ddynamic_reconfigure.py

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#!/usr/bin/env python
 
"""
Dynamic dynamic reconfigure server.
 
Just register your variables for the dynamic reconfigure
and call start with a callback.
 
Author: Sammy Pfeiffer
"""
 
from dynamic_reconfigure.server import Server
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator
from dynamic_reconfigure.encoding import extract_params
from rospkg import RosPack
import rospy
 
 
class DDynamicReconfigure(ParameterGenerator):
    """Dynamic reconfigure server that can be instanced directly."""
 
    def __init__(self, name=None):
        global id
        self.group = self.Group(self, "Default", "", True, 0, 0)
        id = 1
        if name is None:
            self.name = rospy.get_name() + "_dyn_rec"
        else:
            self.name = name
        self.constants = []
        rp = RosPack()
        self.dynconfpath = rp.get_path('dynamic_reconfigure')
 
    def get_type(self):
        class TypeClass(object):
            def __init__(self, config_description):
                self.config_description = config_description
                self.min = {}
                self.max = {}
                self.defaults = {}
                self.level = {}
                self.type = {}
                self.all_level = 0
 
                for param in extract_params(config_description):
                    self.min[param['name']] = param['min']
                    self.max[param['name']] = param['max']
                    self.defaults[param['name']] = param['default']
                    self.level[param['name']] = param['level']
                    self.type[param['name']] = param['type']
                    self.all_level = self.all_level | param['level']
        return TypeClass(self.group.to_dict())
 
    def add_variable(self, name, description, default=None, min=None, max=None, edit_method=""):
        """Register variable, like gen.add() but deducting the type"""
        if type(default) == int:
            if edit_method == "":
                self.add(name, "int", 0, description, default, min, max)
            else: # enum
                self.add(name, "int", 0, description, default, min, max, edit_method)
        elif type(default) == float:
            self.add(name, "double", 0, description, default, min, max)
        elif type(default) == str:
            self.add(name, "str", 0, description, default)
        elif type(default) == bool:
            self.add(name, "bool", 0, description, default)
 
        return default
 
 
    def get_variable_names(self):
        """Return the names of the dynamic reconfigure variables"""
        names = []
        for param in self.group.parameters:
            names.append(param['name'])
        return names
 
 
    def start(self, callback):
        self.dyn_rec_srv = Server(self.get_type(), callback, namespace=self.name)