updater.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2009, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
00008 # are met:
00009 #
00010 #  * Redistributions of source code must retain the above copyright
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00012 #  * Redistributions in binary form must reproduce the above
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00014 #    disclaimer in the documentation and/or other materials provided
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00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00031 # POSSIBILITY OF SUCH DAMAGE.
00032 
00033 # Author: Ze'ev Klapow
00034 
00035 import rospy
00036 import dynamic_reconfigure
00037 
00038 import threading
00039 import time
00040 
00041 class Updater(threading.Thread):
00042     def __init__(self, reconf):
00043         super(Updater, self).__init__()
00044         self.setDaemon(True)
00045 
00046         self._reconf = reconf
00047         self._cv = threading.Condition()
00048         self._pending_config = {}
00049         self._last_pending = None
00050         self._stop_flag = False
00051 
00052     def run(self):
00053         last_commit = None
00054 
00055         while not self._stop_flag:
00056             if last_commit >= self._last_pending:
00057                     with self._cv:
00058                         self._cv.wait()
00059 
00060             if self._stop_flag:  
00061                 return
00062 
00063             last_commit = time.time()
00064             update = self._pending_config.copy()
00065             self._pending_config = {}
00066 
00067             try:
00068                 updated = self._reconf.update_configuration(update)
00069             except rospy.ServiceException as ex:
00070                 print('Could not update configuration')
00071             except Exception as exc:
00072                 raise exc
00073 
00074     def update(self, config):
00075         with self._cv:
00076             for name, value in config.items():
00077                 self._pending_config[name] = value
00078 
00079             self._last_pending = time.time()
00080 
00081             self._cv.notify()
00082 
00083     def stop(self):
00084         self._stop_flag = True 
00085         with self._cv:
00086             self._cv.notify()
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reconfigure_gui
Author(s): Ze'ev Klapow
autogenerated on Mon Aug 19 2013 11:00:48