ddynamic_reconfigure.h

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//
// Created by Noam Dori on 18/06/18.
//
//include space, written in C++03
#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>

#include <string>
#include <vector>
#include <map>

#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>
#include <boost/bind.hpp>

#include "dd_param.h"
using namespace std;
using namespace boost;
using namespace dynamic_reconfigure;

#ifndef DDYNAMIC_RECONFIGURE_DDYNAMIC_RECONFIGURE_H
#define DDYNAMIC_RECONFIGURE_DDYNAMIC_RECONFIGURE_H
namespace ddynamic_reconfigure {
    // this is a map from the DDParam name to the object. Acts like a set with a search function.
    typedef map<string,DDPtr> DDMap;
    // the function you will use a lot
    typedef boost::function<void(const DDMap&,int)> DDFunc;

    class DDynamicReconfigure {
    public:
         explicit DDynamicReconfigure(ros::NodeHandle &nh);

         virtual void add(DDPtr param);

         virtual void add(DDParam *param);

         virtual void remove(DDPtr param);

         virtual void remove(DDParam *param);

         virtual void remove(string param_name);

         void setCallback(DDFunc callback);

         void clearCallback();

         virtual void start();

         void start(DDFunc callback);

         void start(void(*callback)(const DDMap&, int));

         template<class T>
         void start(void(T::*callback)(const DDMap&, int), T *obj) {
            DDFunc f = bind(callback,obj,_1,_2);
            start();
         }

        Value get(const char* name);

        DDPtr at(const char* name);

        friend ostream& operator<<(ostream& os, const DDynamicReconfigure &dd);
    protected:

         ConfigDescription makeDescription();

         Config makeConfig();

        static bool internalCallback(DDynamicReconfigure *obj, Reconfigure::Request &req, Reconfigure::Response &rsp);

         ros::NodeHandle nh_;
         DDMap params_;
         ros::Publisher desc_pub_, update_pub_;

    private:

         template <class T>
         static int reassign(DDMap& map, const string &name, T value);

         int getUpdates(const Reconfigure::Request &req, DDMap &config);

          boost::shared_ptr<DDFunc> callback_;
          #ifdef __clang__
          #pragma clang diagnostic push // CLion suppressor
          #pragma ide diagnostic ignored "OCUnusedGlobalDeclarationInspection"
          #endif

          ros::ServiceServer set_service_;
          #ifdef __clang__
          #pragma clang diagnostic pop
          #endif
    };

     DDPtr at(const DDMap& map, const char* name); // I could do this with an operator, but its bad design.

     Value get(const DDMap& map, const char* name); // I could do this with an operator, but its bad design.
}
#endif //DDYNAMIC_RECONFIGURE_DDYNAMIC_RECONFIGURE_H