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use super::ros::{self, ParamInfo};
use crossbeam::channel::Sender;
use once_cell::sync::Lazy;
use std::thread;
use std::time::Duration;
use tokio::runtime::Runtime;
static RUNTIME: Lazy<Runtime> =
Lazy::new(|| Runtime::new().expect("Failed to create Tokio runtime"));
#[derive(Debug, Clone)]
pub enum ParamMessage {
ParamList(Vec<ParamInfo>),
ParamValue {
node_name: String,
param_name: String,
value: String,
param_type: String,
},
ParamSetSuccess {
node_name: String,
param_name: String,
new_value: String,
},
ParamSetError {
node_name: String,
param_name: String,
error: String,
},
DumpSuccess {
node_name: String,
file_path: String,
},
LoadSuccess {
node_name: String,
file_path: String,
},
Error(String),
}
#[derive(Debug, Clone)]
pub enum ParamWatchMessage {
RefreshList,
RefreshNode {
node_name: String,
},
RefreshNodeDelayed {
node_name: String,
delay_ms: u64,
},
GetParam {
node_name: String,
param_name: String,
},
SetParam {
node_name: String,
param_name: String,
value: String,
},
DumpParam {
node_name: String,
file_path: String,
},
LoadParam {
node_name: String,
file_path: String,
},
Shutdown,
}
pub struct ParamWatcherHandle {
_handle: thread::JoinHandle<()>,
}
impl ParamWatcherHandle {
pub fn new(sender: Sender<ParamMessage>, refresh_interval: Duration) -> Self {
let sender_clone = sender.clone();
let handle = thread::spawn(move || {
let mut last_refresh = std::time::Instant::now();
loop {
// Check if it's time for periodic refresh
if last_refresh.elapsed() >= refresh_interval {
match RUNTIME.block_on(ros::get_param_list_with_values()) {
Ok(params) => {
if sender_clone.send(ParamMessage::ParamList(params)).is_err() {
break;
}
}
Err(e) => {
if sender_clone
.send(ParamMessage::Error(format!(
"Failed to get parameter list: {}",
e
)))
.is_err()
{
break;
}
}
}
last_refresh = std::time::Instant::now();
}
thread::sleep(Duration::from_millis(1000));
}
});
// Initial refresh
RUNTIME.spawn(async move {
crate::debug_log("Starting initial parameter fetch with improved method...");
match ros::get_param_list_with_values().await {
Ok(params) => {
crate::debug_log(&format!("Fetched {} parameters successfully", params.len()));
let _ = sender.send(ParamMessage::ParamList(params));
}
Err(e) => {
crate::debug_log(&format!("Failed to get initial parameter list: {}", e));
let _ = sender.send(ParamMessage::Error(format!(
"Failed to get initial parameter list: {}",
e
)));
}
}
});
Self { _handle: handle }
}
}
pub struct ParamValueWatcherHandle {
_handle: thread::JoinHandle<()>,
}
impl ParamValueWatcherHandle {
pub fn new(message_sender: Sender<ParamMessage>) -> (Self, Sender<ParamWatchMessage>) {
let (watch_sender, watch_receiver) = crossbeam::channel::unbounded();
let msg_sender = message_sender.clone();
let handle = thread::spawn(move || {
loop {
match watch_receiver.recv() {
Ok(ParamWatchMessage::RefreshList) => {
match RUNTIME.block_on(ros::get_param_list_with_values()) {
Ok(params) => {
if msg_sender.send(ParamMessage::ParamList(params)).is_err() {
break;
}
}
Err(e) => {
if msg_sender
.send(ParamMessage::Error(format!(
"Failed to refresh parameter list: {}",
e
)))
.is_err()
{
break;
}
}
}
}
Ok(ParamWatchMessage::RefreshNode { node_name }) => {
match RUNTIME.block_on(ros::get_node_params_with_values(&node_name)) {
Ok(params) => {
// Send parameter values for all parameters in this node
for param in params {
if let Some(value) = param.value {
if msg_sender
.send(ParamMessage::ParamValue {
node_name: param.node_name,
param_name: param.param_name,
value,
param_type: param.param_type,
})
.is_err()
{
break;
}
}
}
}
Err(e) => {
if msg_sender
.send(ParamMessage::Error(format!(
"Failed to refresh parameters for node {}: {}",
node_name, e
)))
.is_err()
{
break;
}
}
}
}
Ok(ParamWatchMessage::RefreshNodeDelayed {
node_name,
delay_ms,
}) => {
// Add delay before refreshing to allow parameter set to take effect
thread::sleep(std::time::Duration::from_millis(delay_ms));
match RUNTIME.block_on(ros::get_node_params_with_values(&node_name)) {
Ok(params) => {
// Send parameter values for all parameters in this node
for param in params {
if let Some(value) = param.value {
if msg_sender
.send(ParamMessage::ParamValue {
node_name: param.node_name,
param_name: param.param_name,
value,
param_type: param.param_type,
})
.is_err()
{
break;
}
}
}
}
Err(e) => {
if msg_sender
.send(ParamMessage::Error(format!(
"Failed to refresh node {} (delayed): {}",
node_name, e
)))
.is_err()
{
break;
}
}
}
}
Ok(ParamWatchMessage::GetParam {
node_name,
param_name,
}) => {
match RUNTIME.block_on(ros::get_single_param_value(&node_name, ¶m_name))
{
Ok((value, param_type)) => {
if msg_sender
.send(ParamMessage::ParamValue {
node_name,
param_name,
value,
param_type,
})
.is_err()
{
break;
}
}
Err(e) => {
if msg_sender
.send(ParamMessage::Error(format!(
"Failed to get parameter {}/{}: {}",
node_name, param_name, e
)))
.is_err()
{
break;
}
}
}
}
Ok(ParamWatchMessage::SetParam {
node_name,
param_name,
value,
}) => {
match RUNTIME.block_on(ros::set_param_value(
&node_name,
¶m_name,
&value,
)) {
Ok(success_message) => {
if msg_sender
.send(ParamMessage::ParamSetSuccess {
node_name,
param_name,
new_value: format!("{} ({})", value, success_message),
})
.is_err()
{
break;
}
}
Err(e) => {
if msg_sender
.send(ParamMessage::ParamSetError {
node_name,
param_name,
error: e.to_string(),
})
.is_err()
{
break;
}
}
}
}
Ok(ParamWatchMessage::DumpParam {
node_name,
file_path,
}) => match RUNTIME.block_on(ros::dump_params(&node_name, &file_path)) {
Ok(()) => {
if msg_sender
.send(ParamMessage::DumpSuccess {
node_name,
file_path,
})
.is_err()
{
break;
}
}
Err(e) => {
if msg_sender
.send(ParamMessage::Error(format!(
"Failed to dump parameters from {}: {}",
node_name, e
)))
.is_err()
{
break;
}
}
},
Ok(ParamWatchMessage::LoadParam {
node_name,
file_path,
}) => match RUNTIME.block_on(ros::load_params(&node_name, &file_path)) {
Ok(()) => {
if msg_sender
.send(ParamMessage::LoadSuccess {
node_name,
file_path,
})
.is_err()
{
break;
}
}
Err(e) => {
if msg_sender
.send(ParamMessage::Error(format!(
"Failed to load parameters to {}: {}",
node_name, e
)))
.is_err()
{
break;
}
}
},
Ok(ParamWatchMessage::Shutdown) => {
break;
}
Err(_) => {
break;
}
}
}
});
let watcher = Self { _handle: handle };
(watcher, watch_sender)
}
}