switch cb confs

christianrauch · Nov 23, 2024 · b2a2f8a · b2a2f8a
1 parent cde65d2
commit b2a2f8a
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Showing 4 changed files with 199 additions and 105 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,6 +20,11 @@ find_package(camera_info_manager REQUIRED)
 find_package(cv_bridge REQUIRED)
 pkg_check_modules(libcamera REQUIRED libcamera>=0.1)
 
+# new param callbacks need at least 17.0.0
+if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "17")
+    add_compile_definitions(RCLCPP_HAS_PARAM_EXT_CB)
+endif()
+
 # library with common utility functions for type conversions
 add_library(utils OBJECT
   src/format_mapping.cpp
@@ -37,7 +42,7 @@ set_property(TARGET utils PROPERTY POSITION_INDEPENDENT_CODE ON)
 add_library(param OBJECT
     src/clamp.cpp
     src/cv_to_pv.cpp
-    src/parameter_conflict_check.cpp
+    # src/parameter_conflict_check.cpp
     src/pv_to_cv.cpp
     src/types.cpp
     src/type_extent.cpp

diff --git a/src/CameraNode.cpp b/src/CameraNode.cpp
@@ -104,7 +104,12 @@ class CameraNode : public rclcpp::Node
 
   ParameterHandler parameter_handler;
 
+#ifdef RCLCPP_HAS_PARAM_EXT_CB
+  // use new "post_set" callback to apply parameters
   PostSetParametersCallbackHandle::SharedPtr param_cb_change;
+#else
+  OnSetParametersCallbackHandle::SharedPtr param_cb_change;
+#endif
 
   // map parameter names to libcamera control id
   std::unordered_map<std::string, const libcamera::ControlId *> parameter_ids;
@@ -117,8 +122,13 @@ class CameraNode : public rclcpp::Node
   void
   process(libcamera::Request *const request);
 
+  void
+  postParameterChange(const std::vector<rclcpp::Parameter> &parameters);
+
+#ifndef RCLCPP_HAS_PARAM_EXT_CB
   rcl_interfaces::msg::SetParametersResult
   onParameterChange(const std::vector<rclcpp::Parameter> &parameters);
+#endif
 };
 
 RCLCPP_COMPONENTS_REGISTER_NODE(camera::CameraNode)
@@ -184,8 +194,13 @@ CameraNode::CameraNode(const rclcpp::NodeOptions &options)
     : Node("camera", options),
       cim(this),
       parameter_handler(this),
-      param_cb_change(add_post_set_parameters_callback(
-        std::bind(&CameraNode::onParameterChange, this, std::placeholders::_1)))
+      param_cb_change(
+#ifdef RCLCPP_HAS_PARAM_EXT_CB
+        add_post_set_parameters_callback(std::bind(&CameraNode::postParameterChange, this, std::placeholders::_1))
+#else
+        add_on_set_parameters_callback(std::bind(&CameraNode::onParameterChange, this, std::placeholders::_1))
+#endif
+      )
 {
   // pixel format
   rcl_interfaces::msg::ParameterDescriptor param_descr_format;
@@ -565,19 +580,31 @@ CameraNode::process(libcamera::Request *const request)
   }
 }
 
-rcl_interfaces::msg::SetParametersResult
-CameraNode::onParameterChange(const std::vector<rclcpp::Parameter> &parameters)
+void
+CameraNode::postParameterChange(const std::vector<rclcpp::Parameter> &parameters)
 {
+  std::cout << "postParameterChange" << std::endl;
+
   // check non-controls parameters
   for (const rclcpp::Parameter &parameter : parameters) {
     if (parameter.get_name() == "jpeg_quality") {
       jpeg_quality = parameter.get_parameter_value().get<uint8_t>();
     }
   }
+}
+
+#ifndef RCLCPP_HAS_PARAM_EXT_CB
+rcl_interfaces::msg::SetParametersResult
+CameraNode::onParameterChange(const std::vector<rclcpp::Parameter> &parameters)
+{
+  std::cout << "onParameterChange" << std::endl;
+
+  postParameterChange(parameters);
 
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
   return result;
 }
+#endif
 
 } // namespace camera