travesim::AdapterConfigurer< AdapterConfigType > Class Template Reference

#include "adapter_configurer.hpp"

Inheritance diagram for travesim::AdapterConfigurer< AdapterConfigType >:

Collaboration diagram for travesim::AdapterConfigurer< AdapterConfigType >:

Public Member Functions
	AdapterConfigurer (void)
	Construct a new AdapterConfigurer object. More...
	AdapterConfigurer (std::string config_namespace)
	Construct a new AdapterConfigurer object. More...
bool	get_reset (void)
	Get the reset config. More...

Protected Attributes
bool	reconfigured
AdapterConfigType	config
boost::recursive_mutex	mutex

Private Member Functions
void	callback (AdapterConfigType &config, uint32_t level)
	Dynamic Reconfigure Server Callback. More...

Private Attributes
std::unique_ptr< ros::NodeHandle >	node_handle
std::unique_ptr< dynamic_reconfigure::Server< AdapterConfigType > >	server

Detailed Description

template<class AdapterConfigType>
class travesim::AdapterConfigurer< AdapterConfigType >

Definition at line 35 of file adapter_configurer.hpp.

Constructor & Destructor Documentation

AdapterConfigurer() [1/2]

template<class AdapterConfigType >

travesim::AdapterConfigurer< AdapterConfigType >::AdapterConfigurer

(

void

)

Construct a new AdapterConfigurer object.

Note

The base namespace is used

Definition at line 85 of file adapter_configurer.hpp.

                                                        : AdapterConfigurer(
        BASE_CONFIGURER_NAMESPACE) {
}

AdapterConfigurer() [2/2]

template<class AdapterConfigType >

travesim::AdapterConfigurer< AdapterConfigType >::AdapterConfigurer

(

std::string

config_namespace

)

Construct a new AdapterConfigurer object.

Parameters

config_namespace

Namespace of the adapter configurer

Definition at line 90 of file adapter_configurer.hpp.

                                                                                  {
    this->reconfigured = false;

    this->node_handle = std::unique_ptr<ros::NodeHandle>(new ros::NodeHandle(config_namespace));

    using server_t = dynamic_reconfigure::Server<AdapterConfigType>;
    this->server = std::unique_ptr<server_t>(new server_t(this->mutex, *(this->node_handle)));

    typename server_t::CallbackType server_cb;
    server_cb = boost::bind(&AdapterConfigurer::callback, this, _1, _2);
    this->server->setCallback(server_cb);

    // Update the default config in the dynamic reconfigurer
    boost::recursive_mutex::scoped_lock scoped_lock(this->mutex);
    this->server->getConfigDefault(this->config);
    this->server->updateConfig(this->config);
}

Member Function Documentation

callback()

template<class AdapterConfigType>

void travesim::AdapterConfigurer< AdapterConfigType >::callback ( AdapterConfigType &  config, uint32_t  level  )

private

Dynamic Reconfigure Server Callback.

Parameters

config	New config received
level	Result of doing an "OR" operation between all of level values of the parameters that have changed

Definition at line 132 of file adapter_configurer.hpp.

                                                                                             {
    this->config = config;
    this->reconfigured = true;
}

get_reset()

template<class AdapterConfigType >

bool travesim::AdapterConfigurer< AdapterConfigType >::get_reset

(

void

)

Get the reset config.

Returns

true if should reset, false otherwise

Definition at line 109 of file adapter_configurer.hpp.

                                                         {
    bool should_reset = this->config.reset || this->reconfigured;

    if (should_reset) {
        boost::recursive_mutex::scoped_lock scoped_lock(this->mutex);

        this->reconfigured = false;

        this->config.reset = this->reconfigured;

        this->server->updateConfig(this->config);

        return true;
    }

    return false;
}

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Member Data Documentation

config

template<class AdapterConfigType>

AdapterConfigType travesim::AdapterConfigurer< AdapterConfigType >::config

protected

Current config

Definition at line 61 of file adapter_configurer.hpp.

mutex

template<class AdapterConfigType>

boost::recursive_mutex travesim::AdapterConfigurer< AdapterConfigType >::mutex

protected

Dynamic Reconfigure Server Mutex for thread-safety

Definition at line 63 of file adapter_configurer.hpp.

node_handle

template<class AdapterConfigType>

std::unique_ptr<ros::NodeHandle> travesim::AdapterConfigurer< AdapterConfigType >::node_handle

private

Pointer to ROS Node Handle

Definition at line 66 of file adapter_configurer.hpp.

reconfigured

template<class AdapterConfigType>

bool travesim::AdapterConfigurer< AdapterConfigType >::reconfigured

protected

Whether the configs where changed or not

Definition at line 59 of file adapter_configurer.hpp.

server

template<class AdapterConfigType>

std::unique_ptr<dynamic_reconfigure::Server<AdapterConfigType> > travesim::AdapterConfigurer< AdapterConfigType >::server

private

Dynamic Reconfigure Server

Definition at line 68 of file adapter_configurer.hpp.

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The documentation for this class was generated from the following file:

• include/travesim_adapters/configurers/adapter_configurer.hpp