#include <server.h>

Inheritance diagram for rtt_dynamic_reconfigure::Server< ConfigType >:

Public Member Functions
void	advertise (std::string ns=std::string())
const ConfigType &	getConfig () const
void	getConfigDefault (ConfigType &config) const
const ConfigType &	getConfigDefault () const
ConfigType &	getConfigDefault ()
void	getConfigMax (ConfigType &max) const
const ConfigType &	getConfigMax () const
ConfigType &	getConfigMax ()
void	getConfigMin (ConfigType &min) const
const ConfigType &	getConfigMin () const
ConfigType &	getConfigMin ()
dynamic_reconfigure::ConfigDescriptionPtr	getDescriptionMessage ()
void	refresh ()
	Server (const std::string &name, RTT::TaskContext *owner)
	Server (RTT::TaskContext *owner)
void	setConfigDefault (const ConfigType &config)
void	setConfigMax (const ConfigType &config)
void	setConfigMin (const ConfigType &config)
void	setNotificationCallback (RTT::OperationInterfacePart *impl)
void	setUpdateCallback (RTT::OperationInterfacePart *impl)
void	setUpdater (UpdaterType *updater)
void	shutdown ()
void	updateConfig (const ConfigType &config)
bool	updated ()
UpdaterType *	updater () const
virtual	~Server ()
Private Types
typedef boost::shared_ptr < Server< ConfigType > >	shared_ptr
typedef dynamic_reconfigure_traits < ConfigType >	traits
typedef Updater< ConfigType >	UpdaterType
Private Member Functions
void	construct ()
void	PublishDescription ()
bool	setConfigCallback (dynamic_reconfigure::Reconfigure::Request &req, dynamic_reconfigure::Reconfigure::Response &rsp)
void	updateConfigInternal (const ConfigType &config)
bool	updatePropertiesDefaultImpl (const RTT::PropertyBag &bag, uint32_t)
Private Attributes
ConfigType	config_
ConfigType	default_
ros::Publisher	descr_pub_
bool	initialized_
ConfigType	max_
ConfigType	min_
RTT::os::MutexRecursive	mutex_
ros::NodeHandle *	node_handle_
RTT::OperationCaller < NotifyCallbackSignature >	notify_callback_
ros::ServiceServer	set_service_
RTT::OperationCaller < UpdateCallbackSignature >	update_callback_
RTT::OperationCaller < UpdateCallbackConstSignature >	update_callback_const_
RTT::Operation < UpdateCallbackConstSignature >	update_callback_default_impl_
ros::Publisher	update_pub_
boost::shared_ptr< UpdaterType >	updater_
Friends
class	DynamicReconfigureTestComponent

Detailed Description

template<class ConfigType>
class rtt_dynamic_reconfigure::Server< ConfigType >

The Server<ConfigType> class implements a dynamic_reconfigure server as an RTT service. It provides a similar API than the pure cpp dynamic_reconfigure server implemented in the dynamic_reconfigure package.

Definition at line 183 of file server.h.

Member Typedef Documentation

template<class ConfigType >

typedef boost::shared_ptr< Server<ConfigType> > rtt_dynamic_reconfigure::Server< ConfigType >::shared_ptr [private]

Reimplemented from RTT::Service.

Definition at line 188 of file server.h.

template<class ConfigType >

typedef dynamic_reconfigure_traits<ConfigType> rtt_dynamic_reconfigure::Server< ConfigType >::traits [private]

Definition at line 187 of file server.h.

template<class ConfigType >

typedef Updater<ConfigType> rtt_dynamic_reconfigure::Server< ConfigType >::UpdaterType [private]

Definition at line 186 of file server.h.

Constructor & Destructor Documentation

template<class ConfigType >

rtt_dynamic_reconfigure::Server< ConfigType >::Server	(	const std::string &	name,
		RTT::TaskContext *	owner
	)		`[inline]`

Construct a named rtt_dynamic_reconfigure server.

Parameters:

name	name of the service instance
owner	pointer to the TaskContext instance owning this service/to be configured

Definition at line 216 of file server.h.

template<class ConfigType >

rtt_dynamic_reconfigure::Server< ConfigType >::Server ( RTT::TaskContext * owner ) [inline]

Construct an rtt_dynamic_reconfigure server named "reconfigure".

Parameters:

owner pointer to the TaskContext instance owning this service/to be configured

Definition at line 229 of file server.h.

template<class ConfigType >

virtual rtt_dynamic_reconfigure::Server< ConfigType >::~Server ( ) [inline, virtual]

Destruct the rtt_dynamic_reconfigure server. This unadvertises the dynamic_reconfigure topics and services.

Definition at line 241 of file server.h.

Member Function Documentation

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::advertise ( std::string ns = std::string() ) [inline]

Advertise the dynamic_reconfigure topics and services at the master. Needs to be called explicitly after construction, e.g from the owner's configureHook().

Parameters:

ns	The ROS namespace this dynamic_reconfigure server should be advertised in. If empty, defaults to the name of the owning TaskContext.

Definition at line 389 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::construct ( ) [inline, private]

Definition at line 584 of file server.h.

template<class ConfigType >

const ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfig ( ) const [inline]

Get the current configuration parameters

Returns:: a const reference to the ConfigType instance holding the current values

Definition at line 250 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::getConfigDefault ( ConfigType & config ) const [inline]

Get the default values of all configuration parameters

Parameters:

config the ConfigType instance to be filled

Definition at line 315 of file server.h.

template<class ConfigType >

const ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigDefault ( ) const [inline]

Get the default values of all configuration parameters

Returns:: a const reference to the ConfigType instance holding the default values

Definition at line 325 of file server.h.

template<class ConfigType >

ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigDefault ( ) [inline]

Get the default values of all configuration parameters

Returns:: a reference to the ConfigType instance holding the default values

Definition at line 332 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMax ( ConfigType & max ) const [inline]

Get the maximum values of all configuration parameters

Parameters:

config the ConfigType instance to be filled

Definition at line 267 of file server.h.

template<class ConfigType >

const ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMax ( ) const [inline]

Get the maximum values of all configuration parameters

Returns:: a const reference to the ConfigType instance holding the maximum values

Definition at line 277 of file server.h.

template<class ConfigType >

ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMax ( ) [inline]

Get the maximum values of all configuration parameters

Returns:: a reference to the ConfigType instance holding the maximum values

Definition at line 284 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMin ( ConfigType & min ) const [inline]

Get the minimum values of all configuration parameters

Parameters:

config the ConfigType instance to be filled

Definition at line 291 of file server.h.

template<class ConfigType >

const ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMin ( ) const [inline]

Get the minimum values of all configuration parameters

Returns:: a const reference to the ConfigType instance holding the minimum values

Definition at line 301 of file server.h.

template<class ConfigType >

ConfigType& rtt_dynamic_reconfigure::Server< ConfigType >::getConfigMin ( ) [inline]

Get the minimum values of all configuration parameters

Returns:: a reference to the ConfigType instance holding the minimum values

Definition at line 308 of file server.h.

template<class ConfigType >

dynamic_reconfigure::ConfigDescriptionPtr rtt_dynamic_reconfigure::Server< ConfigType >::getDescriptionMessage ( ) [inline]

Construct a new instance of the description message including the current values of the minimum, maximum and default values.

Returns:: a dynamic_reconfigure::ConfigDescriptionPtr instance holding the decription message

Definition at line 372 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::PublishDescription ( ) [inline, private]

Definition at line 627 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::refresh ( ) [inline]

Refresh the config description, minimum and maximum values, get and publish the current config from the default values and the TaskContext's properties. Call this function whenever properties have been added or removed or the minimum, maximum or default values have been changed.

Definition at line 445 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::setConfigCallback	(	dynamic_reconfigure::Reconfigure::Request &	req,
		dynamic_reconfigure::Reconfigure::Response &	rsp
	)		`[inline, private]`

Definition at line 633 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setConfigDefault ( const ConfigType & config ) [inline]

Set the default values of all configuration parameters and republish the description

Returns:: a const reference to the ConfigType instance holding the default values

Definition at line 361 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setConfigMax ( const ConfigType & config ) [inline]

Set the maximum values of all configuration parameters and republish the description

Returns:: a const reference to the ConfigType instance holding the maximum values

Definition at line 339 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setConfigMin ( const ConfigType & config ) [inline]

Set the minimum values of all configuration parameters and republish the description

Returns:: a const reference to the ConfigType instance holding the minimum values

Definition at line 350 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setNotificationCallback ( RTT::OperationInterfacePart * impl ) [inline]

Sets the notification callback that notifies a TaskContext that its properties have been updated

Parameters:

impl	an Operation with the signature void()

Definition at line 578 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setUpdateCallback ( RTT::OperationInterfacePart * impl ) [inline]

Sets the property update callback (defaults to RTT::updateProperties(*(getOwner()->properties()), ...))

Parameters:

impl	an Operation with the signature bool(const RTT::PropertyBag &)

Definition at line 568 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::setUpdater ( UpdaterType * updater ) [inline]

Sets the Updater instance to use to update config from properties or vice-versa.

Parameters:

updater a pointer to an instance of Updater<ConfigType>

Definition at line 558 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::shutdown ( ) [inline]

Unadvertise the dynamic_reconfigure topics and services at the master. This is the contrary of the advertise() member function.

Definition at line 419 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::updateConfig ( const ConfigType & config ) [inline]

Update the config from an instance of ConfigType

Parameters:

config the ConfigType instance

Definition at line 257 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::updateConfigInternal ( const ConfigType & config ) [inline, private]

Definition at line 660 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::updated ( ) [inline]

Inform the server that some properties have been updated.

This will republish the parameter values and updates the UI.

Definition at line 433 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::updatePropertiesDefaultImpl	(	const RTT::PropertyBag &	bag,
		uint32_t
	)		`[inline, private]`

Definition at line 673 of file server.h.

template<class ConfigType >

UpdaterType* rtt_dynamic_reconfigure::Server< ConfigType >::updater ( ) const [inline]

Retrieve/construct the Updater instance of this rtt_dynamic_reconfigure server.

Returns:: a pointer to an instance of Updater<ConfigType>

Definition at line 547 of file server.h.

Friends And Related Function Documentation

template<class ConfigType >

friend class DynamicReconfigureTestComponent [friend]

Definition at line 632 of file server.h.

Member Data Documentation

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::config_ [private]

Definition at line 196 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::default_ [private]

Definition at line 199 of file server.h.

template<class ConfigType >

ros::Publisher rtt_dynamic_reconfigure::Server< ConfigType >::descr_pub_ [private]

Definition at line 194 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::initialized_ [private]

Definition at line 202 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::max_ [private]

Definition at line 198 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::min_ [private]

Definition at line 197 of file server.h.

template<class ConfigType >

RTT::os::MutexRecursive rtt_dynamic_reconfigure::Server< ConfigType >::mutex_ [private]

Definition at line 190 of file server.h.

template<class ConfigType >

ros::NodeHandle* rtt_dynamic_reconfigure::Server< ConfigType >::node_handle_ [private]

Definition at line 191 of file server.h.

template<class ConfigType >

RTT::OperationCaller<NotifyCallbackSignature> rtt_dynamic_reconfigure::Server< ConfigType >::notify_callback_ [private]

Definition at line 207 of file server.h.

template<class ConfigType >

ros::ServiceServer rtt_dynamic_reconfigure::Server< ConfigType >::set_service_ [private]

Definition at line 192 of file server.h.

template<class ConfigType >

RTT::OperationCaller<UpdateCallbackSignature> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_ [private]

Definition at line 204 of file server.h.

template<class ConfigType >

RTT::OperationCaller<UpdateCallbackConstSignature> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_const_ [private]

Definition at line 205 of file server.h.

template<class ConfigType >

RTT::Operation<UpdateCallbackConstSignature> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_default_impl_ [private]

Definition at line 206 of file server.h.

template<class ConfigType >

ros::Publisher rtt_dynamic_reconfigure::Server< ConfigType >::update_pub_ [private]

Definition at line 193 of file server.h.

template<class ConfigType >

boost::shared_ptr<UpdaterType> rtt_dynamic_reconfigure::Server< ConfigType >::updater_ [mutable, private]

Definition at line 201 of file server.h.

The documentation for this class was generated from the following file:

server.h

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Detailed Description

template<class ConfigType> class rtt_dynamic_reconfigure::Server< ConfigType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class ConfigType>
class rtt_dynamic_reconfigure::Server< ConfigType >