param_updater.py
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00001 # Software License Agreement (BSD License)
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00003 # Copyright (c) 2012, Willow Garage, Inc.
00004 # All rights reserved.
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00007 # modification, are permitted provided that the following conditions
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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
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00033 # Author: Isaac Saito, Ze'ev Klapow
00034 
00035 import threading
00036 import time
00037 
00038 import rospy
00039 
00040 
00041 class ParamUpdater(threading.Thread):
00042     '''
00043     Using dynamic_reconfigure that is passed in __init__, this thread updates
00044     the Dynamic Reconfigure server's value.
00045 
00046     This class works for a single element in a single parameter.
00047     '''
00048 
00049     #TODO: Modify variable names to the ones that's more intuitive.
00050 
00051     def __init__(self, reconf):
00052         """
00053         :type reconf: dynamic_reconfigure
00054         """
00055         super(ParamUpdater, self).__init__()
00056         self.setDaemon(True)
00057 
00058         self._reconf = reconf
00059         self._condition_variable = threading.Condition()
00060         self._configs_pending = {}
00061         self._timestamp_last_pending = None
00062         self._stop_flag = False
00063 
00064     def run(self):
00065         _timestamp_last_commit = None
00066 
00067         rospy.logdebug(' ParamUpdater started')
00068 
00069         while not self._stop_flag:
00070             if _timestamp_last_commit >= self._timestamp_last_pending:
00071                     with self._condition_variable:
00072                         rospy.logdebug(' ParamUpdater loop 1.1')
00073                         self._condition_variable.wait()
00074                         rospy.logdebug(' ParamUpdater loop 1.2')
00075             rospy.logdebug(' ParamUpdater loop 2')
00076 
00077             if self._stop_flag:
00078                 return
00079 
00080             _timestamp_last_commit = time.time()
00081             configs_tobe_updated = self._configs_pending.copy()
00082             self._configs_pending = {}
00083 
00084             rospy.logdebug('  run last_commit={}, last_pend={}'.format(
00085                          _timestamp_last_commit, self._timestamp_last_pending))
00086 
00087             try:
00088                 self._reconf.update_configuration(configs_tobe_updated)
00089             except rospy.ServiceException as ex:
00090                 rospy.logdebug('Could not update configs due to {}'.format(
00091                                                                      ex.value))
00092             except Exception as exc:
00093                 raise exc
00094 
00095     def update(self, config):
00096         with self._condition_variable:
00097             for name, value in config.items():
00098                 self._configs_pending[name] = value
00099 
00100             self._timestamp_last_pending = time.time()
00101 
00102             self._condition_variable.notify()
00103 
00104     def stop(self):
00105         self._stop_flag = True
00106         with self._condition_variable:
00107             self._condition_variable.notify()


rqt_reconfigure
Author(s): Isaac Saito, Ze'ev Klapow
autogenerated on Mon Oct 6 2014 07:15:23