterValue
+        {
+          std::unique_ptr<google::protobuf::Message> msg;
+          std::string protoType;
+        };
+
+        public: ParametersRegistry(std::string _parametersServicesNamespace);
+
+        public: ~ParametersRegistry();
+
+        public: ParametersRegistry(const ParametersRegistry &) = delete;
+        public: ParametersRegistry &
+          operator=(const ParametersRegistry &) = delete;
+        public: ParametersRegistry(ParametersRegistry &&) = default;
+        public: ParametersRegistry &
+          operator=(ParametersRegistry &&) = default;
+
+        public: void DeclareParameter(
+          const std::string & _parameterName,
+          std::unique_ptr<google::protobuf::Message> _initialValue);
+
+        public: ParameterValue GetParameter(
+          const std::string & _parameterName);
+
+        public: void SetParameter(
+          const std::string & _parameterName,
+          std::unique_ptr<google::protobuf::Message> _value);
+
+        public: void SetParameter(
+          const std::string & _parameterName,
+          google::protobuf::Message & _value);
+
+        public: ignition::msgs::ParameterDeclarations ListParameters();
+
+        public: template<typename ProtoMsgT>
+        ProtoMsgT GetParameter(const std::string & _parameterName)
+        {
+          ProtoMsgT ret;
+          this->WithParameter(
+            _parameterName,
+            [nameCStr = _parameterName.c_str() , &ret](google::protobuf::Message & _msg) {
+              if (_msg.GetDescriptor() != ret.GetDescriptor()) {
+                throw ParameterInvalidTypeException{
+                  "ParametersRegistry::GetParameter",
+                  nameCStr,
+                  _msg.GetDescriptor()->name().c_str(),
+                  ret.GetDescriptor()->name().c_str()};
+              }
+              ret.CopyFrom(_msg);
+            });
+        }
+
+        private: std::unique_ptr<ParametersRegistryPrivate> dataPtr;
+
+        private: void WithParameter(
+          const std::string & _parameterName,
+          std::function<void(google::protobuf::Message &)> fn);
+      };
+      }
+    }
+  }
+}
+
+#endif

parameters/include/ignition/transport/parameters/exceptions.hh

@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * 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 IGNITION_TRANSPORT_PARAMETERS_EXCEPTIONS_HH_
+#define IGNITION_TRANSPORT_PARAMETERS_EXCEPTIONS_HH_
+
+#include <stdexcept>
+#include <string>
+
+namespace ignition
+{
+  namespace transport
+  {
+    namespace parameters
+    {
+
+      // Inline bracket to help doxygen filtering.
+      inline namespace IGNITION_TRANSPORT_VERSION_NAMESPACE {
+
+      class ParameterAlreadyDeclaredException : public std::runtime_error
+      {
+        public: ParameterAlreadyDeclaredException(
+          const char * _prefix , const char * _paramName)
+        : std::runtime_error(
+          std::string{_prefix} + ": parameter [" +
+          _paramName + "] is already declared")
+        {}
+      };
+
+      class ParameterInvalidTypeException : public std::invalid_argument
+      {
+        public: ParameterInvalidTypeException(
+          const char * _prefix ,const char * _paramName,
+          const char * _expectedParamType, const char * _providedParamType)
+        : std::invalid_argument(
+          std::string{_prefix} + ": parameter [" +
+          _paramName + "] is of type [" + _expectedParamType + "] but type [" +
+          _providedParamType + "] was provided")
+        {}
+      };
+
+      class ParameterNotDeclaredException : public std::runtime_error
+      {
+        public: ParameterNotDeclaredException(
+          const char * _prefix , const char * _paramName)
+        : std::runtime_error(
+          std::string{_prefix} + ": parameter [" +
+          _paramName + "] is not declared")
+        {}
+      };
+      }
+    }
+  }
+}
+
+#endif

parameters/src/CMakeLists.txt

@@ -0,0 +1,20 @@
+
+ign_get_libsources_and_unittests(sources gtest_sources)
+list(APPEND sources cmd/ParamCommandAPI.cc)
+
+ign_add_component(parameters SOURCES ${sources} GET_TARGET_NAME param_lib_target)
+
+# Unit tests
+# ign_build_tests(
+#   TYPE "UNIT"
+#   SOURCES ${gtest_sources}
+#   LIB_DEPS ${parameters_lib_target} ${EXTRA_TEST_LIB_DEPS}
+# )
+
+# target_include_directories(${parameters_lib_target}
+#   PUBLIC
+#     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>")
+
+if(NOT WIN32)
+  add_subdirectory(cmd)
+endif()