auto_config.h
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00034 
00035 #ifndef RTT_DYNAMIC_RECONFIGURE_AUTO_CONFIG_H
00036 #define RTT_DYNAMIC_RECONFIGURE_AUTO_CONFIG_H
00037 
00038 #include <rtt_dynamic_reconfigure/server.h>
00039 #include <boost/thread/shared_mutex.hpp>
00040 
00041 namespace rtt_dynamic_reconfigure {
00042 
00046 class AutoConfig : public RTT::PropertyBag
00047 {
00048 public:
00049     typedef Server<AutoConfig> ServerType;
00050 
00051     std::string prefix_;
00052     std::string name;
00053     std::string type;
00054     int parent;
00055     int id;
00056     bool state;
00057 
00058     AutoConfig();
00059     AutoConfig(const RTT::PropertyBag &bag);
00060     ~AutoConfig();
00061 
00062     bool __fromMessage__(dynamic_reconfigure::Config &msg, const AutoConfig &sample);
00063     static bool __fromMessage__(AutoConfig &config, dynamic_reconfigure::Config &msg, const AutoConfig &sample);
00064     void __toMessage__(dynamic_reconfigure::Config &msg) const;
00065     static void __toMessage__(const AutoConfig &config, dynamic_reconfigure::Config &msg);
00066 
00067     void __toServer__(const ros::NodeHandle &nh) const;
00068     void __fromServer__(const ros::NodeHandle &nh);
00069     void __clamp__(const ServerType *server);
00070     uint32_t __level__(const AutoConfig &config) const;
00071 
00072     static dynamic_reconfigure::ConfigDescriptionPtr __getDescriptionMessage__(const ServerType *server);
00073     static const AutoConfig& __getDefault__(const ServerType *server);
00074     static const AutoConfig& __getMax__(const ServerType *server);
00075     static const AutoConfig& __getMin__(const ServerType *server);
00076 
00077     static void __refreshDescription__(const ServerType *server);
00078 
00079     bool updateProperties(RTT::PropertyBag &) const;
00080     bool fromProperties(const RTT::PropertyBag &);
00081 
00082 private:
00083     struct Cache;
00084     typedef boost::shared_ptr<Cache> CachePtr;
00085     static std::map<const ServerType *, CachePtr> cache_;
00086     static boost::shared_mutex cache_mutex_;
00087     static void buildCache(const ServerType *server, RTT::TaskContext *owner);
00088 };
00089 
00090 struct AutoConfig::Cache {
00091     dynamic_reconfigure::ConfigDescriptionPtr description_message_;
00092     AutoConfig default_;
00093     AutoConfig max_;
00094     AutoConfig min_;
00095 };
00096 
00097 } // namespace rtt_dynamic_reconfigure
00098 
00099 
00100 #include "server.h"
00101 
00102 namespace rtt_dynamic_reconfigure {
00103 
00104 template <>
00105 struct Updater<AutoConfig> {
00106     static bool propertiesFromConfig(AutoConfig &config, uint32_t, RTT::PropertyBag &bag) { return config.updateProperties(bag); }
00107     static bool configFromProperties(AutoConfig &config, const RTT::PropertyBag &bag)     { return config.fromProperties(bag); }
00108 };
00109 
00110 template <>
00111 struct dynamic_reconfigure_traits<AutoConfig> {
00112     typedef Server<AutoConfig> ServerType;
00113 
00114     static void getMin(AutoConfig &config, const ServerType *server)           { config = AutoConfig::__getMin__(server); }
00115     static void getMax(AutoConfig &config, const ServerType *server)           { config = AutoConfig::__getMax__(server); }
00116     static void getDefault(AutoConfig &config, const ServerType *server)       { config = AutoConfig::__getDefault__(server); }
00117     static dynamic_reconfigure::ConfigDescriptionPtr getDescriptionMessage(const ServerType *server) { return AutoConfig::__getDescriptionMessage__(server); }
00118 
00119     static const bool canRefresh = true;
00120     static void refreshDescription(const ServerType *server) { AutoConfig::__refreshDescription__(server); }
00121 
00122     static void toMessage(AutoConfig &config, dynamic_reconfigure::Config &message, const ServerType *server) { config.__toMessage__(message); }
00123     static void fromMessage(AutoConfig &config, dynamic_reconfigure::Config &message, const ServerType *server) { config.__fromMessage__(message, config); }
00124     static void clamp(AutoConfig &config, const ServerType *server) { config.__clamp__(server); }
00125 
00126     static RTT::internal::AssignableDataSource<RTT::PropertyBag>::shared_ptr getDataSource(AutoConfig &config, const ServerType *) {
00127         return RTT::internal::AssignableDataSource<RTT::PropertyBag>::shared_ptr(new RTT::internal::ReferenceDataSource<RTT::PropertyBag>(config));
00128     }
00129 };
00130 
00131 } // namespace rtt_dynamic_reconfigure
00132 
00133 #endif // RTT_DYNAMIC_RECONFIGURE_AUTO_CONFIG_H


rtt_dynamic_reconfigure
Author(s): Johannes Meyer
autogenerated on Wed Sep 16 2015 06:59:29