ddynamic_reconfigure.h

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#ifndef _DDYNAMIC_RECONFIGURE_
#define _DDYNAMIC_RECONFIGURE_

#include <dynamic_reconfigure/server.h>
#include <ddynamic_reconfigure/registered_param.h>
#include <ddynamic_reconfigure/ddynamic_reconfigure_utils.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <ros/spinner.h>
#include <atomic>

namespace ddynamic_reconfigure
{
class DDynamicReconfigure
{
public:
  DDynamicReconfigure(const ros::NodeHandle &nh = ros::NodeHandle("~"), bool auto_update = true);

  virtual ~DDynamicReconfigure();

  template <typename T>
  void registerVariable(const std::string &name, T *variable,
                        const std::string &description = "", T min = getMin<T>(),
                        T max = getMax<T>(), const std::string &group = "Default");

  template <typename T>
  void registerEnumVariable(const std::string &name, T *variable,
                            const std::string &description = "",
                            std::map<std::string, T> enum_dict = {},
                            const std::string &enum_description = "",
                            const std::string &group = "Default");
  template <typename T>
  void registerVariable(const std::string &name, T *variable,
                        const boost::function<void(T value)> &callback,
                        const std::string &description = "", T min = getMin<T>(),
                        T max = getMax<T>(), const std::string &group = "Default");

  template <typename T>
  void registerEnumVariable(const std::string &name, T *variable,
                            const boost::function<void(T)> &callback,
                            const std::string &description,
                            std::map<std::string, T> enum_dict = {},
                            const std::string &enum_description = "",
                            const std::string &group = "Default");

  template <typename T>
  void registerVariable(const std::string &name, T current_value,
                        const boost::function<void(T value)> &callback,
                        const std::string &description = "", T min = getMin<T>(),
                        T max = getMax<T>(), const std::string &group = "Default");

  template <typename T>
  void registerEnumVariable(const std::string &name, T current_value,
                            const boost::function<void(T)> &callback,
                            const std::string &description,
                            std::map<std::string, T> enum_dict = {},
                            const std::string &enum_description = "",
                            const std::string &group = "Default");

  virtual void publishServicesTopics();

  virtual void updatePublishedInformation();

  typedef boost::function<void()> UserCallbackType;

  virtual void setUserCallback(const UserCallbackType &callback);

  virtual void clearUserCallback();


  virtual void RegisterVariable(double *variable, std::string id, double min = -100,
                                double max = 100);

  virtual void RegisterVariable(int *variable, std::string id, int min = -100, int max = 100);

  virtual void RegisterVariable(bool *variable, std::string id);

  virtual void PublishServicesTopics();

  virtual void updateRegisteredVariablesData();

protected:
  template <typename T>
  std::vector<std::unique_ptr<RegisteredParam<T>>> &getRegisteredVector();

  virtual dynamic_reconfigure::ConfigDescription generateConfigDescription() const;

  virtual dynamic_reconfigure::Config generateConfig();

  virtual bool setConfigCallback(dynamic_reconfigure::Reconfigure::Request &req,
                                 dynamic_reconfigure::Reconfigure::Response &rsp);

  virtual void updateConfigData(const dynamic_reconfigure::Config &config);

  ros::NodeHandle node_handle_;
  ros::ServiceServer set_service_;
  ros::Publisher update_pub_;
  ros::Publisher descr_pub_;

  bool advertised_;
  bool auto_update_;

  std::atomic_bool new_config_avail_;

  // Registered variables
  std::vector<std::unique_ptr<RegisteredParam<int>>> registered_int_;
  std::vector<std::unique_ptr<RegisteredParam<double>>> registered_double_;
  std::vector<std::unique_ptr<RegisteredParam<bool>>> registered_bool_;
  std::vector<std::unique_ptr<RegisteredParam<std::string>>> registered_string_;
  std::vector<std::string> config_groups_;

  UserCallbackType user_callback_;

  ros::Timer pub_config_timer_;
  dynamic_reconfigure::Config last_config_;
  dynamic_reconfigure::Config updated_config_;
};

typedef boost::shared_ptr<DDynamicReconfigure> DDynamicReconfigurePtr;
}

#endif