Package dynamic_reconfigure :: Module server

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 threading 
 46  import copy 
 47   
 48  from dynamic_reconfigure import DynamicReconfigureCallbackException 
 49  from dynamic_reconfigure.encoding import decode_config, encode_config, encode_description, extract_params, get_tree, initial_config 
 50  from dynamic_reconfigure.msg import Config as ConfigMsg 
 51  from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg 
 52  from dynamic_reconfigure.srv import Reconfigure as ReconfigureSrv 
 53   
 54   
55 -class Server(object):
56 - def __init__(self, type, callback, namespace=""):
57 self.mutex = threading.Lock() 58 if not namespace: 59 self.ns = "~" 60 else: 61 if namespace[0] not in ["/", "~"]: 62 namespace = "~" + namespace 63 self.ns = (namespace + "/").replace("//", "/") 64 65 self.type = type 66 self.config = type.defaults.copy() 67 68 self.description = encode_description(type) 69 self._copy_from_parameter_server() 70 self.callback = callback 71 self._clamp(self.config) 72 73 # setup group defaults 74 self.config['groups'] = get_tree(self.description) 75 self.config = initial_config(encode_config(self.config), type.config_description) 76 77 self.descr_topic = rospy.Publisher(self.ns + 'parameter_descriptions', ConfigDescrMsg, latch=True, queue_size=10) 78 self.descr_topic.publish(self.description) 79 80 self.update_topic = rospy.Publisher(self.ns + 'parameter_updates', ConfigMsg, latch=True, queue_size=10) 81 self._change_config(self.config, ~0) # Consistent with the C++ API, the callback gets called with level=~0 (i.e. -1) 82 83 self.set_service = rospy.Service(self.ns + 'set_parameters', ReconfigureSrv, self._set_callback)
84
85 - def update_configuration(self, changes):
86 with self.mutex: 87 new_config = copy.deepcopy(self.config) 88 new_config.update(changes) 89 self._clamp(new_config) 90 return self._change_config(new_config, self._calc_level(new_config, self.config))
91
93 for param in extract_params(self.type.config_description): 94 try: 95 self.config[param['name']] = rospy.get_param(self.ns + param['name']) 96 except KeyError: 97 pass
98
100 for param in extract_params(self.type.config_description): 101 rospy.set_param(self.ns + param['name'], self.config[param['name']])
102
103 - def _change_config(self, config, level):
104 self.config = self.callback(config, level) 105 if self.config is None: 106 msg = 'Reconfigure callback should return a possibly updated configuration.' 107 rospy.logerr(msg) 108 raise DynamicReconfigureCallbackException(msg) 109 110 self._copy_to_parameter_server() 111 112 self.update_topic.publish(encode_config(self.config)) 113 114 return self.config
115
116 - def _calc_level(self, config1, config2):
117 level = 0 118 for param in extract_params(self.type.config_description): 119 if config1[param['name']] != config2[param['name']]: 120 level |= param['level'] 121 122 return level
123
124 - def _clamp(self, config):
125 for param in extract_params(self.type.config_description): 126 maxval = self.type.max[param['name']] 127 minval = self.type.min[param['name']] 128 val = config[param['name']] 129 if val > maxval and maxval != "": 130 config[param['name']] = maxval 131 elif val < minval and minval != "": 132 config[param['name']] = minval
133
134 - def _set_callback(self, req):
135 return encode_config(self.update_configuration(decode_config(req.config, self.type.config_description)))
136