node_registration_options.hpp

// Copyright 2024 Robin Müller
//
// 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.
 
#pragma once
 
#include <chrono>
#include <map>
#include <string>
 
#include "auto_apms_util/exceptions.hpp"
#include "auto_apms_util/yaml.hpp"
 
namespace auto_apms_behavior_tree::core
{

struct NodeRegistrationOptions
{
  inline static const std::string PARAM_NAME_CLASS = "class_name";
  inline static const std::string PARAM_NAME_ROS2TOPIC = "topic";
  inline static const std::string PARAM_NAME_DESCRIPTION = "description";
  inline static const std::string PARAM_NAME_PORT_ALIAS = "port_alias";
  inline static const std::string PARAM_NAME_PORT_DEFAULT = "port_default";
  inline static const std::string PARAM_NAME_WAIT_TIMEOUT = "wait_timeout";
  inline static const std::string PARAM_NAME_REQUEST_TIMEOUT = "request_timeout";
  inline static const std::string PARAM_NAME_ALLOW_UNREACHABLE = "allow_unreachable";
  inline static const std::string PARAM_NAME_LOGGER_LEVEL = "logger_level";
  inline static const std::string PARAM_NAME_HIDDEN_PORTS = "hidden_ports";
  inline static const std::string PARAM_NAME_EXTRA = "extra";
  inline static const std::string PARAM_NAME_PARENT = "parent";

  NodeRegistrationOptions() = default;
 
  AUTO_APMS_UTIL_DEFINE_YAML_CONVERSION_METHODS(NodeRegistrationOptions)
 
  
  std::string class_name;
  std::string description = "No description provided.";
  std::string topic = "(input:topic)";
  std::map<std::string, std::string> port_alias = {};
  std::map<std::string, std::string> port_default = {};
  std::vector<std::string> hidden_ports = {};
  std::chrono::duration<double> wait_timeout = std::chrono::duration<double>(5);
  std::chrono::duration<double> request_timeout = std::chrono::duration<double>(5);
  bool allow_unreachable = false;
  std::string logger_level = "";
  YAML::Node extra;

  bool valid() const;
};
 
}  // namespace auto_apms_behavior_tree::core
 
// #####################################################################################################################
// ################################              DEFINITIONS              ##############################################
// #####################################################################################################################

namespace YAML
{
template <>
struct convert<auto_apms_behavior_tree::core::NodeRegistrationOptions>
{
  using Options = auto_apms_behavior_tree::core::NodeRegistrationOptions;
  static Node encode(const Options & rhs);
  static bool decode(const Node & node, Options & rhs);
};
 
}  // namespace YAML