65 lines
2.3 KiB
C++
65 lines
2.3 KiB
C++
// Copyright 2015 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__PARAMETER_SERVICE_HPP_
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#define RCLCPP__PARAMETER_SERVICE_HPP_
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#include <memory>
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#include <string>
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#include "rcl_interfaces/srv/describe_parameters.hpp"
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#include "rcl_interfaces/srv/get_parameter_types.hpp"
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#include "rcl_interfaces/srv/get_parameters.hpp"
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#include "rcl_interfaces/srv/list_parameters.hpp"
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#include "rcl_interfaces/srv/set_parameters.hpp"
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#include "rcl_interfaces/srv/set_parameters_atomically.hpp"
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#include "rclcpp/executors.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/node.hpp"
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#include "rclcpp/parameter.hpp"
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#include "rclcpp/qos.hpp"
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#include "rclcpp/visibility_control.hpp"
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#include "rmw/rmw.h"
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namespace rclcpp
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{
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class ParameterService
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{
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public:
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RCLCPP_SMART_PTR_DEFINITIONS(ParameterService)
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RCLCPP_PUBLIC
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ParameterService(
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const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
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const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
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rclcpp::node_interfaces::NodeParametersInterface * node_params,
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const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS());
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private:
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rclcpp::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
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rclcpp::Service<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
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get_parameter_types_service_;
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rclcpp::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
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rclcpp::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
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set_parameters_atomically_service_;
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rclcpp::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
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describe_parameters_service_;
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rclcpp::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
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};
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} // namespace rclcpp
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#endif // RCLCPP__PARAMETER_SERVICE_HPP_
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