dedicated class and library for parameter handling

.github/workflows/main.yml

@@ -11,6 +11,7 @@ jobs:
     runs-on: ubuntu-latest
 
     strategy:
+      fail-fast: false
       matrix:
         include:
           - {distribution: ubuntu,    version: 22.04, ros: humble}

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.18)
 project(camera_ros)
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
@@ -19,26 +19,42 @@ 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/clamp.cpp
-  src/cv_to_pv.cpp
   src/format_mapping.cpp
-  src/parameter_conflict_check.cpp
   src/pretty_print.cpp
-  src/pv_to_cv.cpp
-  src/types.cpp
-  src/type_extent.cpp
 )
 target_include_directories(utils PUBLIC ${libcamera_INCLUDE_DIRS})
 target_link_libraries(utils ${libcamera_LINK_LIBRARIES})
 ament_target_dependencies(
   utils
-  "rclcpp"
   "sensor_msgs"
 )
 set_property(TARGET utils PROPERTY POSITION_INDEPENDENT_CODE ON)
 
+# library for parameter/controls handling and conversion
+add_library(param OBJECT
+    src/clamp.cpp
+    src/cv_to_pv.cpp
+    src/pv_to_cv.cpp
+    src/types.cpp
+    src/type_extent.cpp
+    src/ParameterHandler.cpp
+    src/ParameterConflictHandler.cpp
+)
+target_include_directories(param PUBLIC ${libcamera_INCLUDE_DIRS})
+target_link_libraries(param ${libcamera_LINK_LIBRARIES})
+ament_target_dependencies(
+  param
+  "rclcpp"
+)
+set_property(TARGET param PROPERTY POSITION_INDEPENDENT_CODE ON)
+
 # composable ROS2 node
 add_library(camera_component SHARED src/CameraNode.cpp)
 rclcpp_components_register_node(camera_component PLUGIN "camera::CameraNode" EXECUTABLE "camera_node")
@@ -52,7 +68,7 @@ set(PACKAGE_DEPENDENCIES
 ament_target_dependencies(camera_component PUBLIC ${PACKAGE_DEPENDENCIES})
 target_include_directories(camera_component PUBLIC ${libcamera_INCLUDE_DIRS})
 target_link_libraries(camera_component PUBLIC ${libcamera_LINK_LIBRARIES})
-target_link_libraries(camera_component PRIVATE utils)
+target_link_libraries(camera_component PRIVATE utils param)
 
 ament_export_targets(camera_componentTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(${PACKAGE_DEPENDENCIES})