#include <server.h>

Inheritance diagram for rtt_dynamic_reconfigure::Server< ConfigType >:

[legend]

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 ()

Public Member Functions inherited from RTT::Service
bool	addLocalOperation (base::OperationBase &op)

Operation< Signature > &	addOperation (Operation< Signature > &op)

Operation< Func > &	addOperation (const std::string name, Func *func, ExecutionThread et=ClientThread)

Operation< typename internal::GetSignature< Func >::Signature > &	addOperation (const std::string name, Func func, Class *obj, ExecutionThread et=ClientThread)

Operation< typename internal::GetSignatureDS< Func >::Signature > &	addOperationDS (const std::string &name, Func func, internal::DataSource< boost::shared_ptr< ObjT > > *sp, ExecutionThread et=ClientThread)

Operation< Signature > &	addOperationDS (internal::DataSource< boost::shared_ptr< ObjT > > *sp, Operation< Signature > &op)

virtual bool	addService (shared_ptr obj)

Operation< Signature > &	addSynchronousOperation (Operation< Signature > &op)

Operation< typename internal::GetSignature< Func >::Signature > &	addSynchronousOperation (const std::string name, Func func, Class *obj, ExecutionThread et=ClientThread)

void	clear ()

internal::OperationCallerC	create (std::string name, ExecutionEngine *caller)

const std::string &	doc () const

void	doc (const std::string &description)

boost::shared_ptr< base::DisposableInterface >	getLocalOperation (std::string name)

const std::string &	getName () const

OperationInterfacePart *	getOperation (std::string name)

base::DataSourceBase::shared_ptr	getOperation (std::string name, const std::vector< base::DataSourceBase::shared_ptr > &args, ExecutionEngine *caller) const

std::vector< std::string >	getOperationNames () const

TaskContext *	getOwner () const

ExecutionEngine *	getOwnerExecutionEngine () const

shared_ptr	getParent () const

virtual ProviderNames	getProviderNames () const

shared_ptr	getService (const std::string &service_name)

bool	hasOperation (const std::string &name) const

bool	hasService (const std::string &service_name)

Service::shared_ptr	provides (const std::string &service_name)

Service::shared_ptr	provides ()

void	removeOperation (const std::string &name)

virtual void	removeService (std::string const &service_name)

bool	resetOperation (std::string name, base::OperationBase *impl)

	Service (const std::string &name, TaskContext *owner=0)

void	setName (const std::string &name)

bool	setOperationThread (std::string const &name, ExecutionThread et)

void	setOwner (TaskContext *new_owner)

void	setParent (shared_ptr new_parent)

virtual	~Service ()

Public Member Functions inherited from RTT::OperationInterface
void	add (const std::string &name, OperationInterfacePart *part)

void	clear ()

Descriptions	getArgumentList (const std::string &name) const

int	getArity (const std::string &name) const

int	getCollectArity (const std::string &name) const

std::string	getDescription (const std::string &name) const

std::vector< std::string >	getNames () const

OperationInterfacePart *	getPart (const std::string &name)

std::string	getResultType (const std::string &name) const

bool	hasMember (const std::string &name) const

bool	isSynchronous (const std::string &name) const

base::DataSourceBase::shared_ptr	produce (const std::string &name, const Arguments &args, ExecutionEngine *caller) const

base::DataSourceBase::shared_ptr	produceCollect (const std::string &name, const Arguments &args, internal::DataSource< bool >::shared_ptr blocking) const

base::DataSourceBase::shared_ptr	produceHandle (const std::string &name) const

base::DataSourceBase::shared_ptr	produceSend (const std::string &name, const Arguments &args, ExecutionEngine *caller) const

void	remove (const std::string &name)

Public Member Functions inherited from RTT::ConfigurationInterface
bool	addAttribute (const std::string &name, T &attr)

Attribute< T > &	addAttribute (const std::string &name, Attribute< T > &attr)

bool	addAttribute (base::AttributeBase &a)

bool	addConstant (const std::string &name, const T &cnst)

Constant< T > &	addConstant (const std::string &name, Constant< T > &cnst)

bool	addConstant (base::AttributeBase &c)

Property< T > &	addProperty (const std::string &name, Property< T > &prop)

bool	addProperty (base::PropertyBase &pb)

Property< T > &	addProperty (const std::string &name, T &prop)

void	clear ()

	ConfigurationInterface ()

ConfigurationInterface *	copy (std::map< const base::DataSourceBase , base::DataSourceBase > &repl, bool instantiate) const

base::AttributeBase *	getAttribute (const std::string &name) const

AttributeNames	getAttributeNames () const

base::AttributeBase *	getConstant (const std::string &name) const

base::PropertyBase *	getProperty (const std::string &name) const

base::AttributeBase *	getValue (const std::string &name) const

AttributeObjects const &	getValues () const

bool	hasAttribute (const std::string &name) const

bool	hasProperty (const std::string &name) const

void	loadValues (AttributeObjects const &new_values)

PropertyBag *	properties ()

void	removeAttribute (const std::string &name)

bool	removeProperty (base::PropertyBase &p)

bool	removeValue (const std::string &name)

bool	setValue (base::AttributeBase *ab)

	~ConfigurationInterface ()

Public Member Functions inherited from RTT::DataFlowInterface
base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addLocalEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::PortInterface &	addLocalPort (base::PortInterface &port)

base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)

base::PortInterface &	addPort (base::PortInterface &port)

void	clear ()

	DataFlowInterface (Service *parent=0)

void	dataOnPort (base::PortInterface *port)

TaskContext *	getOwner () const

base::PortInterface *	getPort (const std::string &name) const

std::string	getPortDescription (const std::string &name) const

PortNames	getPortNames () const

Ports	getPorts () const

Type *	getPortType (const std::string &name)

Service *	getService () const

void	removeLocalPort (const std::string &name)

void	removePort (const std::string &name)

bool	setPortDescription (const std::string &name, const std::string description)

	~DataFlowInterface ()

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

Additional Inherited Members
Public Types inherited from RTT::Service
typedef OperationInterface	Factory

typedef std::vector< std::string >	ProviderNames

typedef boost::shared_ptr< const Service >	shared_constptr

typedef boost::shared_ptr< Service >	shared_ptr

Public Types inherited from RTT::OperationInterface
typedef std::vector< base::DataSourceBase::shared_ptr >	Arguments

typedef std::vector< ArgumentDescription >	Descriptions

Public Types inherited from RTT::ConfigurationInterface
typedef std::vector< std::string >	AttributeNames

typedef std::vector< base::AttributeBase * >	AttributeObjects

Public Types inherited from RTT::DataFlowInterface
typedef std::vector< std::string >	PortNames

typedef std::vector< base::PortInterface * >	Ports

typedef boost::function< void(base::PortInterface *)>	SlotFunction

Static Public Member Functions inherited from RTT::Service
static Service::shared_ptr	Create (const std::string &name, TaskContext *owner=0)

Protected Types inherited from RTT::Service
typedef std::vector< base::OperationBase * >	OperationList

typedef std::map< std::string, shared_ptr >	Services

typedef std::map< std::string, base::OperationBase * >	SimpleOperations

Protected Types inherited from RTT::OperationInterface
typedef std::map< std::string, OperationInterfacePart * >	map_t

Protected Types inherited from RTT::ConfigurationInterface
typedef std::vector< base::AttributeBase * >	map_t

Protected Member Functions inherited from RTT::Service
bool	testOperation (base::OperationBase &op)

Protected Member Functions inherited from RTT::ConfigurationInterface
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)

Protected Member Functions inherited from RTT::DataFlowInterface
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)

Service *	createPortObject (const std::string &name)

Protected Attributes inherited from RTT::Service
std::string	mdescription

std::string	mname

TaskContext *	mowner

OperationList	ownedoperations

shared_ptr	parent

Services	services

SimpleOperations	simpleoperations

Protected Attributes inherited from RTT::OperationInterface
map_t	data

Protected Attributes inherited from RTT::ConfigurationInterface
PropertyBag	bag

map_t	values

Protected Attributes inherited from RTT::DataFlowInterface
Ports	mports

Service *	mservice

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 60 of file server.h.

Member Typedef Documentation

template<class ConfigType >

typedef boost::shared_ptr< Server<ConfigType> > rtt_dynamic_reconfigure::Server< ConfigType >::shared_ptr

private

Definition at line 183 of file server.h.

template<class ConfigType >

typedef dynamic_reconfigure_traits<ConfigType> rtt_dynamic_reconfigure::Server< ConfigType >::traits

private

Definition at line 182 of file server.h.

template<class ConfigType >

typedef Updater<ConfigType> rtt_dynamic_reconfigure::Server< ConfigType >::UpdaterType

private

Definition at line 181 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 211 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 224 of file server.h.

template<class ConfigType >

virtual rtt_dynamic_reconfigure::Server< ConfigType >::~Server ( )

inlinevirtual

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

Definition at line 236 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 384 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::construct ( )

inlineprivate

Definition at line 579 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 245 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 310 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 320 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 327 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 262 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 272 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 279 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 286 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 296 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 303 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 367 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::PublishDescription ( )

inlineprivate

Definition at line 622 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 440 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::setConfigCallback	(	dynamic_reconfigure::Reconfigure::Request &	req,
		dynamic_reconfigure::Reconfigure::Response &	rsp
	)

inlineprivate

Definition at line 628 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 356 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 334 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 345 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 573 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 563 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 553 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 414 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 252 of file server.h.

template<class ConfigType >

void rtt_dynamic_reconfigure::Server< ConfigType >::updateConfigInternal ( const ConfigType & config )

inlineprivate

Definition at line 655 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 428 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::updatePropertiesDefaultImpl	(	const RTT::PropertyBag &	bag,
		uint32_t
	)

inlineprivate

Definition at line 668 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 542 of file server.h.

Friends And Related Function Documentation

template<class ConfigType >

friend class DynamicReconfigureTestComponent

friend

Definition at line 627 of file server.h.

Member Data Documentation

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::config_

private

Definition at line 191 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::default_

private

Definition at line 194 of file server.h.

template<class ConfigType >

ros::Publisher rtt_dynamic_reconfigure::Server< ConfigType >::descr_pub_

private

Definition at line 189 of file server.h.

template<class ConfigType >

bool rtt_dynamic_reconfigure::Server< ConfigType >::initialized_

private

Definition at line 197 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::max_

private

Definition at line 193 of file server.h.

template<class ConfigType >

ConfigType rtt_dynamic_reconfigure::Server< ConfigType >::min_

private

Definition at line 192 of file server.h.

template<class ConfigType >

RTT::os::MutexRecursive rtt_dynamic_reconfigure::Server< ConfigType >::mutex_

private

Definition at line 185 of file server.h.

template<class ConfigType >

ros::NodeHandle* rtt_dynamic_reconfigure::Server< ConfigType >::node_handle_

private

Definition at line 186 of file server.h.

template<class ConfigType >

RTT::OperationCaller<NotifyCallbackSignature> rtt_dynamic_reconfigure::Server< ConfigType >::notify_callback_

private

Definition at line 202 of file server.h.

template<class ConfigType >

ros::ServiceServer rtt_dynamic_reconfigure::Server< ConfigType >::set_service_

private

Definition at line 187 of file server.h.

template<class ConfigType >

RTT::OperationCaller<UpdateCallbackSignature> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_

private

Definition at line 199 of file server.h.

template<class ConfigType >

RTT::OperationCaller<UpdateCallbackConstSignature> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_const_

private

Definition at line 200 of file server.h.

template<class ConfigType >

RTT::Operation<UpdateCallbackConstSignature> rtt_dynamic_reconfigure::Server< ConfigType >::update_callback_default_impl_

private

Definition at line 201 of file server.h.

template<class ConfigType >

ros::Publisher rtt_dynamic_reconfigure::Server< ConfigType >::update_pub_

private

Definition at line 188 of file server.h.

template<class ConfigType >

boost::shared_ptr<UpdaterType> rtt_dynamic_reconfigure::Server< ConfigType >::updater_

mutableprivate

Definition at line 196 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

Additional Inherited Members

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 >