/**
* @fileoverview
* @author Brandon Alexander - baalexander@gmail.com
*/
var Service = require('./Service');
var ServiceRequest = require('./ServiceRequest');
/**
* A ROS parameter.
*
* @constructor
* @param options - possible keys include:
* * ros - the ROSLIB.Ros connection handle
* * name - the param name, like max_vel_x
*/
function Param(options) {
options = options || {};
this.ros = options.ros;
this.name = options.name;
}
/**
* Fetches the value of the param.
*
* @param callback - function with the following params:
* * value - the value of the param from ROS.
*/
Param.prototype.get = function(callback) {
var paramClient = new Service({
ros : this.ros,
name : '/rosapi/get_param',
serviceType : 'rosapi/GetParam'
});
var request = new ServiceRequest({
name : this.name
});
paramClient.callService(request, function(result) {
var value = JSON.parse(result.value);
callback(value);
});
};
/**
* Sets the value of the param in ROS.
*
* @param value - value to set param to.
*/
Param.prototype.set = function(value, callback) {
var paramClient = new Service({
ros : this.ros,
name : '/rosapi/set_param',
serviceType : 'rosapi/SetParam'
});
var request = new ServiceRequest({
name : this.name,
value : JSON.stringify(value)
});
paramClient.callService(request, callback);
};
/**
* Delete this parameter on the ROS server.
*/
Param.prototype.delete = function(callback) {
var paramClient = new Service({
ros : this.ros,
name : '/rosapi/delete_param',
serviceType : 'rosapi/DeleteParam'
});
var request = new ServiceRequest({
name : this.name
});
paramClient.callService(request, callback);
};
module.exports = Param;