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feat(config): make parameter 'enabled' dynamic #542

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feat(config): make parameter 'enabled' dynamic #542

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6 changes: 5 additions & 1 deletion velodyne_driver/include/velodyne_driver/driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#ifndef VELODYNE_DRIVER__DRIVER_HPP_
#define VELODYNE_DRIVER__DRIVER_HPP_

#include <atomic>
#include <future>
#include <memory>
#include <string>
Expand Down Expand Up @@ -70,7 +71,7 @@ class VelodyneDriver final : public rclcpp::Node
double rpm; // device rotation rate (RPMs)
int cut_angle; // cutting angle in radians
double time_offset; // time in seconds added to each velodyne time stamp
bool enabled; // polling is enabled
std::atomic<bool> enabled; // polling is enabled
bool timestamp_first_packet; // timestamp based on first packet instead of last one
}
config_;
Expand All @@ -85,6 +86,9 @@ class VelodyneDriver final : public rclcpp::Node
double diag_max_freq_;
std::unique_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;

std::shared_ptr<rclcpp::ParameterEventHandler> param_subscriber_;
std::shared_ptr<rclcpp::ParameterCallbackHandle> param_enabled_cb_handle_;

// We use this future/promise pair to notify threads that we are shutting down
std::shared_future<void> future_;
std::promise<void> exit_signal_;
Expand Down
8 changes: 6 additions & 2 deletions velodyne_driver/src/driver/driver.cpp
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Expand Up @@ -71,7 +71,7 @@ VelodyneDriver::VelodyneDriver(const rclcpp::NodeOptions & options)
offset_desc.floating_point_range.push_back(offset_range);
config_.time_offset = this->declare_parameter("time_offset", 0.0, offset_desc);

config_.enabled = this->declare_parameter("enabled", true);
config_.enabled.store(this->declare_parameter("enabled", true));
bool read_once = this->declare_parameter("read_once", false);
bool read_fast = this->declare_parameter("read_fast", false);
double repeat_delay = this->declare_parameter("repeat_delay", 0.0);
Expand All @@ -83,6 +83,10 @@ VelodyneDriver::VelodyneDriver(const rclcpp::NodeOptions & options)
int udp_port = this->declare_parameter("port", static_cast<int>(DATA_PORT_NUMBER));
config_.timestamp_first_packet = this->declare_parameter("timestamp_first_packet", false);

param_subscriber_ = std::make_shared<rclcpp::ParameterEventHandler>(this);
param_enabled_cb_handle_ = param_subscriber_->add_parameter_callback(
"enabled", [this](const rclcpp::Parameter & p) { this->config_.enabled.store(p.as_bool()); });

future_ = exit_signal_.get_future();

// get model name, validate string, determine packet rate
Expand Down Expand Up @@ -196,7 +200,7 @@ VelodyneDriver::~VelodyneDriver()
*/
bool VelodyneDriver::poll()
{
if (!config_.enabled) {
if (!config_.enabled.load()) {
// If we are not enabled exit once a second to let the caller handle
// anything it might need to, such as if it needs to exit.
std::this_thread::sleep_for(std::chrono::seconds(1));
Expand Down
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