parameter_events_filter.hpp

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// Copyright 2017 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__PARAMETER_EVENTS_FILTER_HPP_
#define RCLCPP__PARAMETER_EVENTS_FILTER_HPP_
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/msg/parameter_event.hpp"
#include "rcl_interfaces/msg/parameter_value.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rmw/rmw.h"
 
namespace rclcpp
{
 
class ParameterEventsFilter
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(ParameterEventsFilter)
  enum class EventType {NEW, DELETED, CHANGED};  
  using EventPair = std::pair<EventType, const rcl_interfaces::msg::Parameter *>;
 
 
  RCLCPP_PUBLIC
  ParameterEventsFilter(
    std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event,
    const std::vector<std::string> & names,
    const std::vector<EventType> & types);
 
 
  RCLCPP_PUBLIC
  const std::vector<EventPair> & get_events() const;
 
private:
  // access only allowed via const accessor.
  std::vector<EventPair> result_;  
  std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event_;  
};
 
}  // namespace rclcpp
 
#endif  // RCLCPP__PARAMETER_EVENTS_FILTER_HPP_