/*******************************************************************************
 * Copyright (c) 2023 Orbbec 3D Technology, Inc
 *
 * 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.
 *******************************************************************************/

#include "orbbec_camera/ros_param_backend.h"
namespace orbbec_camera {
ParametersBackend::ParametersBackend(rclcpp::Node *node)
    : node_(node), logger_(node_->get_logger()) {}

ParametersBackend::~ParametersBackend() {
  if (ros_callback_) {
    node_->remove_on_set_parameters_callback(
        (rclcpp::node_interfaces::OnSetParametersCallbackHandle *)(ros_callback_.get()));
    ros_callback_.reset();
  }
}
#if defined(ROS_JAZZY) || defined(ROS_IRON)
void ParametersBackend::addOnSetParametersCallback(
    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
  ros_callback_ = node_->add_on_set_parameters_callback(callback);
}
#else
void ParametersBackend::addOnSetParametersCallback(
    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
  ros_callback_ = node_->add_on_set_parameters_callback(callback);
}
#endif

}  // namespace orbbec_camera
