node_options.hpp

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// Copyright 2019 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__NODE_OPTIONS_HPP_
#define RCLCPP__NODE_OPTIONS_HPP_

#include <memory>
#include <string>
#include <vector>

#include "rcl/node_options.h"
#include "rclcpp/context.hpp"
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/visibility_control.hpp"

namespace rclcpp
{

class NodeOptions
{
public:

  RCLCPP_PUBLIC
  explicit NodeOptions(rcl_allocator_t allocator = rcl_get_default_allocator());

  RCLCPP_PUBLIC
  virtual
  ~NodeOptions() = default;

  RCLCPP_PUBLIC
  NodeOptions(const NodeOptions & other);

  RCLCPP_PUBLIC
  NodeOptions &
  operator=(const NodeOptions & other);


  RCLCPP_PUBLIC
  const rcl_node_options_t *
  get_rcl_node_options() const;

  RCLCPP_PUBLIC
  rclcpp::Context::SharedPtr
  context() const;

  RCLCPP_PUBLIC
  NodeOptions &
  context(rclcpp::Context::SharedPtr context);

  RCLCPP_PUBLIC
  const std::vector<std::string> &
  arguments() const;


  RCLCPP_PUBLIC
  NodeOptions &
  arguments(const std::vector<std::string> & arguments);

  RCLCPP_PUBLIC
  std::vector<rclcpp::Parameter> &
  parameter_overrides();

  RCLCPP_PUBLIC
  const std::vector<rclcpp::Parameter> &
  parameter_overrides() const;


  RCLCPP_PUBLIC
  NodeOptions &
  parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides);

  template<typename ParameterT>
  NodeOptions &
  append_parameter_override(const std::string & name, const ParameterT & value)
  {
    this->parameter_overrides().emplace_back(name, rclcpp::ParameterValue(value));
    return *this;
  }

  RCLCPP_PUBLIC
  bool
  use_global_arguments() const;


  RCLCPP_PUBLIC
  NodeOptions &
  use_global_arguments(bool use_global_arguments);

  RCLCPP_PUBLIC
  bool
  use_intra_process_comms() const;


  RCLCPP_PUBLIC
  NodeOptions &
  use_intra_process_comms(bool use_intra_process_comms);

  RCLCPP_PUBLIC
  bool
  start_parameter_services() const;


  RCLCPP_PUBLIC
  NodeOptions &
  start_parameter_services(bool start_parameter_services);

  RCLCPP_PUBLIC
  bool
  start_parameter_event_publisher() const;


  RCLCPP_PUBLIC
  NodeOptions &
  start_parameter_event_publisher(bool start_parameter_event_publisher);

  RCLCPP_PUBLIC
  const rclcpp::QoS &
  parameter_event_qos() const;


  RCLCPP_PUBLIC
  NodeOptions &
  parameter_event_qos(const rclcpp::QoS & parameter_event_qos);

  RCLCPP_PUBLIC
  const rclcpp::PublisherOptionsBase &
  parameter_event_publisher_options() const;


  RCLCPP_PUBLIC
  NodeOptions &
  parameter_event_publisher_options(
    const rclcpp::PublisherOptionsBase & parameter_event_publisher_options);

  RCLCPP_PUBLIC
  bool
  allow_undeclared_parameters() const;


  RCLCPP_PUBLIC
  NodeOptions &
  allow_undeclared_parameters(bool allow_undeclared_parameters);

  RCLCPP_PUBLIC
  bool
  automatically_declare_parameters_from_overrides() const;


  RCLCPP_PUBLIC
  NodeOptions &
  automatically_declare_parameters_from_overrides(
    bool automatically_declare_parameters_from_overrides);

  RCLCPP_PUBLIC
  const rcl_allocator_t &
  allocator() const;


  RCLCPP_PUBLIC
  NodeOptions &
  allocator(rcl_allocator_t allocator);

protected:
  size_t
  get_domain_id_from_env() const;

private:
  // This is mutable to allow for a const accessor which lazily creates the node options instance.
  mutable std::unique_ptr<rcl_node_options_t, void (*)(rcl_node_options_t *)> node_options_;

  // IMPORTANT: if any of these default values are changed, please update the
  // documentation in this class.

  rclcpp::Context::SharedPtr context_ {
    rclcpp::contexts::default_context::get_global_default_context()};

  std::vector<std::string> arguments_ {};

  std::vector<rclcpp::Parameter> parameter_overrides_ {};

  bool use_global_arguments_ {true};

  bool use_intra_process_comms_ {false};

  bool start_parameter_services_ {true};

  bool start_parameter_event_publisher_ {true};

  rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
    rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
  );

  rclcpp::PublisherOptionsBase parameter_event_publisher_options_ = rclcpp::PublisherOptionsBase();

  bool allow_undeclared_parameters_ {false};

  bool automatically_declare_parameters_from_overrides_ {false};

  rcl_allocator_t allocator_ {rcl_get_default_allocator()};
};

}  // namespace rclcpp

#endif  // RCLCPP__NODE_OPTIONS_HPP_