Commit upstream/1.5.48 - ros-dynamic-reconfigure

New upstream version 1.5.48 Jochen Sprickerhof 6 years ago

13 changed file(s) with 601 addition(s) and 22 deletion(s). Raw diff Collapse all Expand all

+16

-0

CHANGELOG.rst less more

0	0	^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1	1	Changelog for package dynamic_reconfigure
2	2	^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
	3
	4	1.5.48 (2017-04-07)
	5	-------------------
	6	* [Bugfix] dont enforce ROS names for constants (`#84 <https://github.com/ros/dynamic_reconfigure/issues/84>`_)
	7	* [Compiler warnings] avoid unused-parameter compiler warnings in specialized ParamDescription<std::string>::clamp() (`#83 <https://github.com/ros/dynamic_reconfigure/issues/83>`_)
	8	* Contributors: Johannes Meyer, Mikael Arguedas
	9
	10	1.5.47 (2017-03-27)
	11	-------------------
	12	* reset received_configuration\_ for every request sent (`#82 <https://github.com/ros/dynamic_reconfigure/issues/82>`_)
	13	* Rename arguments (with a\_ prefix) to avoid Wshadow warnings. (`#80 <https://github.com/ros/dynamic_reconfigure/issues/80>`_)
	14	handle infinity in python generation, fixes (`#77 <https://github.com/ros/dynamic_reconfigure/issues/77>`_)
	15	* Add a c++ Dynamic Reconfigure Client (`#78 <https://github.com/ros/dynamic_reconfigure/issues/78>`_)
	16	* Enforce valid descriptions in cfg files (`#74 <https://github.com/ros/dynamic_reconfigure/issues/74>`_)
	17	* Fix callback returned by get_description_callback (`#73 <https://github.com/ros/dynamic_reconfigure/issues/73>`_) from ros/description_cb
	18	* Contributors: Jeff Eberl, Mikael Arguedas
3	19
4	20	1.5.46 (2016-11-15)
5	21	-------------------

-3

CMakeLists.txt less more

1	1	project(dynamic_reconfigure)
2	2
3	3	find_package(catkin REQUIRED COMPONENTS message_generation roscpp std_msgs)
4		find_package(Boost REQUIRED COMPONENTS system thread)
	4	find_package(Boost REQUIRED COMPONENTS system thread chrono)
5	5
6	6	include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
7	7

9	9
10	10	add_message_files(
11	11	DIRECTORY msg
12		FILES
	12	FILES
13	13	BoolParameter.msg Config.msg Group.msg IntParameter.msg SensorLevels.msg
14	14	ConfigDescription.msg DoubleParameter.msg GroupState.msg ParamDescription.msg StrParameter.msg)
15	15

40	40	install(DIRECTORY include/dynamic_reconfigure/
41	41	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
42	42	FILES_MATCHING PATTERN "*.h")
43
	43
44	44	install(TARGETS dynamic_reconfigure_config_init_mutex
45	45	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
46	46	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

-1

cfg/Test.cfg less more

48	48
49	49	gen.add("int_enum_", int_t, 1, "Int enum",0, 0, 3, edit_method = enum)
50	50	gen.add("int_", int_t, 1, "Int parameter",0, -10, 10)
51		gen.add("double_", double_t, 2, "double parameter",0, -2, 10)
	51	gen.add("double_", double_t, 2, "double parameter", 0, -2, 10)
	52	gen.add("double_no_minmax", double_t, 2, "double parameter without boundaries", 1)
	53	gen.add("double_no_max", double_t, 2, "double parameter without max value", 2, 0)
52	54	gen.add("str_", str_t, 4, "String parameter","foo")
53	55	gen.add("mstr_", str_t, 4, "Multibyte String parameter","bar")
54	56	gen.add("bool_", bool_t, 8, "Boolean parameter",False)

66	68	group3 = group2.add_group("Group3")
67	69	group3.add("deep_var_int", int_t, 0, "Were very far down now", 0, 0, 3, edit_method = enum)
68	70	group3.add("deep_var_bool", bool_t, 0, "Were even farther down now!!", True)
	71	group3.add("deep_var_double", double_t, 0, "Were super far down now!!", -1.0)
69	72
70	73	group12 = gen.add_group("Upper Group 2")
71	74	group12.add("some_param", int_t, 0, "Some param", 20)

+343

-0

include/dynamic_reconfigure/client.h less more

	0	/*********************************************************************
	1	* Software License Agreement (BSD License)
	2	*
	3	* Copyright (c) 2015-2016, Myrmex, Inc.
	4	* All rights reserved.
	5	*
	6	* Redistribution and use in source and binary forms, with or without
	7	* modification, are permitted provided that the following conditions
	8	* are met:
	9	*
	10	* * Redistributions of source code must retain the above copyright
	11	* notice, this list of conditions and the following disclaimer.
	12	* * Redistributions in binary form must reproduce the above
	13	* copyright notice, this list of conditions and the following
	14	* disclaimer in the documentation and/or other materials provided
	15	* with the distribution.
	16	* * Neither the name of the Myrmex, Inc nor the names of its
	17	* contributors may be used to endorse or promote products derived
	18	* from this software without specific prior written permission.
	19	*
	20	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
	21	* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
	22	* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
	23	* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
	24	* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
	25	* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
	26	* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
	27	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
	28	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
	29	* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
	30	* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
	31	* POSSIBILITY OF SUCH DAMAGE.
	32	*********************************************************************/
	33
	34	/**
	35
	36	Author: Aris Synodinos
	37
	38	Handles sychronizing node state with the configuration server and setting/getting
	39	configuration.
	40
	41	*/
	42
	43	#ifndef __CLIENT_H__
	44	#define __CLIENT_H__
	45
	46	#include <boost/chrono.hpp>
	47	#include <boost/function.hpp>
	48	#include <boost/thread.hpp>
	49	#include <ros/node_handle.h>
	50	#include <dynamic_reconfigure/ConfigDescription.h>
	51	#include <dynamic_reconfigure/Reconfigure.h>
	52
	53	namespace dynamic_reconfigure {
	54
	55	template <class ConfigType>
	56	class Client {
	57	public:
	58	/**
	59	* @brief Client Constructs a statefull dynamic_reconfigure client
	60	* @param name The full path of the dynamic_reconfigure::Server
	61	* @param config_callback A callback that should be called when the server
	62	* informs the clients of a successful reconfiguration
	63	* @param description_callback A callback that should be called when the
	64	* server infrorms the clients of the description of the reconfiguration
	65	* parameters and groups
	66	*/
	67	Client(
	68	const std::string& name,
	69	const boost::function<void(const ConfigType&)> config_callback = 0,
	70	const boost::function<void(const dynamic_reconfigure::ConfigDescription&)>
	71	description_callback = 0)
	72	: name_(name),
	73	nh_(name),
	74	received_configuration_(false),
	75	received_description_(false),
	76	config_callback_(config_callback),
	77	description_callback_(description_callback) {
	78	set_service_ =
	79	nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_parameters");
	80
	81	config_sub_ =
	82	nh_.subscribe("parameter_updates", 1,
	83	&Client<ConfigType>::configurationCallback, this);
	84
	85	descr_sub_ = nh_.subscribe("parameter_descriptions", 1,
	86	&Client<ConfigType>::descriptionCallback, this);
	87	}
	88	/**
	89	* @brief Client Constructs a statefull dynamic_reconfigure client
	90	* @param name The full path of the dynamic_reconfigure::Server
	91	* @param nh The nodehandle to the full path of the Server (for nodelets)
	92	* @param config_callback A callback that should be called when the server
	93	* informs the clients of a successful reconfiguration
	94	* @param description_callback A callback that should be called when the
	95	* server infrorms the clients of the description of the reconfiguration
	96	* parameters and groups
	97	*/
	98	Client(
	99	const std::string& name, const ros::NodeHandle& nh,
	100	const boost::function<void(const ConfigType&)> config_callback = 0,
	101	const boost::function<void(const dynamic_reconfigure::ConfigDescription&)>
	102	description_callback = 0)
	103	: name_(name),
	104	nh_(nh),
	105	received_configuration_(false),
	106	received_description_(false),
	107	config_callback_(config_callback),
	108	description_callback_(description_callback) {
	109	set_service_ =
	110	nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_parameters");
	111
	112	config_sub_ =
	113	nh_.subscribe("parameter_updates", 1,
	114	&Client<ConfigType>::configurationCallback, this);
	115
	116	descr_sub_ = nh_.subscribe("parameter_descriptions", 1,
	117	&Client<ConfigType>::descriptionCallback, this);
	118	}
	119	/**
	120	* @brief setConfigurationCallback Sets the user defined configuration
	121	* callback function
	122	* @param config_callback A function pointer
	123	*/
	124	void setConfigurationCallback(
	125	const boost::function<void(const ConfigType&)>& config_callback) {
	126	config_callback_ = config_callback;
	127	}
	128	/**
	129	* @brief setDescriptionCallback Sets the user defined description callback
	130	* function
	131	* @param description_callback A function pointer
	132	*/
	133	void setDescriptionCallback(const boost::function<void(
	134	const dynamic_reconfigure::ConfigDescription&)>& description_callback) {
	135	description_callback_ = description_callback;
	136	}
	137	/**
	138	* @brief setConfiguration Attempts to set the configuration to the server
	139	* @param configuration The requested configuration
	140	* @return True if the server accepted the request (not the reconfiguration)
	141	*/
	142	bool setConfiguration(const ConfigType& configuration) {
	143	ConfigType temp = configuration;
	144	return setConfiguration(temp);
	145	}
	146	/**
	147	* @brief setConfiguration Attempts to set the configuration to the server
	148	* @param configuration The requested configuration, gets overwritten with the
	149	* reply from the reconfigure server
	150	* @return True if the server accepted the request (not the reconfiguration)
	151	*/
	152	bool setConfiguration(ConfigType& configuration) {
	153	dynamic_reconfigure::Reconfigure srv;
	154	received_configuration_ = false;
	155	configuration.__toMessage__(srv.request.config);
	156	if (set_service_.call(srv)) {
	157	configuration.__fromMessage__(srv.response.config);
	158	return true;
	159	} else {
	160	ROS_WARN("Could not set configuration");
	161	return false;
	162	}
	163	}
	164	/**
	165	* @brief getCurrentConfiguration Gets the latest configuration from the
	166	* dynamic_reconfigure::Server
	167	* @param configuration The object where the configuration will be stored
	168	* @param timeout The duration that the client should wait for the
	169	* configuration, if set to ros::Duration(0) will wait indefinetely
	170	* @return False if the timeout has happened
	171	*/
	172	bool getCurrentConfiguration(
	173	ConfigType& configuration,
	174	const ros::Duration& timeout = ros::Duration(0)) {
	175	if (timeout == ros::Duration(0)) {
	176	ROS_INFO_ONCE("Waiting for configuration...");
	177	boost::mutex::scoped_lock lock(mutex_);
	178	while (!received_configuration_) {
	179	if (!ros::ok()) return false;
	180	cv_.wait(lock);
	181	}
	182	} else {
	183	ros::Time start_time = ros::Time::now();
	184	boost::mutex::scoped_lock lock(mutex_);
	185	while (!received_configuration_) {
	186	if (!ros::ok()) return false;
	187	ros::Duration time_left = timeout - (ros::Time::now() - start_time);
	188	if (time_left.toSec() <= 0.0) return false;
	189	cv_.wait_for(lock, boost::chrono::nanoseconds(time_left.toNSec()));
	190	}
	191	}
	192	configuration = latest_configuration_;
	193	return true;
	194	}
	195	/**
	196	* @brief getDefaultConfiguration Gets the latest default configuration from
	197	* the dynamic_reconfigure::Server
	198	* @param configuration The object where the configuration will be stored
	199	* @param timeout The duration that the client should wait for the
	200	* configuration, if set to ros::Duration(0) will wait indefinetely
	201	* @return False if the timeout has happened
	202	*/
	203	bool getDefaultConfiguration(
	204	ConfigType& configuration,
	205	const ros::Duration& timeout = ros::Duration(0)) {
	206	ConfigDescription answer;
	207	if (getDescription(answer, timeout)) {
	208	configuration.__fromMessage__(answer.dflt);
	209	return true;
	210	} else {
	211	return false;
	212	}
	213	}
	214	/**
	215	* @brief getMinConfiguration Gets the latest minimum configuration from
	216	* the dynamic_reconfigure::Server
	217	* @param configuration The object where the configuration will be stored
	218	* @param timeout The duration that the client should wait for the
	219	* configuration, if set to ros::Duration(0) will wait indefinetely
	220	* @return False if the timeout has happened
	221	*/
	222	bool getMinConfiguration(ConfigType& configuration,
	223	const ros::Duration& timeout = ros::Duration(0)) {
	224	ConfigDescription answer;
	225	if (getDescription(answer, timeout)) {
	226	configuration.__fromMessage__(answer.min);
	227	return true;
	228	} else {
	229	return false;
	230	}
	231	}
	232	/**
	233	* @brief getMaxConfiguration Gets the latest maximum configuration from
	234	* the dynamic_reconfigure::Server
	235	* @param configuration The object where the configuration will be stored
	236	* @param timeout The duration that the client should wait for the
	237	* configuration, if set to ros::Duration(0) will wait indefinetely
	238	* @return False if the timeout has happened
	239	*/
	240	bool getMaxConfiguration(ConfigType& configuration,
	241	const ros::Duration& timeout = ros::Duration(0)) {
	242	ConfigDescription answer;
	243	if (getDescription(answer, timeout)) {
	244	configuration.__fromMessage__(answer.max);
	245	return true;
	246	} else {
	247	return false;
	248	}
	249	}
	250	/**
	251	* @brief getName Gets the name of the Dynamic Reconfigure Client
	252	* @return Copy of the member variable
	253	*/
	254	std::string getName() const { return name_; }
	255
	256	private:
	257	void configurationCallback(const dynamic_reconfigure::Config& configuration) {
	258	boost::mutex::scoped_lock lock(mutex_);
	259	dynamic_reconfigure::Config temp_config = configuration;
	260	received_configuration_ = true;
	261	latest_configuration_.__fromMessage__(temp_config);
	262	cv_.notify_all();
	263
	264	if (config_callback_) {
	265	try {
	266	config_callback_(latest_configuration_);
	267	} catch (std::exception& e) {
	268	ROS_WARN("Configuration callback failed with exception %s", e.what());
	269	} catch (...) {
	270	ROS_WARN("Configuration callback failed with unprintable exception");
	271	}
	272	} else {
	273	ROS_DEBUG(
	274	"Unable to call Configuration callback because none was set.\n" \
	275	"See setConfigurationCallback");
	276	}
	277	}
	278
	279	void descriptionCallback(
	280	const dynamic_reconfigure::ConfigDescription& description) {
	281	boost::mutex::scoped_lock lock(mutex_);
	282	received_description_ = true;
	283	latest_description_ = description;
	284	cv_.notify_all();
	285
	286	if (description_callback_) {
	287	try {
	288	description_callback_(description);
	289	} catch (std::exception& e) {
	290	ROS_WARN("Description callback failed with exception %s", e.what());
	291	} catch (...) {
	292	ROS_WARN("Description callback failed with unprintable exception");
	293	}
	294	} else {
	295	ROS_DEBUG(
	296	"Unable to call Description callback because none was set.\n" \
	297	"See setDescriptionCallback");
	298	}
	299	}
	300
	301	bool getDescription(ConfigDescription& configuration,
	302	const ros::Duration& timeout) {
	303	if (timeout == ros::Duration(0)) {
	304	ROS_INFO_ONCE("Waiting for configuration...");
	305	boost::mutex::scoped_lock lock(mutex_);
	306	while (!received_description_) {
	307	if (!ros::ok()) return false;
	308	cv_.wait(lock);
	309	}
	310	} else {
	311	ros::Time start_time = ros::Time::now();
	312	boost::mutex::scoped_lock lock(mutex_);
	313	while (!received_description_) {
	314	if (!ros::ok()) return false;
	315	ros::Duration time_left = timeout - (ros::Time::now() - start_time);
	316	if (time_left.toSec() <= 0.0) return false;
	317	cv_.wait_for(lock, boost::chrono::nanoseconds(time_left.toNSec()));
	318	}
	319	}
	320	configuration = latest_description_;
	321	return true;
	322	}
	323
	324	std::string name_;
	325	bool received_configuration_;
	326	ConfigType latest_configuration_;
	327	bool received_description_;
	328	dynamic_reconfigure::ConfigDescription latest_description_;
	329	boost::condition_variable cv_;
	330	boost::mutex mutex_;
	331	ros::NodeHandle nh_;
	332	ros::ServiceClient set_service_;
	333	ros::Subscriber descr_sub_;
	334	ros::Subscriber config_sub_;
	335
	336	boost::function<void(const ConfigType&)> config_callback_;
	337	boost::function<void(const dynamic_reconfigure::ConfigDescription&)>
	338	description_callback_;
	339	};
	340	}
	341
	342	#endif // __CLIENT_H__

-1

package.xml less more

0	0	<package>
1	1	<name>dynamic_reconfigure</name>
2		<version>1.5.46</version>
	2	<version>1.5.48</version>
3	3	<description>
4	4	This unary stack contains the dynamic_reconfigure package which provides a means to change
5	5	node parameters at any time without having to restart the node.

-1

src/dynamic_reconfigure/client.py less more

277	277	"""
278	278	Get the current description_callback
279	279	"""
280		return self._config_callback
	280	return self._description_callback
281	281
282	282	def set_description_callback(self, value):
283	283	"""

+19

-5

src/dynamic_reconfigure/parameter_generator.py less more

58	58	double_t = "double"
59	59
60	60	id = 0
	61
	62
	63	def check_description(description):
	64	quotes = ['"', "'"]
	65	for quote in quotes:
	66	if description.find(quote) != -1:
	67	raise Exception(r"""quotes not allowed in description string `%s`""" % description)
	68
	69
	70	def check_name(name):
	71	pattern = r'^[a-zA-Z][a-zA-Z0-9_]*$'
	72	if not re.match(pattern, name):
	73	raise Exception("The name of field \'%s\' does not follow the ROS naming conventions, see http://wiki.ros.org/ROS/Patterns/Conventions"%name)
	74
61	75
62	76	class ParameterGenerator:
63	77	minval = {

123	137	}
124	138	if type == str_t and (max != None or min != None):
125	139	raise Exception("Max or min specified for %s, which is of string type"%name)
126		pattern = r'^[a-zA-Z][a-zA-Z0-9_]*$'
127		if not re.match(pattern, name):
128		raise Exception("The name of field \'%s\' does not follow the ROS naming conventions, see http://wiki.ros.org/ROS/Patterns/Conventions"%name)
129
	140
	141	check_name(name)
	142	check_description(description)
130	143	self.gen.fill_type(newparam)
131	144	self.gen.check_type_fill_default(newparam, 'default', self.gen.defval[paramtype])
132	145	self.gen.check_type_fill_default(newparam, 'max', self.gen.maxval[paramtype])

204	217	def pytype(self, drtype):
205	218	return { 'str':str, 'int':int, 'double':float, 'bool':bool }[drtype]
206	219
207
208	220	def check_type(self, param, field):
209	221	drtype = param['type']
210	222	name = param['name']

243	255	'srcfile' : inspect.getsourcefile(inspect.currentframe().f_back.f_code),
244	256	'description' : descr
245	257	}
	258	check_description(descr)
246	259	self.fill_type(newconst)
247	260	self.check_type(newconst, 'value')
248	261	self.constants.append(newconst)

251	264	def enum(self, constants, description):
252	265	if len(set(const['type'] for const in constants)) != 1:
253	266	raise Exception("Inconsistent types in enum!")
	267	check_description(description)
254	268	return repr({ 'enum' : constants, 'enum_description' : description })
255	269
256	270	# Wrap add and add_group for the default group

+40

-5

src/dynamic_reconfigure/parameter_generator_catkin.py less more

60	60	double_t = "double"
61	61
62	62	id = 0
	63
	64
	65	def check_description(description):
	66	quotes = ['"', "'"]
	67	for quote in quotes:
	68	if description.find(quote) != -1:
	69	raise Exception(r"""quotes not allowed in description string `%s`""" % description)
	70
	71
	72	def check_name(name):
	73	pattern = r'^[a-zA-Z][a-zA-Z0-9_]*$'
	74	if not re.match(pattern, name):
	75	raise Exception("The name of field \'%s\' does not follow the ROS naming conventions, see http://wiki.ros.org/ROS/Patterns/Conventions"%name)
	76
63	77
64	78	class ParameterGenerator:
65	79	minval = {

125	139	}
126	140	if type == str_t and (max != None or min != None):
127	141	raise Exception("Max or min specified for %s, which is of string type"%name)
128		pattern = r'^[a-zA-Z][a-zA-Z0-9_]*$'
129		if not re.match(pattern, name):
130		raise Exception("The name of field \'%s\' does not follow the ROS naming conventions, see http://wiki.ros.org/ROS/Patterns/Conventions"%name)
131
	142	check_name(name)
132	143	self.gen.fill_type(newparam)
133	144	self.gen.check_type_fill_default(newparam, 'default', self.gen.defval[paramtype])
134	145	self.gen.check_type_fill_default(newparam, 'max', self.gen.maxval[paramtype])

264	275	'srcfile' : inspect.getsourcefile(inspect.currentframe().f_back.f_code),
265	276	'description' : descr
266	277	}
	278	check_description(descr)
267	279	self.fill_type(newconst)
268	280	self.check_type(newconst, 'value')
269	281	self.constants.append(newconst)

272	284	def enum(self, constants, description):
273	285	if len(set(const['type'] for const in constants)) != 1:
274	286	raise Exception("Inconsistent types in enum!")
	287	check_description(description)
275	288	return repr({ 'enum' : constants, 'enum_description' : description })
276	289
277	290	# Wrap add and add_group for the default group

560	573	# print >> f, self.msgname, "config", "# What the node's configuration was actually set to."
561	574	# f.close()
562	575
	576	def _rreplace_str_with_val_in_dict(self, orig_dict, old_str, new_val):
	577	# Recursively replace any match of old_str by new_val in a dictionary
	578	for k, v in orig_dict.items():
	579	if isinstance(v, dict):
	580	self._rreplace_str_with_val_in_dict(v, old_str, new_val)
	581	elif isinstance(v, list):
	582	for idx, i in enumerate(v):
	583	if isinstance(i, str) and i == old_str:
	584	orig_dict[k][idx] = new_val
	585	elif isinstance(i, dict):
	586	self._rreplace_str_with_val_in_dict(i, old_str, new_val)
	587	elif isinstance(v, str) and v == old_str:
	588	orig_dict[k] = new_val
	589	return orig_dict
	590
	591	def replace_infinity(self, config_dict):
	592	config_dict = self._rreplace_str_with_val_in_dict(config_dict, '-std::numeric_limits<double>::infinity()', -float("inf"))
	593	config_dict = self._rreplace_str_with_val_in_dict(config_dict, 'std::numeric_limits<double>::infinity()', float("inf"))
	594
	595	return config_dict
	596
563	597	def generatepy(self):
564	598	# Read the configuration manipulator template and insert line numbers and file name into template.
565	599	templatefile = os.path.join(self.dynconfpath, "templates", "ConfigType.py.template")

571	605	# Write the configuration manipulator.
572	606	self.mkdirabs(os.path.join(self.py_gen_dir, "cfg"))
573	607	f = open(os.path.join(self.py_gen_dir, "cfg", self.name+"Config.py"), 'w')
	608	pycfgdata = self.replace_infinity(self.group.to_dict())
574	609	f.write(Template(template).substitute(name = self.name,
575		pkgname = self.pkgname, pycfgdata = self.group.to_dict()))
	610	pkgname = self.pkgname, pycfgdata = pycfgdata))
576	611	for const in self.constants:
577	612	f.write(Template("${configname}_${name} = $v\n").
578	613	substitute(const, v = repr(const['value']),

-5

templates/ConfigType.h.template less more

54	54	class ParamDescription : public AbstractParamDescription
55	55	{
56	56	public:
57		ParamDescription(std::string name, std::string type, uint32_t level,
58		std::string description, std::string edit_method, T ${configname}Config::* f) :
59		AbstractParamDescription(name, type, level, description, edit_method),
60		field(f)
	57	ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
	58	std::string a_description, std::string a_edit_method, T ${configname}Config::* a_f) :
	59	AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
	60	field(a_f)
61	61	{}
62	62
63	63	T (${configname}Config::* field);

140	140	class GroupDescription : public AbstractGroupDescription
141	141	{
142	142	public:
143		GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::* f) : AbstractGroupDescription(name, type, parent, id, s), field(f)
	143	GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f)
144	144	{
145	145	}
146	146

338	338	template <> // Max and min are ignored for strings.
339	339	inline void ${configname}Config::ParamDescription<std::string>::clamp(${configname}Config &config, const ${configname}Config &max, const ${configname}Config &min) const
340	340	{
	341	(void) config;
	342	(void) min;
	343	(void) max;
341	344	return;
342	345	}
343	346

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test/CMakeLists.txt less more

3	3
4	4	add_dependencies(tests dynamic_reconfigure-ref_server)
5	5
	6	add_rostest_gtest(dynamic_reconfigure-test_client test_cpp_simple_client.launch test_client.cpp)
	7	add_dependencies(dynamic_reconfigure-test_client ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_py)
	8	target_link_libraries(dynamic_reconfigure-test_client pthread dynamic_reconfigure_config_init_mutex ${catkin_LIBRARIES})
	9
	10	add_dependencies(tests dynamic_reconfigure-test_client)
	11
6	12	add_rostest(test_python_simple_client.launch)

+11

-1

test/simple_python_client_test.py less more

35	35	import rospy
36	36	import dynamic_reconfigure.client
37	37
	38
38	39	class TestSimpleDynamicReconfigureClient(unittest.TestCase):
39	40
40	41	def testsimple(self):

44	45	self.assertEqual(0.0, config['double_'])
45	46	self.assertEqual('foo', config['str_'])
46	47	self.assertEqual(False, config['bool_'])
	48	self.assertEqual(1.0, config['double_no_minmax'])
	49	self.assertEqual(2.0, config['double_no_max'])
	50	self.assertEqual(-1.0, config['deep_var_double'])
	51
47	52
48	53	int_ = 7
49	54	double_ = 0.75
50	55	str_ = 'bar'
51	56	bool_ = True
	57	double_no_max_ = 1e+300
	58	double_no_minmax_ = -1e+300
52	59
53	60	client.update_configuration(
54	61	{"int_": int_, "double_": double_, "str_": str_,
55		"bool_": bool_}
	62	"bool_": bool_,
	63	"double_no_max": double_no_max_, "double_no_minmax": double_no_minmax_}
56	64	)
57	65
58	66	rospy.sleep(1.0)

64	72	self.assertEqual(str_, config['str_'])
65	73	self.assertEqual(type(str_), type(config['str_']))
66	74	self.assertEqual(bool_, config['bool_'])
	75	self.assertEqual(double_no_max_, config['double_no_max'])
	76	self.assertEqual(double_no_minmax_, config['double_no_minmax'])
67	77
68	78	def testmultibytestring(self):
69	79	client = dynamic_reconfigure.client.Client("ref_server", timeout=5)

+144

-0

test/test_client.cpp less more

	0	/*********************************************************************
	1	* Software License Agreement (BSD License)
	2	*
	3	* Copyright (c) 2015-2016, Myrmex, Inc.
	4	* All rights reserved.
	5	*
	6	* Redistribution and use in source and binary forms, with or without
	7	* modification, are permitted provided that the following conditions
	8	* are met:
	9	*
	10	* * Redistributions of source code must retain the above copyright
	11	* notice, this list of conditions and the following disclaimer.
	12	* * Redistributions in binary form must reproduce the above
	13	* copyright notice, this list of conditions and the following
	14	* disclaimer in the documentation and/or other materials provided
	15	* with the distribution.
	16	* * Neither the name of the Willow Garage nor the names of its
	17	* contributors may be used to endorse or promote products derived
	18	* from this software without specific prior written permission.
	19	*
	20	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
	21	* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
	22	* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
	23	* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
	24	* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
	25	* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
	26	* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
	27	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
	28	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
	29	* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
	30	* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
	31	* POSSIBILITY OF SUCH DAMAGE.
	32	*********************************************************************/
	33
	34	/**
	35
	36	Author: Aris Synodinos
	37
	38	Handles sychronizing node state with the ActionServer and setting/getting
	39	configuration.
	40
	41	*/
	42
	43	#include <ros/ros.h>
	44	#include <gtest/gtest.h>
	45	#include <dynamic_reconfigure/client.h>
	46	#include <dynamic_reconfigure/TestConfig.h>
	47
	48	using namespace dynamic_reconfigure;
	49	using namespace dynamic_reconfigure_test;
	50
	51	TestConfig CONFIG;
	52	ConfigDescription DESCRIPTION;
	53
	54	void configurationCallback(const TestConfig& config) {
	55	ROS_INFO(
	56	"Reconfiguration happened: %i %f %s %s %i %i Group1: %i Group2: %f %s",
	57	config.int_, config.double_, config.str_.c_str(), config.mstr_.c_str(),
	58	(int)config.bool_, config.level, config.group1_int, config.group2_double,
	59	config.group2_string.c_str());
	60	CONFIG = config;
	61	}
	62
	63	void descriptionCallback(const ConfigDescription& description) {
	64	ROS_INFO("Received description");
	65	}
	66
	67	TEST(dynamic_reconfigure_simple_client, Constructor) {
	68	Client<TestConfig> client("/ref_server");
	69	client.setConfigurationCallback(&configurationCallback);
	70	client.setDescriptionCallback(&descriptionCallback);
	71	}
	72
	73	TEST(dynamic_reconfigure_simple_client, getConfigs) {
	74	Client<TestConfig> client("/ref_server", &configurationCallback,
	75	&descriptionCallback);
	76	EXPECT_TRUE(client.getCurrentConfiguration(CONFIG));
	77	EXPECT_TRUE(client.getDefaultConfiguration(CONFIG));
	78	EXPECT_EQ(0, CONFIG.int_);
	79	EXPECT_TRUE(client.getMinConfiguration(CONFIG));
	80	EXPECT_EQ(-10, CONFIG.int_);
	81	EXPECT_TRUE(client.getMaxConfiguration(CONFIG));
	82	EXPECT_EQ(10, CONFIG.int_);
	83	}
	84
	85	TEST(dynamic_reconfigure_simple_client, setConfig) {
	86	ROS_INFO("Setting configuration");
	87	Client<TestConfig> client("/ref_server", &configurationCallback,
	88	&descriptionCallback);
	89	TestConfig cfg = TestConfig::__getMax__();
	90	EXPECT_TRUE(client.setConfiguration(cfg));
	91	// int_ goes from -10 to +10
	92	cfg.int_ = -11;
	93	EXPECT_TRUE(client.setConfiguration(cfg));
	94	EXPECT_EQ(-10, cfg.int_);
	95	cfg.int_ = 11;
	96	EXPECT_TRUE(client.setConfiguration(cfg));
	97	EXPECT_EQ(10, cfg.int_);
	98	}
	99
	100	TEST(dynamic_reconfigure_simple_client, setGetConfig) {
	101	ROS_INFO("Setting configuration");
	102	Client<TestConfig> client("/ref_server", &configurationCallback,
	103	&descriptionCallback);
	104	TestConfig cfg = TestConfig::__getMax__();
	105	EXPECT_TRUE(client.setConfiguration(cfg));
	106	// int_ goes from -10 to +10
	107	cfg.int_ = -11;
	108	EXPECT_TRUE(client.setConfiguration(cfg));
	109	EXPECT_EQ(-10, cfg.int_);
	110	EXPECT_TRUE(client.getCurrentConfiguration(CONFIG));
	111	EXPECT_EQ(-10, CONFIG.int_);
	112	cfg.int_ = 11;
	113	EXPECT_TRUE(client.setConfiguration(cfg));
	114	EXPECT_TRUE(client.getCurrentConfiguration(CONFIG));
	115	EXPECT_EQ(10, CONFIG.int_);
	116	cfg.int_ = 5;
	117	EXPECT_TRUE(client.setConfiguration(cfg));
	118	EXPECT_TRUE(client.getCurrentConfiguration(CONFIG));
	119	EXPECT_EQ(5, CONFIG.int_);
	120	}
	121
	122	TEST(dynamic_reconfigure_simple_client, multipleClients) {
	123	Client<TestConfig> client1("/ref_server", &configurationCallback);
	124	Client<TestConfig> client2("/ref_server", &configurationCallback);
	125	Client<TestConfig> client3("/ref_server", &configurationCallback);
	126	client3.setConfiguration(TestConfig::__getDefault__());
	127	ros::Duration(0.2).sleep();
	128	EXPECT_EQ(0, CONFIG.int_);
	129	client1.setConfiguration(TestConfig::__getMin__());
	130	ros::Duration(0.2).sleep();
	131	EXPECT_EQ(-10, CONFIG.int_);
	132	client2.setConfiguration(TestConfig::__getMax__());
	133	ros::Duration(0.2).sleep();
	134	EXPECT_EQ(10, CONFIG.int_);
	135	}
	136
	137	int main(int argc, char** argv) {
	138	ros::init(argc, argv, "dynamic_reconfigure_client_test");
	139	testing::InitGoogleTest(&argc, argv);
	140	ros::AsyncSpinner spinner(2);
	141	spinner.start();
	142	return RUN_ALL_TESTS();
	143	}

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test/test_cpp_simple_client.launch less more

	0	<launch>
	1	<node pkg="dynamic_reconfigure" type="dynamic_reconfigure-ref_server" name="ref_server" output="screen" />
	2
	3	<test test-name="simple_cpp_client_test" pkg="dynamic_reconfigure" type="dynamic_reconfigure-test_client" />
	4	</launch>