#include <server.h>

Inheritance diagram for rtt_dynamic_reconfigure::Server< ConfigType >:

Public Member Functions
void	advertise (std::string ns=std::string())
void	getConfigDefault (ConfigType &config) const
const ConfigType &	getConfigDefault () const
ConfigType &	getConfigDefault ()
void	getConfigMax (ConfigType &max) const
const ConfigType &	getConfigMax () const
ConfigType &	getConfigMax ()
void	getConfigMin (ConfigType &min) const
const ConfigType &	getConfigMin () const
ConfigType &	getConfigMin ()
dynamic_reconfigure::ConfigDescriptionPtr	getDescriptionMessage ()
void	refresh ()
	Server (const std::string &name, RTT::TaskContext *owner)
	Server (RTT::TaskContext *owner)
void	setConfigDefault (const ConfigType &config)
void	setConfigMax (const ConfigType &config)
void	setConfigMin (const ConfigType &config)
void	setNotificationCallback (RTT::OperationInterfacePart *impl)
void	setUpdateCallback (RTT::OperationInterfacePart *impl)
void	setUpdater (UpdaterType *updater)
void	shutdown ()
void	updateConfig (const ConfigType &config)
bool	updated ()
UpdaterType *	updater () const
virtual	~Server ()
Private Types
typedef boost::shared_ptr < Server< ConfigType > >	shared_ptr
typedef dynamic_reconfigure_traits < ConfigType >	traits
typedef Updater< ConfigType >	UpdaterType
Private Member Functions
void	construct ()
void	PublishDescription ()
bool	setConfigCallback (dynamic_reconfigure::Reconfigure::Request &req, dynamic_reconfigure::Reconfigure::Response &rsp)
void	updateConfigInternal (const ConfigType &config)
bool	updatePropertiesDefaultImpl (const RTT::PropertyBag &source, uint32_t)
Private Attributes
ConfigType	config_
ConfigType	default_
ros::Publisher	descr_pub_
bool	initialized_
ConfigType	max_
ConfigType	min_
RTT::os::MutexRecursive	mutex_
ros::NodeHandle *	node_handle_
RTT::OperationCaller< void(uint32_t level)>	notify_callback_
ros::ServiceServer	set_service_
RTT::OperationCaller< bool(const RTT::PropertyBag &source, uint32_t level)>	update_callback_
RTT::Operation< bool(const RTT::PropertyBag &source, uint32_t level)>	update_callback_default_impl_
ros::Publisher	update_pub_
boost::shared_ptr< UpdaterType >	updater_

Detailed Description

template<class ConfigType>
class rtt_dynamic_reconfigure::Server< ConfigType >

The Server<ConfigType> class implements a dynamic_reconfigure server as an RTT service. It provides a similar API than the pure cpp dynamic_reconfigure server implemented in the dynamic_reconfigure package.

Definition at line 169 of file server.h.

Member Typedef Documentation

template<class ConfigType >

typedef boost::shared_ptr< Server<ConfigType> > rtt_dynamic_reconfigure::Server< ConfigType >::shared_ptr [private]

Reimplemented from RTT::Service.

Definition at line 174 of file server.h.

template<class ConfigType >

typedef dynamic_reconfigure_traits<ConfigType> rtt_dynamic_reconfigure::Server< ConfigType >::traits [private]

Definition at line 173 of file server.h.

template<class ConfigType >

typedef Updater<ConfigType> rtt_dynamic_reconfigure::Server< ConfigType >::UpdaterType [private]

Definition at line 172 of file server.h.

Constructor & Destructor Documentation

template<class ConfigType >

rtt_dynamic_reconfigure::Server< ConfigType >::Server	(	const std::string &	name,
		RTT::TaskContext *	owner
	)		`[inline]`

Construct a named rtt_dynamic_reconfigure server.

Parameters:

name	name of the service instance
owner	pointer to the TaskContext instance owning this service/to be configured

Definition at line 201 of file server.h.

template<class ConfigType >

rtt_dynamic_reconfigure::Server< ConfigType >::Server ( RTT::TaskContext * owner ) [inline]

Construct an rtt_dynamic_reconfigure server named "reconfigure".

Parameters:

owner pointer to the TaskContext instance owning this service/to be configured

Definition at line 214 of file server.h.

template<class ConfigType >

virtual rtt_dynamic_reconfigure::Server< ConfigType >::~Server ( ) [inline, virtual]

Destruct the rtt_dynamic_reconfigure server. This unadvertises the dynamic_reconfigure topics and services.

Definition at line 226 of file server.h.

Member Function Documentation

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::advertise ( std::string ns = std::string() ) [inline]

Advertise the dynamic_reconfigure topics and services at the master. Needs to be called explicitly after construction, e.g from the owner's configureHook().

Parameters:

ns	The ROS namespace this dynamic_reconfigure server should be advertised in. If empty, defaults to the name of the owning TaskContext.

Definition at line 367 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::construct ( ) [inline, private]

Definition at line 505 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::getConfigDefault ( ConfigType & config ) const [inline]

Get the default values of all configuration parameters

Parameters:

config the ConfigType instance to be filled

Definition at line 293 of file server.h.

template<class ConfigType >

const ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigDefault ( ) const [inline]

Get the default values of all configuration parameters

Returns:: a const reference to the ConfigType instance holding the default values

Definition at line 303 of file server.h.

template<class ConfigType >

ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigDefault ( ) [inline]

Get the default values of all configuration parameters

Returns:: a reference to the ConfigType instance holding the default values

Definition at line 310 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMax ( ConfigType & max ) const [inline]

Get the maximum values of all configuration parameters

Parameters:

config the ConfigType instance to be filled

Definition at line 245 of file server.h.

template<class ConfigType >

const ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMax ( ) const [inline]

Get the maximum values of all configuration parameters

Returns:: a const reference to the ConfigType instance holding the maximum values

Definition at line 255 of file server.h.

template<class ConfigType >

ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMax ( ) [inline]

Get the maximum values of all configuration parameters

Returns:: a reference to the ConfigType instance holding the maximum values

Definition at line 262 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMin ( ConfigType & min ) const [inline]

Get the minimum values of all configuration parameters

Parameters:

config the ConfigType instance to be filled

Definition at line 269 of file server.h.

template<class ConfigType >

const ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMin ( ) const [inline]

Get the minimum values of all configuration parameters

Returns:: a const reference to the ConfigType instance holding the minimum values

Definition at line 279 of file server.h.

template<class ConfigType >

ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMin ( ) [inline]

Get the minimum values of all configuration parameters

Returns:: a reference to the ConfigType instance holding the minimum values

Definition at line 286 of file server.h.

template<class ConfigType >

dynamic_reconfigure::ConfigDescriptionPtr rtt_dynamic_reconfigure::Server< ConfigType >::getDescriptionMessage ( ) [inline]

Construct a new instance of the description message including the current values of the minimum, maximum and default values.

Returns:: a dynamic_reconfigure::ConfigDescriptionPtr instance holding the decription message

Definition at line 350 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::PublishDescription ( ) [inline, private]

Definition at line 542 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::refresh ( ) [inline]

Refresh the config description, minimum and maximum values, get and publish the current config from the default values and the TaskContext's properties. Call this function whenever properties have been added or removed or the minimum, maximum or default values have been changed.

Definition at line 423 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::setConfigCallback	(	dynamic_reconfigure::Reconfigure::Request &	req,
		dynamic_reconfigure::Reconfigure::Response &	rsp
	)		`[inline, private]`

Definition at line 547 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setConfigDefault ( const ConfigType & config ) [inline]

Set the default values of all configuration parameters and republish the description

Returns:: a const reference to the ConfigType instance holding the default values

Definition at line 339 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setConfigMax ( const ConfigType & config ) [inline]

Set the maximum values of all configuration parameters and republish the description

Returns:: a const reference to the ConfigType instance holding the maximum values

Definition at line 317 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setConfigMin ( const ConfigType & config ) [inline]

Set the minimum values of all configuration parameters and republish the description

Returns:: a const reference to the ConfigType instance holding the minimum values

Definition at line 328 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setNotificationCallback ( RTT::OperationInterfacePart * impl ) [inline]

Sets the notification callback that notifies a TaskContext that its properties have been updated

Parameters:

impl	an Operation with the signature void()

Definition at line 499 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setUpdateCallback ( RTT::OperationInterfacePart * impl ) [inline]

Sets the property update callback (defaults to RTT::updateProperties(*(getOwner()->properties()), ...))

Parameters:

impl	an Operation with the signature bool(const RTT::PropertyBag &)

Definition at line 489 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setUpdater ( UpdaterType * updater ) [inline]

Sets the Updater instance to use to update config from properties or vice-versa.

Parameters:

updater a pointer to an instance of Updater<ConfigType>

Definition at line 479 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::shutdown ( ) [inline]

Unadvertise the dynamic_reconfigure topics and services at the master. This is the contrary of the advertise() member function.

Definition at line 397 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::updateConfig ( const ConfigType & config ) [inline]

Update the config from an instance of ConfigType

Parameters:

config the ConfigType instance

Definition at line 235 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::updateConfigInternal ( const ConfigType & config ) [inline, private]

Definition at line 567 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::updated ( ) [inline]

Inform the server that some properties have been updated.

This will republish the parameter values and updates the UI.

Definition at line 411 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::updatePropertiesDefaultImpl	(	const RTT::PropertyBag &	source,
		uint32_t
	)		`[inline, private]`

Definition at line 580 of file server.h.

template<class ConfigType >

UpdaterType* rtt_dynamic_reconfigure::Server< ConfigType >::updater ( ) const [inline]

Retrieve/construct the Updater instance of this rtt_dynamic_reconfigure server.

Returns:: a pointer to an instance of Updater<ConfigType>

Definition at line 468 of file server.h.

Member Data Documentation

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::config_ [private]

Definition at line 182 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::default_ [private]

Definition at line 185 of file server.h.

template<class ConfigType >

ros::Publisher rtt_dynamic_reconfigure::Server< ConfigType >::descr_pub_ [private]

Definition at line 180 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::initialized_ [private]

Definition at line 188 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::max_ [private]

Definition at line 184 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::min_ [private]

Definition at line 183 of file server.h.

template<class ConfigType >

RTT::os::MutexRecursive rtt_dynamic_reconfigure::Server< ConfigType >::mutex_ [private]

Definition at line 176 of file server.h.

template<class ConfigType >

ros::NodeHandle* rtt_dynamic_reconfigure::Server< ConfigType >::node_handle_ [private]

Definition at line 177 of file server.h.

template<class ConfigType >

RTT::OperationCaller<void(uint32_t level)> rtt_dynamic_reconfigure::Server< ConfigType >::notify_callback_ [private]

Definition at line 191 of file server.h.

template<class ConfigType >

ros::ServiceServer rtt_dynamic_reconfigure::Server< ConfigType >::set_service_ [private]

Definition at line 178 of file server.h.

template<class ConfigType >

RTT::OperationCaller<bool(const RTT::PropertyBag &source, uint32_t level)> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_ [private]

Definition at line 190 of file server.h.

template<class ConfigType >

RTT::Operation<bool(const RTT::PropertyBag &source, uint32_t level)> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_default_impl_ [private]

Definition at line 192 of file server.h.

template<class ConfigType >

ros::Publisher rtt_dynamic_reconfigure::Server< ConfigType >::update_pub_ [private]

Definition at line 179 of file server.h.

template<class ConfigType >

boost::shared_ptr<UpdaterType> rtt_dynamic_reconfigure::Server< ConfigType >::updater_ [mutable, private]

Definition at line 187 of file server.h.

The documentation for this class was generated from the following file:

server.h

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<class ConfigType> class rtt_dynamic_reconfigure::Server< ConfigType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class ConfigType>
class rtt_dynamic_reconfigure::Server< ConfigType >