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00047 #ifndef __gazebo_plugins__HOKUYOCONFIG_H__
00048 #define __gazebo_plugins__HOKUYOCONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace gazebo_plugins
00058 {
00059 class HokuyoConfigStatics;
00060
00061 class HokuyoConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(HokuyoConfig &config, const HokuyoConfig &max, const HokuyoConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const HokuyoConfig &config1, const HokuyoConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, HokuyoConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const HokuyoConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, HokuyoConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const HokuyoConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T HokuyoConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (HokuyoConfig::* field);
00099
00100 virtual void clamp(HokuyoConfig &config, const HokuyoConfig &max, const HokuyoConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const HokuyoConfig &config1, const HokuyoConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, HokuyoConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const HokuyoConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, HokuyoConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const HokuyoConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 double min_ang;
00138
00139 double max_ang;
00140
00141 bool intensity;
00142
00143 int cluster;
00144
00145 int skip;
00146
00147 std::string port;
00148
00149 bool calibrate_time;
00150
00151 std::string frame_id;
00152
00153 double time_offset;
00154
00155 bool allow_unsafe_settings;
00156
00157
00158 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00159 {
00160 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00161 int count = 0;
00162 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00163 if ((*i)->fromMessage(msg, *this))
00164 count++;
00165 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00166 {
00167 ROS_ERROR("HokuyoConfig::__fromMessage__ called with an unexpected parameter.");
00168 ROS_ERROR("Booleans:");
00169 for (unsigned int i = 0; i < msg.bools.size(); i++)
00170 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00171 ROS_ERROR("Integers:");
00172 for (unsigned int i = 0; i < msg.ints.size(); i++)
00173 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00174 ROS_ERROR("Doubles:");
00175 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00176 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00177 ROS_ERROR("Strings:");
00178 for (unsigned int i = 0; i < msg.strs.size(); i++)
00179 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00180
00181
00182 return false;
00183 }
00184 return true;
00185 }
00186
00187
00188
00189 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00190 {
00191 dynamic_reconfigure::ConfigTools::clear(msg);
00192 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00193 (*i)->toMessage(msg, *this);
00194 }
00195
00196 void __toMessage__(dynamic_reconfigure::Config &msg) const
00197 {
00198 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00199 __toMessage__(msg, __param_descriptions__);
00200 }
00201
00202 void __toServer__(const ros::NodeHandle &nh) const
00203 {
00204 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00205 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00206 (*i)->toServer(nh, *this);
00207 }
00208
00209 void __fromServer__(const ros::NodeHandle &nh)
00210 {
00211 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00212 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00213 (*i)->fromServer(nh, *this);
00214 }
00215
00216 void __clamp__()
00217 {
00218 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00219 const HokuyoConfig &__max__ = __getMax__();
00220 const HokuyoConfig &__min__ = __getMin__();
00221 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00222 (*i)->clamp(*this, __max__, __min__);
00223 }
00224
00225 uint32_t __level__(const HokuyoConfig &config) const
00226 {
00227 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00228 uint32_t level = 0;
00229 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00230 (*i)->calcLevel(level, config, *this);
00231 return level;
00232 }
00233
00234 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00235 static const HokuyoConfig &__getDefault__();
00236 static const HokuyoConfig &__getMax__();
00237 static const HokuyoConfig &__getMin__();
00238 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00239
00240 private:
00241 static const HokuyoConfigStatics *__get_statics__();
00242 };
00243
00244 template <>
00245 inline void HokuyoConfig::ParamDescription<std::string>::clamp(HokuyoConfig &config, const HokuyoConfig &max, const HokuyoConfig &min) const
00246 {
00247 return;
00248 }
00249
00250 class HokuyoConfigStatics
00251 {
00252 friend class HokuyoConfig;
00253
00254 HokuyoConfigStatics()
00255 {
00256
00257 __min__.min_ang = -3.14159265359;
00258
00259 __max__.min_ang = 3.14159265359;
00260
00261 __default__.min_ang = -1.57079632679;
00262
00263 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<double>("min_ang", "double", 1, "The angle of the first range measurement. The unit depends on ~ang_radians.", "", &HokuyoConfig::min_ang)));
00264
00265 __min__.max_ang = -3.14159265359;
00266
00267 __max__.max_ang = 3.14159265359;
00268
00269 __default__.max_ang = 1.57079632679;
00270
00271 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<double>("max_ang", "double", 1, "The angle of the first range measurement. The unit depends on ~ang_radians.", "", &HokuyoConfig::max_ang)));
00272
00273 __min__.intensity = 0;
00274
00275 __max__.intensity = 1;
00276
00277 __default__.intensity = 0;
00278
00279 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<bool>("intensity", "bool", 1, "Whether or not the hokuyo returns intensity values.", "", &HokuyoConfig::intensity)));
00280
00281 __min__.cluster = 0;
00282
00283 __max__.cluster = 99;
00284
00285 __default__.cluster = 1;
00286
00287 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<int>("cluster", "int", 1, "The number of adjacent range measurements to cluster into a single reading", "", &HokuyoConfig::cluster)));
00288
00289 __min__.skip = 0;
00290
00291 __max__.skip = 9;
00292
00293 __default__.skip = 0;
00294
00295 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<int>("skip", "int", 1, "The number of scans to skip between each measured scan", "", &HokuyoConfig::skip)));
00296
00297 __min__.port = "";
00298
00299 __max__.port = "";
00300
00301 __default__.port = "/dev/ttyACM0";
00302
00303 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<std::string>("port", "str", 3, "The serial port where the hokuyo device can be found", "", &HokuyoConfig::port)));
00304
00305 __min__.calibrate_time = 0;
00306
00307 __max__.calibrate_time = 1;
00308
00309 __default__.calibrate_time = 1;
00310
00311 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<bool>("calibrate_time", "bool", 3, "Whether the node should calibrate the hokuyo's time offset", "", &HokuyoConfig::calibrate_time)));
00312
00313 __min__.frame_id = "";
00314
00315 __max__.frame_id = "";
00316
00317 __default__.frame_id = "laser";
00318
00319 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<std::string>("frame_id", "str", 0, "The frame in which laser scans will be returned", "", &HokuyoConfig::frame_id)));
00320
00321 __min__.time_offset = -0.25;
00322
00323 __max__.time_offset = 0.25;
00324
00325 __default__.time_offset = 0.0;
00326
00327 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<double>("time_offset", "double", 0, "An offet to add to the timestamp before publication of a scan", "", &HokuyoConfig::time_offset)));
00328
00329 __min__.allow_unsafe_settings = 0;
00330
00331 __max__.allow_unsafe_settings = 1;
00332
00333 __default__.allow_unsafe_settings = 0;
00334
00335 __param_descriptions__.push_back(HokuyoConfig::AbstractParamDescriptionConstPtr(new HokuyoConfig::ParamDescription<bool>("allow_unsafe_settings", "bool", 3, "Turn this on if you wish to use the UTM-30LX with an unsafe angular range. Turning this option on may cause occasional crashes or bad data. This option is a tempory workaround that will hopefully be removed in an upcoming driver version.", "", &HokuyoConfig::allow_unsafe_settings)));
00336
00337
00338 for (std::vector<HokuyoConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00339 __description_message__.parameters.push_back(**i);
00340 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00341 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00342 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00343 }
00344 std::vector<HokuyoConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00345 HokuyoConfig __max__;
00346 HokuyoConfig __min__;
00347 HokuyoConfig __default__;
00348 dynamic_reconfigure::ConfigDescription __description_message__;
00349 static const HokuyoConfigStatics *get_instance()
00350 {
00351
00352
00353
00354
00355 static HokuyoConfigStatics instance;
00356 return &instance;
00357 }
00358 };
00359
00360 inline const dynamic_reconfigure::ConfigDescription &HokuyoConfig::__getDescriptionMessage__()
00361 {
00362 return __get_statics__()->__description_message__;
00363 }
00364
00365 inline const HokuyoConfig &HokuyoConfig::__getDefault__()
00366 {
00367 return __get_statics__()->__default__;
00368 }
00369
00370 inline const HokuyoConfig &HokuyoConfig::__getMax__()
00371 {
00372 return __get_statics__()->__max__;
00373 }
00374
00375 inline const HokuyoConfig &HokuyoConfig::__getMin__()
00376 {
00377 return __get_statics__()->__min__;
00378 }
00379
00380 inline const std::vector<HokuyoConfig::AbstractParamDescriptionConstPtr> &HokuyoConfig::__getParamDescriptions__()
00381 {
00382 return __get_statics__()->__param_descriptions__;
00383 }
00384
00385 inline const HokuyoConfigStatics *HokuyoConfig::__get_statics__()
00386 {
00387 const static HokuyoConfigStatics *statics;
00388
00389 if (statics)
00390 return statics;
00391
00392 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00393
00394 if (statics)
00395 return statics;
00396
00397 statics = HokuyoConfigStatics::get_instance();
00398
00399 return statics;
00400 }
00401
00402
00403 }
00404
00405 #endif // __HOKUYORECONFIGURATOR_H__
