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  import roslib; roslib.load_manifest('dynamic_reconfigure') 
 41  import rospy 
 42  import rosservice                   
 43  import threading 
 44  import time 
 45  import copy 
 46  from dynamic_reconfigure import DynamicReconfigureCallbackException 
 47  from dynamic_reconfigure.srv import Reconfigure as ReconfigureSrv 
 48  from dynamic_reconfigure.msg import Config as ConfigMsg 
 49  from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg 
 50  from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription 
 51  from dynamic_reconfigure.encoding import * 
 52   
 53 -class Server(object): 
 54 -    def __init__(self, type, callback): 
 55          self.mutex = threading.Lock() 
 56          self.type = type 
 57          self.config = type.defaults.copy() 
 58   
 59          self.description = encode_description(type) 
 60          self._copy_from_parameter_server() 
 61          self.callback = callback 
 62          self._clamp(self.config)  
 63   
 64          # setup group defaults 
 65          self.config['groups'] = get_tree(self.description) 
 66          self.config = initial_config(encode_config(self.config), type.config_description) 
 67   
 68          self.descr_topic = rospy.Publisher('~parameter_descriptions', ConfigDescrMsg, latch=True) 
 69          self.descr_topic.publish(self.description); 
 70           
 71          self.update_topic = rospy.Publisher('~parameter_updates', ConfigMsg, latch=True) 
 72          self._change_config(self.config, type.all_level) 
 73           
 74          self.set_service = rospy.Service('~set_parameters', ReconfigureSrv, self._set_callback) 
 75   
 76 -    def update_configuration(self, changes): 
 77          with self.mutex: 
 78              new_config = copy.deepcopy(self.config) 
 79              new_config.update(changes) 
 80              self._clamp(new_config) 
 81              return self._change_config(new_config, self._calc_level(new_config, self.config)) 
 82   
 83 -    def _copy_from_parameter_server(self): 
 84          for param in extract_params(self.type.config_description): 
 85              try: 
 86                  self.config[param['name']] = rospy.get_param("~" + param['name']) 
 87              except KeyError: 
 88                  pass 
 89   
 90 -    def _copy_to_parameter_server(self): 
 91          for param in extract_params(self.type.config_description): 
 92              rospy.set_param('~' + param['name'], self.config[param['name']]) 
 93   
 94 -    def _change_config(self, config, level): 
 95          self.config = self.callback(config, level) 
 96          if self.config is None: 
 97              msg = 'Reconfigure callback should return a possibly updated configuration.' 
 98              rospy.logerr(msg) 
 99              raise DynamicReconfigureCallbackException(msg) 
100           
101          self._copy_to_parameter_server() 
102           
103          self.update_topic.publish(encode_config(self.config)) 
104   
105          return self.config 
106      
107 -    def _calc_level(self, config1, config2): 
108          level = 0 
109          for param in extract_params(self.type.config_description): 
110              if config1[param['name']] != config2[param['name']]: 
111                  level |= param['level'] 
112   
113          return level 
114   
115 -    def _clamp(self, config): 
116          for param in extract_params(self.type.config_description):  
117              maxval = self.type.max[param['name']]  
118              minval = self.type.min[param['name']]  
119              val = config[param['name']] 
120              if val > maxval and maxval != "":  
121                  config[param['name']] = maxval  
122              elif val < minval and minval != "":  
123                  config[param['name']] = minval  
124   
125 -    def _set_callback(self, req): 
126          return encode_config(self.update_configuration(decode_config(req.config, self.type.config_description))) 
127