get_parameters_state.hpp

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// Copyright (C) 2025 Miguel Ángel González Santamarta
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN_ROS__GET_PARAMETER_STATE_HPP_
#define YASMIN_ROS__GET_PARAMETER_STATE_HPP_
 
#include <any>
#include <string>
#include <unordered_map>
 
#include "rclcpp/rclcpp.hpp"
#include "yasmin/blackboard.hpp"
#include "yasmin/state.hpp"
#include "yasmin/types.hpp"
#include "yasmin_ros/basic_outcomes.hpp"
#include "yasmin_ros/yasmin_node.hpp"
 
namespace yasmin_ros {

class GetParametersState : public yasmin::State {
public:
  using Parameters = std::unordered_map<std::string, std::any>;

  YASMIN_PTR_ALIASES(GetParametersState)
 
  
  GetParametersState(const Parameters &parameters,
                     rclcpp::Node::SharedPtr node = nullptr);

  std::string execute(yasmin::Blackboard::SharedPtr blackboard) override;
 
private:
  std::unordered_map<std::string, std::any> parameters_;
  rclcpp::Node::SharedPtr node_;
};
 
} // namespace yasmin_ros
 
#endif // YASMIN_ROS__GET_PARAMETER_STATE_HPP_