Source Code for Module dynamic_reconfigure.server

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 32   
 33  """ 
 34  Python client API for dynamic_reconfigure (L{DynamicReconfigureClient}) as well as  
 35  example server implementation (L{DynamicReconfigureServer}). 
 36  """ 
 37   
 38  from __future__ import with_statement 
 39   
 40  import roslib; roslib.load_manifest('dynamic_reconfigure') 
 41  import rospy 
 42  import rosservice                   
 43  import threading 
 44  import time 
 45  from dynamic_reconfigure import DynamicReconfigureCallbackException 
 46  from dynamic_reconfigure.srv import Reconfigure as ReconfigureSrv 
 47  from dynamic_reconfigure.msg import Config as ConfigMsg 
 48  from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg 
 49  from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription 
 50  from dynamic_reconfigure.encoding import * 
 51   
 52 -class Server(object): 
 53 -    def __init__(self, type, callback): 
 54          self.mutex = threading.Lock() 
 55          self.type = type 
 56          self.config = type.defaults 
 57          self.description = encode_description(type) 
 58          self._copy_from_parameter_server() 
 59          self.callback = callback 
 60          self._clamp(self.config)  
 61   
 62          self.descr_topic = rospy.Publisher('~parameter_descriptions', ConfigDescrMsg, latch=True) 
 63          self.descr_topic.publish(self.description); 
 64           
 65          self.update_topic = rospy.Publisher('~parameter_updates', ConfigMsg, latch=True) 
 66          self._change_config(self.config, type.all_level) 
 67           
 68          self.set_service = rospy.Service('~set_parameters', ReconfigureSrv, self._set_callback) 
 69   
 70 -    def update_configuration(self, changes): 
 71          with self.mutex: 
 72              new_config = dict(self.config) 
 73              new_config.update(changes) 
 74              self._clamp(new_config) 
 75              return self._change_config(new_config, self._calc_level(new_config, self.config)) 
 76   
 77 -    def _copy_from_parameter_server(self): 
 78          for param in self.type.config_description: 
 79              try: 
 80                  self.config[param['name']] = rospy.get_param("~" + param['name']) 
 81              except KeyError: 
 82                  pass 
 83   
 84 -    def _copy_to_parameter_server(self): 
 85          for param in self.type.config_description: 
 86              rospy.set_param('~' + param['name'], self.config[param['name']]) 
 87   
 88 -    def _change_config(self, config, level): 
 89          self.config = self.callback(config, level) 
 90          if self.config is None: 
 91              msg = 'Reconfigure callback should return a possibly updated configuration.' 
 92              rospy.logerr(msg) 
 93              raise DynamicReconfigureCallbackException(msg) 
 94           
 95          self._copy_to_parameter_server() 
 96           
 97          self.update_topic.publish(encode_config(self.config)) 
 98   
 99          return self.config 
100      
101 -    def _calc_level(self, config1, config2): 
102          level = 0 
103          for param in self.type.config_description: 
104              if config1[param['name']] != config2[param['name']]: 
105                  level |= param['level'] 
106   
107          return level 
108   
109 -    def _clamp(self, config): 
110          for param in self.type.config_description:  
111              maxval = self.type.max[param['name']]  
112              minval = self.type.min[param['name']]  
113              val = config[param['name']] 
114              if val > maxval and maxval != "":  
115                  config[param['name']] = maxval  
116              elif val < minval and minval != "":  
117                  config[param['name']] = minval  
118   
119 -    def _set_callback(self, req): 
120          return encode_config(self.update_configuration(decode_config(req.config))) 
121