ParameterFreezer.hpp

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// Copyright 2026 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef EASYNAV_SYSTEM__SAFETY__PARAMETERFREEZER_HPP_
#define EASYNAV_SYSTEM__SAFETY__PARAMETERFREEZER_HPP_
 
#include <atomic>
#include <map>
#include <mutex>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
 
#include "easynav_system/safety/ConfigurationFingerprint.hpp"
 
namespace easynav::safety
{

class ParameterFreezer
{
public:
  void freeze(const Nodes & nodes);

  [[nodiscard]] bool is_frozen() const {return !handles_.empty();}

  void accept_new_parameters(bool accept) {accept_new_ = accept;}
 
private:
  std::map<std::string, std::map<std::string, rclcpp::ParameterValue>> frozen_;
  std::mutex mutex_;
  std::atomic<bool> accept_new_ {true};
  std::vector<rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr> handles_;
};
 
}  // namespace easynav::safety
 
#endif  // EASYNAV_SYSTEM__SAFETY__PARAMETERFREEZER_HPP_