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 setPreUpdateCallback(const UserCallbackType &callback);
 
  virtual void clearPreUpdateCallback();
 
  virtual void setPostUpdateCallback(const UserCallbackType &callback);
 
  virtual void clearPostUpdateCallback();
 
  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 pre_update_callback_;
  UserCallbackType post_update_callback_;
 
  ros::Timer pub_config_timer_;
  dynamic_reconfigure::Config last_config_;
  dynamic_reconfigure::Config updated_config_;
};
 
typedef boost::shared_ptr<DDynamicReconfigure> DDynamicReconfigurePtr;
}
 
#endif