Source Code for Module dynamic_reconfigure.server

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 32   
 33  """ 
 34  Python client API for dynamic_reconfigure (L{DynamicReconfigureClient}) as well as  
 35  example server implementation (L{DynamicReconfigureServer}). 
 36  """ 
 37   
 38  from __future__ import with_statement 
 39   
 40  try: 
 41      import roslib; roslib.load_manifest('dynamic_reconfigure') 
 42  except: 
 43      pass 
 44  import rospy 
 45  import rosservice                   
 46  import threading 
 47  import time 
 48  import copy 
 49  from dynamic_reconfigure import DynamicReconfigureCallbackException 
 50  from dynamic_reconfigure.srv import Reconfigure as ReconfigureSrv 
 51  from dynamic_reconfigure.msg import Config as ConfigMsg 
 52  from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg 
 53  from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription 
 54  from dynamic_reconfigure.encoding import * 
 55   
 56 -class Server(object): 
 57 -    def __init__(self, type, callback): 
 58          self.mutex = threading.Lock() 
 59          self.type = type 
 60          self.config = type.defaults.copy() 
 61   
 62          self.description = encode_description(type) 
 63          self._copy_from_parameter_server() 
 64          self.callback = callback 
 65          self._clamp(self.config)  
 66   
 67          # setup group defaults 
 68          self.config['groups'] = get_tree(self.description) 
 69          self.config = initial_config(encode_config(self.config), type.config_description) 
 70   
 71          self.descr_topic = rospy.Publisher('~parameter_descriptions', ConfigDescrMsg, latch=True, queue_size=10) 
 72          self.descr_topic.publish(self.description); 
 73           
 74          self.update_topic = rospy.Publisher('~parameter_updates', ConfigMsg, latch=True, queue_size=10) 
 75          self._change_config(self.config, ~0) # Consistent with the C++ API, the callback gets called with level=~0 (i.e. -1) 
 76           
 77          self.set_service = rospy.Service('~set_parameters', ReconfigureSrv, self._set_callback) 
 78   
 79 -    def update_configuration(self, changes): 
 80          with self.mutex: 
 81              new_config = copy.deepcopy(self.config) 
 82              new_config.update(changes) 
 83              self._clamp(new_config) 
 84              return self._change_config(new_config, self._calc_level(new_config, self.config)) 
 85   
 86 -    def _copy_from_parameter_server(self): 
 87          for param in extract_params(self.type.config_description): 
 88              try: 
 89                  self.config[param['name']] = rospy.get_param("~" + param['name']) 
 90              except KeyError: 
 91                  pass 
 92   
 93 -    def _copy_to_parameter_server(self): 
 94          for param in extract_params(self.type.config_description): 
 95              rospy.set_param('~' + param['name'], self.config[param['name']]) 
 96   
 97 -    def _change_config(self, config, level): 
 98          self.config = self.callback(config, level) 
 99          if self.config is None: 
100              msg = 'Reconfigure callback should return a possibly updated configuration.' 
101              rospy.logerr(msg) 
102              raise DynamicReconfigureCallbackException(msg) 
103           
104          self._copy_to_parameter_server() 
105           
106          self.update_topic.publish(encode_config(self.config)) 
107   
108          return self.config 
109      
110 -    def _calc_level(self, config1, config2): 
111          level = 0 
112          for param in extract_params(self.type.config_description): 
113              if config1[param['name']] != config2[param['name']]: 
114                  level |= param['level'] 
115   
116          return level 
117   
118 -    def _clamp(self, config): 
119          for param in extract_params(self.type.config_description):  
120              maxval = self.type.max[param['name']]  
121              minval = self.type.min[param['name']]  
122              val = config[param['name']] 
123              if val > maxval and maxval != "":  
124                  config[param['name']] = maxval  
125              elif val < minval and minval != "":  
126                  config[param['name']] = minval  
127   
128 -    def _set_callback(self, req): 
129          return encode_config(self.update_configuration(decode_config(req.config, self.type.config_description))) 
130