test_component.hpp

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/*********************************************************************
 *
 *  Copyright (c) 2015, Intermodalics BVBA
 *  All rights reserved.
 *
 *********************************************************************/

#ifndef RTT_DYNAMIC_RECONFIGURE_TESTS_TEST_COMPONENT_HPP
#define RTT_DYNAMIC_RECONFIGURE_TESTS_TEST_COMPONENT_HPP

#include <rtt/TaskContext.hpp>

#include <dynamic_reconfigure/Reconfigure.h>
#include <geometry_msgs/Vector3.h>

#include <rtt_dynamic_reconfigure/server.h>
#include <rtt_dynamic_reconfigure/auto_config.h>

struct Properties {
    Properties()
    : int_param()
    , double_param()
    , str_param()
    , bool_param()
    , float_param()
    , uint_param()
    , bag_param()
    , str_param_in_bag()
    , vector3_param()
    {}

    int int_param;
    double double_param;
    std::string str_param;
    bool bool_param;

    // other property types
    float float_param;
    unsigned int uint_param;

    // PropertyBag properties
    RTT::PropertyBag bag_param;
    std::string str_param_in_bag;

    // composable properties
    geometry_msgs::Vector3 vector3_param;
};

namespace rtt_dynamic_reconfigure {

class DynamicReconfigureTestComponent : public RTT::TaskContext
{
public:
    Properties props;
    bool updatePropertiesCalled, updatePropertiesConstCalled, notifyPropertiesUpdateCalled;

    // types directly supported by dynamic_reconfigure
    DynamicReconfigureTestComponent(const std::string &name = "component")
        : RTT::TaskContext(name)
        , updatePropertiesCalled(false)
        , updatePropertiesConstCalled(false)
        , notifyPropertiesUpdateCalled(false)
    {
        this->addProperty("int_param", props.int_param);
        this->addProperty("double_param", props.double_param);
        this->addProperty("str_param", props.str_param);
        this->addProperty("bool_param", props.bool_param);

        this->addProperty("float_param", props.float_param);
        this->addProperty("uint_param", props.uint_param);

        props.bag_param.addProperty("str_param", props.str_param_in_bag);
        this->addProperty("bag_param", props.bag_param);

        props.vector3_param.x = 1.0;
        props.vector3_param.y = 2.0;
        props.vector3_param.z = 3.0;
        this->addProperty("vector3_param", props.vector3_param);
    }

    bool updateProperties(RTT::PropertyBag &bag, uint32_t) {
        RTT::log(RTT::Info) << "updateProperties() callback called." << RTT::endlog();
        updatePropertiesCalled = true;
        return RTT::updateProperties(*properties(), bag);
    }

    bool updatePropertiesConst(const RTT::PropertyBag &bag, uint32_t) {
        RTT::log(RTT::Info) << "updatePropertiesConst() callback called." << RTT::endlog();
        updatePropertiesConstCalled = true;
        return RTT::updateProperties(*properties(), bag);
    }

    void notifyPropertiesUpdate(uint32_t) {
        RTT::log(RTT::Info) << "notifyPropertiesUpdate() callback called." << RTT::endlog();
        notifyPropertiesUpdateCalled = true;
    }

    bool setConfigCallback(const std::string &service_name,
                           dynamic_reconfigure::Reconfigure::Request &req,
                           dynamic_reconfigure::Reconfigure::Response &rsp) {
        using namespace rtt_dynamic_reconfigure;
        typename Server<AutoConfig>::shared_ptr service
            = boost::dynamic_pointer_cast<Server<AutoConfig> >(provides()->getService(service_name));
        if (!service) return false;
        return service->setConfigCallback(req, rsp);
    }
};

} // namespace rtt_dynamic_reconfigure

#endif // RTT_DYNAMIC_RECONFIGURE_TESTS_TEST_COMPONENT_HPP