starting redesign

nav2_dynamic_params/include/nav2_dynamic_params/dynamic_params_client.hpp

@@ -158,12 +158,35 @@ private:
     }
   }
 
+  void add_params(std::string remote_node, std::vector<std::string> param_names){
+    
+  }
+
+  void set_event_callback(std::string remote_node) {
+
+    std::function<void(const rcl_interfaces::msg::ParameterEvent::SharedPtr)> callback = [this, remote_node](
+      const rcl_interfaces::msg::ParameterEvent::SharedPtr event) -> void
+      {
+        if (check_event(event, remote_node)) {
+          user_callback(event, remote_node);
+        }
+      };
+  }
+
+private:
+  bool check_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event, std::string remote_node){
+  // grab parameter name
+  // check parameter name against list of dynamic parameters
+  }
+
   std::map<std::string, rclcpp::Parameter> dynamic_param_map_;
   std::vector<std::string> dynamic_param_names_;
   std::vector<rclcpp::SyncParametersClient::SharedPtr> parameters_clients_;
   rclcpp::Node::SharedPtr node_;
   std::vector<rclcpp::Subscription
     <rcl_interfaces::msg::ParameterEvent>::SharedPtr> event_subscriptions_;
+
+  std::function<void(const rcl_interfaces::msg::ParameterEvent::SharedPtr, std::string node_name)> user_callback;
 };
 
 }  // namespace nav2_dynamic_params

nav2_dynamic_params/src/example_dynamic_params.cpp

@@ -36,7 +36,7 @@ int main(int argc, char ** argv)
   std::function<void(const rcl_interfaces::msg::ParameterEvent::SharedPtr)> callback = [node](
     const rcl_interfaces::msg::ParameterEvent::SharedPtr event) -> void
     {
-      RCLCPP_INFO(rclcpp::get_logger("example_dynamic_params_client"), "Event Callback!");
+      RCLCPP_INFO(node->get_logger(), "Event Callback!");
 
       if (dynamic_params_client->is_in_event(event, "foo")) {
         RCLCPP_INFO(rclcpp::get_logger("example_dynamic_params_client"),
@@ -45,7 +45,7 @@ int main(int argc, char ** argv)
 
       double foo;
       dynamic_params_client->get_event_param(event, "foo", foo);
-      RCLCPP_INFO(rclcpp::get_logger("example_dynamic_params_client"), "foo: %f", foo);
+      RCLCPP_INFO(node->get_logger(), "foo: %f", foo);
 
       int bar;
       dynamic_params_client->get_event_param_or(event, "bar", bar, 4);

nav2_dynamic_params/src/extra_test_node.cpp

+// Copyright (c) 2018 Intel Corporation
+//
+// 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.
+
+#include <memory>
+#include "nav2_dynamic_params/dynamic_params_client.hpp"
+#include "nav2_dynamic_params/dynamic_params_validator.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+
+nav2_dynamic_params::DynamicParamsClient * dynamic_params_client;
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  auto node = rclcpp::Node::make_shared("test_node");
+
+  // Add Parameters to Server
+  node->set_parameters({rclcpp::Parameter("foo", 1.0), rclcpp::Parameter("bar", 2)});
+
+  // Add Dynamic Reconfigure Client
+  dynamic_params_client = new nav2_dynamic_params::DynamicParamsClient(node);
+
+  std::function<void(const rcl_interfaces::msg::ParameterEvent::SharedPtr)> callback = [node](
+    const rcl_interfaces::msg::ParameterEvent::SharedPtr event) -> void
+    {
+      RCLCPP_INFO(node->get_logger(), "Event Callback!");
+
+      double foo;
+      dynamic_params_client->get_event_param(event, "foo", foo);
+      RCLCPP_INFO(node->get_logger(), "foo: %f", foo);
+
+      int bar;
+      dynamic_params_client->get_event_param(event, "bar", bar, 4);
+      RCLCPP_INFO(node->get_logger(), "bar: %d", bar);
+
+      // Parameter not set on server
+      double foobar;
+      dynamic_params_client->get_event_param(event, "foobar", foobar, 5.5);
+      RCLCPP_INFO(node->get_logger(), "foobar: %f", foobar);
+    };
+
+  dynamic_params_client->set_callback(callback);
+
+  // Create DynamicParamsValidator
+  auto param_validator = new nav2_dynamic_params::DynamicParamsValidator(node);
+  param_validator->add_param("foo", rclcpp::ParameterType::PARAMETER_DOUBLE);
+  param_validator->add_param("bar", rclcpp::ParameterType::PARAMETER_INTEGER, {0, 10});
+
+  // Change Parameters
+  RCLCPP_INFO(node->get_logger(), "First Service Request:");
+  node->set_parameters({rclcpp::Parameter("foo", 2.0), rclcpp::Parameter("bar", 3)});
+
+  // Try to set illegal values
+  RCLCPP_INFO(node->get_logger(), "Second Service Request:");
+  node->set_parameters({rclcpp::Parameter("foo", 1), rclcpp::Parameter("bar", 11)});
+
+  // Add New Parameter
+  RCLCPP_INFO(node->get_logger(), "Third Service Request:");
+  node->set_parameters({rclcpp::Parameter("foobar", 28.0)});
+  param_validator->add_static_params({"foobar"});
+
+  RCLCPP_INFO(node->get_logger(), "Fourth Service Request:");
+  node->set_parameters({rclcpp::Parameter("foobar", 5.0)});
+
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+
+  delete dynamic_params_client;
+  delete param_validator;
+
+  return 0;
+}