.. _program_listing_file_include_parameter_tree.hpp:

Program Listing for File parameter_tree.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_parameter_tree.hpp>` (``include/parameter_tree.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef RIG_RECONFIGURE_PARAMETER_TREE_HPP
   #define RIG_RECONFIGURE_PARAMETER_TREE_HPP
   
   #include <memory>
   #include <optional>
   #include <utility>
   
   #include <rcl_interfaces/msg/parameter_descriptor.hpp>
   
   #include "responses.hpp"
   
   struct TreeElement {
       TreeElement(const ROSParameter &parameter_, std::string fullParameterPath_,
                   std::optional<std::size_t> patternStart_ = std::nullopt,
                   std::optional<std::size_t> patternEnd_ = std::nullopt) :
           name(parameter_.name), description(parameter_.description), 
           fullPath(std::move(fullParameterPath_)), value(parameter_.value),
           searchPatternStart(patternStart_), searchPatternEnd(patternEnd_) {};
   
       TreeElement(std::string name_, const rcl_interfaces::msg::ParameterDescriptor &description_, 
                   std::string fullParameterPath_, ROSParameterVariant value_,
                   std::optional<std::size_t> patternStart_ = std::nullopt,
                   std::optional<std::size_t> patternEnd_ = std::nullopt) :
           name(std::move(name_)), description(description_), fullPath(std::move(fullParameterPath_)),
           value(std::move(value_)), searchPatternStart(patternStart_), searchPatternEnd(patternEnd_) {};
   
       std::string name; // parameter name without prefixes
       rcl_interfaces::msg::ParameterDescriptor description;
   
       // in addition to the name we store the full path of the parameter in the leaf nodes of the tree in order to be
       // able to support the mixing of different separators
       std::string fullPath;
   
       ROSParameterVariant value;
   
       // in case this parameter is part of a filtered parameter tree the following two members store the intermediate
       // information where in the name (not the fullPath!) the applied search pattern is located
       std::optional<std::size_t> searchPatternStart;
       std::optional<std::size_t> searchPatternEnd;
   };
   
   struct ParameterGroup {
       explicit ParameterGroup(std::string prefix_ = "") : prefix(std::move(prefix_)) {};
   
       std::string prefix;
       std::optional<std::size_t> prefixSearchPatternStart;
       std::optional<std::size_t> prefixSearchPatternEnd;
   
       std::vector<TreeElement> parameters;
       std::vector<std::shared_ptr<ParameterGroup>> subgroups;
   };
   
   class ParameterTree {
     public:
       ParameterTree();
   
       void add(const ROSParameter &parameter);
       void clear();
       [[nodiscard]] std::shared_ptr<ParameterGroup> getRoot();
       [[nodiscard]] std::size_t getMaxParamNameLength() const;
       [[nodiscard]] std::string getAppliedFilter() const;
   
       [[nodiscard]] ParameterTree filter(const std::string &filterString) const;
   
       void removeEmptySubgroups();
   
   
     private:
       void add(const std::shared_ptr<ParameterGroup> &curNode, const TreeElement &parameter);
   
       void filter(const std::shared_ptr<ParameterGroup> &destinationNode,
                   const std::shared_ptr<ParameterGroup> &sourceNode,
                   const std::string &filterString) const;
   
       std::shared_ptr<ParameterGroup> root = nullptr;
   
       // bookkeeping for a nicer visualization
       std::size_t maxParamNameLength = 0;
   
       std::string appliedFilter;
   };
   
   #endif // RIG_RECONFIGURE_PARAMETER_TREE_HPP