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00047 #ifndef __laser_scan_splitter__SPLITTERCONFIG_H__
00048 #define __laser_scan_splitter__SPLITTERCONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace laser_scan_splitter
00058 {
00059 class SplitterConfigStatics;
00060
00061 class SplitterConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(SplitterConfig &config, const SplitterConfig &max, const SplitterConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const SplitterConfig &config1, const SplitterConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, SplitterConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const SplitterConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, SplitterConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const SplitterConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T SplitterConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (SplitterConfig::* field);
00099
00100 virtual void clamp(SplitterConfig &config, const SplitterConfig &max, const SplitterConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const SplitterConfig &config1, const SplitterConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, SplitterConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const SplitterConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, SplitterConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const SplitterConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 std::string sizes;
00138
00139 std::string topics;
00140
00141 std::string frames;
00142
00143
00144 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00145 {
00146 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00147 int count = 0;
00148 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00149 if ((*i)->fromMessage(msg, *this))
00150 count++;
00151 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00152 {
00153 ROS_ERROR("SplitterConfig::__fromMessage__ called with an unexpected parameter.");
00154 ROS_ERROR("Booleans:");
00155 for (unsigned int i = 0; i < msg.bools.size(); i++)
00156 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00157 ROS_ERROR("Integers:");
00158 for (unsigned int i = 0; i < msg.ints.size(); i++)
00159 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00160 ROS_ERROR("Doubles:");
00161 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00162 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00163 ROS_ERROR("Strings:");
00164 for (unsigned int i = 0; i < msg.strs.size(); i++)
00165 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00166
00167
00168 return false;
00169 }
00170 return true;
00171 }
00172
00173
00174
00175 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00176 {
00177 dynamic_reconfigure::ConfigTools::clear(msg);
00178 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00179 (*i)->toMessage(msg, *this);
00180 }
00181
00182 void __toMessage__(dynamic_reconfigure::Config &msg) const
00183 {
00184 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00185 __toMessage__(msg, __param_descriptions__);
00186 }
00187
00188 void __toServer__(const ros::NodeHandle &nh) const
00189 {
00190 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00191 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00192 (*i)->toServer(nh, *this);
00193 }
00194
00195 void __fromServer__(const ros::NodeHandle &nh)
00196 {
00197 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00198 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00199 (*i)->fromServer(nh, *this);
00200 }
00201
00202 void __clamp__()
00203 {
00204 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00205 const SplitterConfig &__max__ = __getMax__();
00206 const SplitterConfig &__min__ = __getMin__();
00207 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00208 (*i)->clamp(*this, __max__, __min__);
00209 }
00210
00211 uint32_t __level__(const SplitterConfig &config) const
00212 {
00213 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00214 uint32_t level = 0;
00215 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00216 (*i)->calcLevel(level, config, *this);
00217 return level;
00218 }
00219
00220 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00221 static const SplitterConfig &__getDefault__();
00222 static const SplitterConfig &__getMax__();
00223 static const SplitterConfig &__getMin__();
00224 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00225
00226 private:
00227 static const SplitterConfigStatics *__get_statics__();
00228 };
00229
00230 template <>
00231 inline void SplitterConfig::ParamDescription<std::string>::clamp(SplitterConfig &config, const SplitterConfig &max, const SplitterConfig &min) const
00232 {
00233 return;
00234 }
00235
00236 class SplitterConfigStatics
00237 {
00238 friend class SplitterConfig;
00239
00240 SplitterConfigStatics()
00241 {
00242
00243 __min__.sizes = "";
00244
00245 __max__.sizes = "";
00246
00247 __default__.sizes = "256 256";
00248
00249 __param_descriptions__.push_back(SplitterConfig::AbstractParamDescriptionConstPtr(new SplitterConfig::ParamDescription<std::string>("sizes", "str", 0, "Sizes", "", &SplitterConfig::sizes)));
00250
00251 __min__.topics = "";
00252
00253 __max__.topics = "";
00254
00255 __default__.topics = "scan1 scan2";
00256
00257 __param_descriptions__.push_back(SplitterConfig::AbstractParamDescriptionConstPtr(new SplitterConfig::ParamDescription<std::string>("topics", "str", 0, "Topics", "", &SplitterConfig::topics)));
00258
00259 __min__.frames = "";
00260
00261 __max__.frames = "";
00262
00263 __default__.frames = "laser laser";
00264
00265 __param_descriptions__.push_back(SplitterConfig::AbstractParamDescriptionConstPtr(new SplitterConfig::ParamDescription<std::string>("frames", "str", 0, "Frames", "", &SplitterConfig::frames)));
00266
00267
00268 for (std::vector<SplitterConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00269 __description_message__.parameters.push_back(**i);
00270 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00271 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00272 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00273 }
00274 std::vector<SplitterConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00275 SplitterConfig __max__;
00276 SplitterConfig __min__;
00277 SplitterConfig __default__;
00278 dynamic_reconfigure::ConfigDescription __description_message__;
00279 static const SplitterConfigStatics *get_instance()
00280 {
00281
00282
00283
00284
00285 static SplitterConfigStatics instance;
00286 return &instance;
00287 }
00288 };
00289
00290 inline const dynamic_reconfigure::ConfigDescription &SplitterConfig::__getDescriptionMessage__()
00291 {
00292 return __get_statics__()->__description_message__;
00293 }
00294
00295 inline const SplitterConfig &SplitterConfig::__getDefault__()
00296 {
00297 return __get_statics__()->__default__;
00298 }
00299
00300 inline const SplitterConfig &SplitterConfig::__getMax__()
00301 {
00302 return __get_statics__()->__max__;
00303 }
00304
00305 inline const SplitterConfig &SplitterConfig::__getMin__()
00306 {
00307 return __get_statics__()->__min__;
00308 }
00309
00310 inline const std::vector<SplitterConfig::AbstractParamDescriptionConstPtr> &SplitterConfig::__getParamDescriptions__()
00311 {
00312 return __get_statics__()->__param_descriptions__;
00313 }
00314
00315 inline const SplitterConfigStatics *SplitterConfig::__get_statics__()
00316 {
00317 const static SplitterConfigStatics *statics;
00318
00319 if (statics)
00320 return statics;
00321
00322 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00323
00324 if (statics)
00325 return statics;
00326
00327 statics = SplitterConfigStatics::get_instance();
00328
00329 return statics;
00330 }
00331
00332
00333 }
00334
00335 #endif // __SPLITTERRECONFIGURATOR_H__
