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00035 #ifndef RTT_DYNAMIC_RECONFIGURE_AUTO_CONFIG_H
00036 #define RTT_DYNAMIC_RECONFIGURE_AUTO_CONFIG_H
00037
00038 #include <rtt_dynamic_reconfigure/server.h>
00039 #include <boost/thread/shared_mutex.hpp>
00040
00041 namespace rtt_dynamic_reconfigure {
00042
00046 class AutoConfig : public RTT::PropertyBag
00047 {
00048 public:
00049 typedef Server<AutoConfig> ServerType;
00050
00051 std::string prefix_;
00052 std::string name;
00053 std::string type;
00054 int parent;
00055 int id;
00056 bool state;
00057
00058 AutoConfig();
00059 AutoConfig(const RTT::PropertyBag &bag);
00060 ~AutoConfig();
00061
00062 bool __fromMessage__(dynamic_reconfigure::Config &msg, const AutoConfig &sample);
00063 static bool __fromMessage__(AutoConfig &config, dynamic_reconfigure::Config &msg, const AutoConfig &sample);
00064 void __toMessage__(dynamic_reconfigure::Config &msg) const;
00065 static void __toMessage__(const AutoConfig &config, dynamic_reconfigure::Config &msg);
00066
00067 void __toServer__(const ros::NodeHandle &nh) const;
00068 void __fromServer__(const ros::NodeHandle &nh);
00069 void __clamp__(const ServerType *server);
00070 uint32_t __level__(const AutoConfig &config) const;
00071
00072 static dynamic_reconfigure::ConfigDescriptionPtr __getDescriptionMessage__(const ServerType *server);
00073 static const AutoConfig& __getDefault__(const ServerType *server);
00074 static const AutoConfig& __getMax__(const ServerType *server);
00075 static const AutoConfig& __getMin__(const ServerType *server);
00076
00077 static void __refreshDescription__(const ServerType *server);
00078
00079 bool updateProperties(RTT::PropertyBag &) const;
00080 bool fromProperties(const RTT::PropertyBag &);
00081
00082 private:
00083 struct Cache;
00084 typedef boost::shared_ptr<Cache> CachePtr;
00085 static std::map<const ServerType *, CachePtr> cache_;
00086 static boost::shared_mutex cache_mutex_;
00087 static void buildCache(const ServerType *server, RTT::TaskContext *owner);
00088 };
00089
00090 struct AutoConfig::Cache {
00091 dynamic_reconfigure::ConfigDescriptionPtr description_message_;
00092 AutoConfig default_;
00093 AutoConfig max_;
00094 AutoConfig min_;
00095 };
00096
00097 }
00098
00099
00100 #include "server.h"
00101
00102 namespace rtt_dynamic_reconfigure {
00103
00104 template <>
00105 struct Updater<AutoConfig> {
00106 static bool propertiesFromConfig(AutoConfig &config, uint32_t, RTT::PropertyBag &bag) { return config.updateProperties(bag); }
00107 static bool configFromProperties(AutoConfig &config, const RTT::PropertyBag &bag) { return config.fromProperties(bag); }
00108 };
00109
00110 template <>
00111 struct dynamic_reconfigure_traits<AutoConfig> {
00112 typedef Server<AutoConfig> ServerType;
00113
00114 static void getMin(AutoConfig &config, const ServerType *server) { config = AutoConfig::__getMin__(server); }
00115 static void getMax(AutoConfig &config, const ServerType *server) { config = AutoConfig::__getMax__(server); }
00116 static void getDefault(AutoConfig &config, const ServerType *server) { config = AutoConfig::__getDefault__(server); }
00117 static dynamic_reconfigure::ConfigDescriptionPtr getDescriptionMessage(const ServerType *server) { return AutoConfig::__getDescriptionMessage__(server); }
00118
00119 static const bool canRefresh = true;
00120 static void refreshDescription(const ServerType *server) { AutoConfig::__refreshDescription__(server); }
00121
00122 static void toMessage(AutoConfig &config, dynamic_reconfigure::Config &message, const ServerType *server) { config.__toMessage__(message); }
00123 static void fromMessage(AutoConfig &config, dynamic_reconfigure::Config &message, const ServerType *server) { config.__fromMessage__(message, config); }
00124 static void clamp(AutoConfig &config, const ServerType *server) { config.__clamp__(server); }
00125
00126 static RTT::internal::AssignableDataSource<RTT::PropertyBag>::shared_ptr getDataSource(AutoConfig &config, const ServerType *) {
00127 return RTT::internal::AssignableDataSource<RTT::PropertyBag>::shared_ptr(new RTT::internal::ReferenceDataSource<RTT::PropertyBag>(config));
00128 }
00129 };
00130
00131 }
00132
00133 #endif // RTT_DYNAMIC_RECONFIGURE_AUTO_CONFIG_H