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00047 #ifndef __theora_image_transport__THEORAPUBLISHERCONFIG_H__
00048 #define __theora_image_transport__THEORAPUBLISHERCONFIG_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 theora_image_transport
00058 {
00059 class TheoraPublisherConfigStatics;
00060
00061 class TheoraPublisherConfig
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(TheoraPublisherConfig &config, const TheoraPublisherConfig &max, const TheoraPublisherConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const TheoraPublisherConfig &config1, const TheoraPublisherConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, TheoraPublisherConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const TheoraPublisherConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, TheoraPublisherConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const TheoraPublisherConfig &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 TheoraPublisherConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (TheoraPublisherConfig::* field);
00099
00100 virtual void clamp(TheoraPublisherConfig &config, const TheoraPublisherConfig &max, const TheoraPublisherConfig &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 TheoraPublisherConfig &config1, const TheoraPublisherConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, TheoraPublisherConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const TheoraPublisherConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, TheoraPublisherConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const TheoraPublisherConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 int optimize_for;
00138
00139 int target_bitrate;
00140
00141 int quality;
00142
00143 int keyframe_frequency;
00144
00145
00146 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00147 {
00148 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00149 int count = 0;
00150 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00151 if ((*i)->fromMessage(msg, *this))
00152 count++;
00153 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00154 {
00155 ROS_ERROR("TheoraPublisherConfig::__fromMessage__ called with an unexpected parameter.");
00156 ROS_ERROR("Booleans:");
00157 for (unsigned int i = 0; i < msg.bools.size(); i++)
00158 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00159 ROS_ERROR("Integers:");
00160 for (unsigned int i = 0; i < msg.ints.size(); i++)
00161 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00162 ROS_ERROR("Doubles:");
00163 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00164 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00165 ROS_ERROR("Strings:");
00166 for (unsigned int i = 0; i < msg.strs.size(); i++)
00167 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00168
00169
00170 return false;
00171 }
00172 return true;
00173 }
00174
00175
00176
00177 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00178 {
00179 dynamic_reconfigure::ConfigTools::clear(msg);
00180 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00181 (*i)->toMessage(msg, *this);
00182 }
00183
00184 void __toMessage__(dynamic_reconfigure::Config &msg) const
00185 {
00186 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00187 __toMessage__(msg, __param_descriptions__);
00188 }
00189
00190 void __toServer__(const ros::NodeHandle &nh) const
00191 {
00192 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00193 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00194 (*i)->toServer(nh, *this);
00195 }
00196
00197 void __fromServer__(const ros::NodeHandle &nh)
00198 {
00199 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00200 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00201 (*i)->fromServer(nh, *this);
00202 }
00203
00204 void __clamp__()
00205 {
00206 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00207 const TheoraPublisherConfig &__max__ = __getMax__();
00208 const TheoraPublisherConfig &__min__ = __getMin__();
00209 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00210 (*i)->clamp(*this, __max__, __min__);
00211 }
00212
00213 uint32_t __level__(const TheoraPublisherConfig &config) const
00214 {
00215 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00216 uint32_t level = 0;
00217 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00218 (*i)->calcLevel(level, config, *this);
00219 return level;
00220 }
00221
00222 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00223 static const TheoraPublisherConfig &__getDefault__();
00224 static const TheoraPublisherConfig &__getMax__();
00225 static const TheoraPublisherConfig &__getMin__();
00226 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00227
00228 private:
00229 static const TheoraPublisherConfigStatics *__get_statics__();
00230 };
00231
00232 template <>
00233 inline void TheoraPublisherConfig::ParamDescription<std::string>::clamp(TheoraPublisherConfig &config, const TheoraPublisherConfig &max, const TheoraPublisherConfig &min) const
00234 {
00235 return;
00236 }
00237
00238 class TheoraPublisherConfigStatics
00239 {
00240 friend class TheoraPublisherConfig;
00241
00242 TheoraPublisherConfigStatics()
00243 {
00244
00245 __min__.optimize_for = 0;
00246
00247 __max__.optimize_for = 1;
00248
00249 __default__.optimize_for = 1;
00250
00251 __param_descriptions__.push_back(TheoraPublisherConfig::AbstractParamDescriptionConstPtr(new TheoraPublisherConfig::ParamDescription<int>("optimize_for", "int", 0, "Try to achieve either 'target_bitrate' or 'quality'", "{'enum_description': 'Enum to control whether optimizing for bitrate or quality', 'enum': [{'srcline': 10, 'description': 'Aim for requested bitrate', 'srcfile': '../cfg/TheoraPublisher.cfg', 'cconsttype': 'const int', 'value': 0, 'ctype': 'int', 'type': 'int', 'name': 'Bitrate'}, {'srcline': 11, 'description': 'Aim for requested quality', 'srcfile': '../cfg/TheoraPublisher.cfg', 'cconsttype': 'const int', 'value': 1, 'ctype': 'int', 'type': 'int', 'name': 'Quality'}]}", &TheoraPublisherConfig::optimize_for)));
00252
00253 __min__.target_bitrate = 0;
00254
00255 __max__.target_bitrate = 99200000;
00256
00257 __default__.target_bitrate = 800000;
00258
00259 __param_descriptions__.push_back(TheoraPublisherConfig::AbstractParamDescriptionConstPtr(new TheoraPublisherConfig::ParamDescription<int>("target_bitrate", "int", 0, "Target encoding bitrate, bits per second", "", &TheoraPublisherConfig::target_bitrate)));
00260
00261 __min__.quality = 0;
00262
00263 __max__.quality = 63;
00264
00265 __default__.quality = 31;
00266
00267 __param_descriptions__.push_back(TheoraPublisherConfig::AbstractParamDescriptionConstPtr(new TheoraPublisherConfig::ParamDescription<int>("quality", "int", 0, "Encoding quality", "", &TheoraPublisherConfig::quality)));
00268
00269 __min__.keyframe_frequency = 1;
00270
00271 __max__.keyframe_frequency = 64;
00272
00273 __default__.keyframe_frequency = 64;
00274
00275 __param_descriptions__.push_back(TheoraPublisherConfig::AbstractParamDescriptionConstPtr(new TheoraPublisherConfig::ParamDescription<int>("keyframe_frequency", "int", 0, "Maximum distance between key frames", "", &TheoraPublisherConfig::keyframe_frequency)));
00276
00277
00278 for (std::vector<TheoraPublisherConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00279 __description_message__.parameters.push_back(**i);
00280 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00281 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00282 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00283 }
00284 std::vector<TheoraPublisherConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00285 TheoraPublisherConfig __max__;
00286 TheoraPublisherConfig __min__;
00287 TheoraPublisherConfig __default__;
00288 dynamic_reconfigure::ConfigDescription __description_message__;
00289 static const TheoraPublisherConfigStatics *get_instance()
00290 {
00291
00292
00293
00294
00295 static TheoraPublisherConfigStatics instance;
00296 return &instance;
00297 }
00298 };
00299
00300 inline const dynamic_reconfigure::ConfigDescription &TheoraPublisherConfig::__getDescriptionMessage__()
00301 {
00302 return __get_statics__()->__description_message__;
00303 }
00304
00305 inline const TheoraPublisherConfig &TheoraPublisherConfig::__getDefault__()
00306 {
00307 return __get_statics__()->__default__;
00308 }
00309
00310 inline const TheoraPublisherConfig &TheoraPublisherConfig::__getMax__()
00311 {
00312 return __get_statics__()->__max__;
00313 }
00314
00315 inline const TheoraPublisherConfig &TheoraPublisherConfig::__getMin__()
00316 {
00317 return __get_statics__()->__min__;
00318 }
00319
00320 inline const std::vector<TheoraPublisherConfig::AbstractParamDescriptionConstPtr> &TheoraPublisherConfig::__getParamDescriptions__()
00321 {
00322 return __get_statics__()->__param_descriptions__;
00323 }
00324
00325 inline const TheoraPublisherConfigStatics *TheoraPublisherConfig::__get_statics__()
00326 {
00327 const static TheoraPublisherConfigStatics *statics;
00328
00329 if (statics)
00330 return statics;
00331
00332 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00333
00334 if (statics)
00335 return statics;
00336
00337 statics = TheoraPublisherConfigStatics::get_instance();
00338
00339 return statics;
00340 }
00341
00342
00343 const int TheoraPublisher_Bitrate = 0;
00344
00345 const int TheoraPublisher_Quality = 1;
00346 }
00347
00348 #endif // __THEORAPUBLISHERRECONFIGURATOR_H__
