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| // Copyright 2023 Open Navigation LLC | ||
| // | ||
| // 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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| #ifndef RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_ | ||
| #define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_ | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include "rcl_interfaces/srv/list_parameters.hpp" | ||
| #include "rcl_interfaces/msg/parameter_descriptor.hpp" | ||
| #include "rcl_interfaces/msg/set_parameters_result.hpp" | ||
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| #include "rclcpp/parameter.hpp" | ||
| #include "rclcpp/logger.hpp" | ||
| #include "rclcpp/logging.hpp" | ||
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| namespace rclcpp | ||
| { | ||
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| /** | ||
| * Copy all parameters from one source node to another destination node. | ||
| * May throw exceptions if parameters from source are uninitialized or undeclared. | ||
| * \param source Node to copy parameters from | ||
| * \param destination Node to copy parameters to | ||
| * \param override_existing_params Default false. Whether to override existing destination params | ||
| * if both the source and destination contain the same parameter. | ||
| */ | ||
| template<typename NodeT1, typename NodeT2> | ||
| void | ||
| copy_all_parameter_values( | ||
| const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false) | ||
| { | ||
| using Parameters = std::vector<rclcpp::Parameter>; | ||
| using Descriptions = std::vector<rcl_interfaces::msg::ParameterDescriptor>; | ||
| auto source_params = source->get_node_parameters_interface(); | ||
| auto dest_params = destination->get_node_parameters_interface(); | ||
| rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger(); | ||
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| std::vector<std::string> param_names = source_params->list_parameters({}, 0).names; | ||
| Parameters params = source_params->get_parameters(param_names); | ||
| Descriptions descriptions = source_params->describe_parameters(param_names); | ||
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| for (unsigned int idx = 0; idx != params.size(); idx++) { | ||
| if (!dest_params->has_parameter(params[idx].get_name())) { | ||
| dest_params->declare_parameter( | ||
| params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]); | ||
| } else if (override_existing_params) { | ||
| try { | ||
| rcl_interfaces::msg::SetParametersResult result = | ||
| dest_params->set_parameters_atomically({params[idx]}); | ||
| if (!result.successful) { | ||
| // Parameter update rejected or read-only | ||
| RCLCPP_WARN( | ||
| logger, | ||
| "Unable to set parameter (%s): %s!", | ||
| params[idx].get_name().c_str(), result.reason.c_str()); | ||
| } | ||
| } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) { | ||
| RCLCPP_WARN( | ||
| logger, | ||
| "Unable to set parameter (%s): incompatable parameter type (%s)!", | ||
| params[idx].get_name().c_str(), e.what()); | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| } // namespace rclcpp | ||
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| #endif // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_ |
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