param_updater.py
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33 # Author: Isaac Saito, Ze'ev Klapow
34 
35 import threading
36 import time
37 
38 from rospy import ServiceException
39 
40 from . import logging
41 
42 
43 class ParamUpdater(threading.Thread):
44  """
45  Using dynamic_reconfigure that is passed in __init__, this thread updates
46  the Dynamic Reconfigure server's value.
47 
48  This class works for a single element in a single parameter.
49  """
50 
51  # TODO: Modify variable names to the ones that's more intuitive.
52 
53  def __init__(self, reconf):
54  """
55  :type reconf: dynamic_reconfigure
56  """
57  super(ParamUpdater, self).__init__()
58  self.setDaemon(True)
59 
60  self._reconf = reconf
61  self._condition_variable = threading.Condition()
62  self._configs_pending = {}
64  self._stop_flag = False
65 
66  def run(self):
67  _timestamp_last_commit = None
68 
69  logging.debug(' ParamUpdater started')
70 
71  while not self._stop_flag:
72  if _timestamp_last_commit >= self._timestamp_last_pending:
73  with self._condition_variable:
74  logging.debug(' ParamUpdater loop 1.1')
75  self._condition_variable.wait()
76  logging.debug(' ParamUpdater loop 1.2')
77  logging.debug(' ParamUpdater loop 2')
78 
79  if self._stop_flag:
80  return
81 
82  _timestamp_last_commit = time.time()
83  configs_tobe_updated = self._configs_pending.copy()
84  self._configs_pending = {}
85 
86  logging.debug(' run last_commit={}, last_pend={}'.format(
87  _timestamp_last_commit, self._timestamp_last_pending))
88 
89  try:
90  self._reconf.update_configuration(configs_tobe_updated)
91  except ServiceException as ex:
92  logging.debug('Could not update configs due to {}'.format(
93  ex.value))
94  except Exception as exc:
95  raise exc
96 
97  def update(self, config):
98  with self._condition_variable:
99  for name, value in config.items():
100  self._configs_pending[name] = value
101 
102  self._timestamp_last_pending = time.time()
103 
104  self._condition_variable.notify()
105 
106  def stop(self):
107  self._stop_flag = True
108  with self._condition_variable:
109  self._condition_variable.notify()


rqt_reconfigure
Author(s): Isaac Saito, Ze'ev Klapow
autogenerated on Wed Jul 10 2019 04:02:40