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* Added C++ Client class * typo * use configuration server rather than ActionServer * clearer Debug message * add check for values in getConfigs * trying longer timeouts, it may help getting correct configs * trailing whitespace
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2015-2016, Myrmex, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the Myrmex, Inc nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| /** | ||
| Author: Aris Synodinos | ||
| Handles sychronizing node state with the configuration server and setting/getting | ||
| configuration. | ||
| */ | ||
|
|
||
| #ifndef __CLIENT_H__ | ||
| #define __CLIENT_H__ | ||
|
|
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| #include <boost/chrono.hpp> | ||
| #include <boost/function.hpp> | ||
| #include <boost/thread.hpp> | ||
| #include <ros/node_handle.h> | ||
| #include <dynamic_reconfigure/ConfigDescription.h> | ||
| #include <dynamic_reconfigure/Reconfigure.h> | ||
|
|
||
| namespace dynamic_reconfigure { | ||
|
|
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| template <class ConfigType> | ||
| class Client { | ||
| public: | ||
| /** | ||
| * @brief Client Constructs a statefull dynamic_reconfigure client | ||
| * @param name The full path of the dynamic_reconfigure::Server | ||
| * @param config_callback A callback that should be called when the server | ||
| * informs the clients of a successful reconfiguration | ||
| * @param description_callback A callback that should be called when the | ||
| * server infrorms the clients of the description of the reconfiguration | ||
| * parameters and groups | ||
| */ | ||
| Client( | ||
| const std::string& name, | ||
| const boost::function<void(const ConfigType&)> config_callback = 0, | ||
| const boost::function<void(const dynamic_reconfigure::ConfigDescription&)> | ||
| description_callback = 0) | ||
| : name_(name), | ||
| nh_(name), | ||
| received_configuration_(false), | ||
| received_description_(false), | ||
| config_callback_(config_callback), | ||
| description_callback_(description_callback) { | ||
| set_service_ = | ||
| nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_parameters"); | ||
|
|
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| config_sub_ = | ||
| nh_.subscribe("parameter_updates", 1, | ||
| &Client<ConfigType>::configurationCallback, this); | ||
|
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| descr_sub_ = nh_.subscribe("parameter_descriptions", 1, | ||
| &Client<ConfigType>::descriptionCallback, this); | ||
| } | ||
| /** | ||
| * @brief Client Constructs a statefull dynamic_reconfigure client | ||
| * @param name The full path of the dynamic_reconfigure::Server | ||
| * @param nh The nodehandle to the full path of the Server (for nodelets) | ||
| * @param config_callback A callback that should be called when the server | ||
| * informs the clients of a successful reconfiguration | ||
| * @param description_callback A callback that should be called when the | ||
| * server infrorms the clients of the description of the reconfiguration | ||
| * parameters and groups | ||
| */ | ||
| Client( | ||
| const std::string& name, const ros::NodeHandle& nh, | ||
| const boost::function<void(const ConfigType&)> config_callback = 0, | ||
| const boost::function<void(const dynamic_reconfigure::ConfigDescription&)> | ||
| description_callback = 0) | ||
| : name_(name), | ||
| nh_(nh), | ||
| received_configuration_(false), | ||
| received_description_(false), | ||
| config_callback_(config_callback), | ||
| description_callback_(description_callback) { | ||
| set_service_ = | ||
| nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_parameters"); | ||
|
|
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| config_sub_ = | ||
| nh_.subscribe("parameter_updates", 1, | ||
| &Client<ConfigType>::configurationCallback, this); | ||
|
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| descr_sub_ = nh_.subscribe("parameter_descriptions", 1, | ||
| &Client<ConfigType>::descriptionCallback, this); | ||
| } | ||
| /** | ||
| * @brief setConfigurationCallback Sets the user defined configuration | ||
| * callback function | ||
| * @param config_callback A function pointer | ||
| */ | ||
| void setConfigurationCallback( | ||
| const boost::function<void(const ConfigType&)>& config_callback) { | ||
| config_callback_ = config_callback; | ||
| } | ||
| /** | ||
| * @brief setDescriptionCallback Sets the user defined description callback | ||
| * function | ||
| * @param description_callback A function pointer | ||
| */ | ||
| void setDescriptionCallback(const boost::function<void( | ||
| const dynamic_reconfigure::ConfigDescription&)>& description_callback) { | ||
| description_callback_ = description_callback; | ||
| } | ||
| /** | ||
| * @brief setConfiguration Attempts to set the configuration to the server | ||
| * @param configuration The requested configuration | ||
| * @return True if the server accepted the request (not the reconfiguration) | ||
| */ | ||
| bool setConfiguration(const ConfigType& configuration) { | ||
| ConfigType temp = configuration; | ||
| return setConfiguration(temp); | ||
| } | ||
| /** | ||
| * @brief setConfiguration Attempts to set the configuration to the server | ||
| * @param configuration The requested configuration, gets overwritten with the | ||
| * reply from the reconfigure server | ||
| * @return True if the server accepted the request (not the reconfiguration) | ||
| */ | ||
| bool setConfiguration(ConfigType& configuration) { | ||
| dynamic_reconfigure::Reconfigure srv; | ||
| configuration.__toMessage__(srv.request.config); | ||
| if (set_service_.call(srv)) { | ||
| configuration.__fromMessage__(srv.response.config); | ||
| return true; | ||
| } else { | ||
| ROS_WARN("Could not set configuration"); | ||
| return false; | ||
| } | ||
| } | ||
| /** | ||
| * @brief getCurrentConfiguration Gets the latest configuration from the | ||
| * dynamic_reconfigure::Server | ||
| * @param configuration The object where the configuration will be stored | ||
| * @param timeout The duration that the client should wait for the | ||
| * configuration, if set to ros::Duration(0) will wait indefinetely | ||
| * @return False if the timeout has happened | ||
| */ | ||
| bool getCurrentConfiguration( | ||
| ConfigType& configuration, | ||
| const ros::Duration& timeout = ros::Duration(0)) { | ||
| if (timeout == ros::Duration(0)) { | ||
| ROS_INFO_ONCE("Waiting for configuration..."); | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| while (!received_configuration_) { | ||
| if (!ros::ok()) return false; | ||
| cv_.wait(lock); | ||
| } | ||
| } else { | ||
| ros::Time start_time = ros::Time::now(); | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| while (!received_configuration_) { | ||
| if (!ros::ok()) return false; | ||
| ros::Duration time_left = timeout - (ros::Time::now() - start_time); | ||
| if (time_left.toSec() <= 0.0) return false; | ||
| cv_.wait_for(lock, boost::chrono::nanoseconds(time_left.toNSec())); | ||
| } | ||
| } | ||
| configuration = latest_configuration_; | ||
| return true; | ||
| } | ||
| /** | ||
| * @brief getDefaultConfiguration Gets the latest default configuration from | ||
| * the dynamic_reconfigure::Server | ||
| * @param configuration The object where the configuration will be stored | ||
| * @param timeout The duration that the client should wait for the | ||
| * configuration, if set to ros::Duration(0) will wait indefinetely | ||
| * @return False if the timeout has happened | ||
| */ | ||
| bool getDefaultConfiguration( | ||
| ConfigType& configuration, | ||
| const ros::Duration& timeout = ros::Duration(0)) { | ||
| ConfigDescription answer; | ||
| if (getDescription(answer, timeout)) { | ||
| configuration.__fromMessage__(answer.dflt); | ||
| return true; | ||
| } else { | ||
| return false; | ||
| } | ||
| } | ||
| /** | ||
| * @brief getMinConfiguration Gets the latest minimum configuration from | ||
| * the dynamic_reconfigure::Server | ||
| * @param configuration The object where the configuration will be stored | ||
| * @param timeout The duration that the client should wait for the | ||
| * configuration, if set to ros::Duration(0) will wait indefinetely | ||
| * @return False if the timeout has happened | ||
| */ | ||
| bool getMinConfiguration(ConfigType& configuration, | ||
| const ros::Duration& timeout = ros::Duration(0)) { | ||
| ConfigDescription answer; | ||
| if (getDescription(answer, timeout)) { | ||
| configuration.__fromMessage__(answer.min); | ||
| return true; | ||
| } else { | ||
| return false; | ||
| } | ||
| } | ||
| /** | ||
| * @brief getMaxConfiguration Gets the latest maximum configuration from | ||
| * the dynamic_reconfigure::Server | ||
| * @param configuration The object where the configuration will be stored | ||
| * @param timeout The duration that the client should wait for the | ||
| * configuration, if set to ros::Duration(0) will wait indefinetely | ||
| * @return False if the timeout has happened | ||
| */ | ||
| bool getMaxConfiguration(ConfigType& configuration, | ||
| const ros::Duration& timeout = ros::Duration(0)) { | ||
| ConfigDescription answer; | ||
| if (getDescription(answer, timeout)) { | ||
| configuration.__fromMessage__(answer.max); | ||
| return true; | ||
| } else { | ||
| return false; | ||
| } | ||
| } | ||
| /** | ||
| * @brief getName Gets the name of the Dynamic Reconfigure Client | ||
| * @return Copy of the member variable | ||
| */ | ||
| std::string getName() const { return name_; } | ||
|
|
||
| private: | ||
| void configurationCallback(const dynamic_reconfigure::Config& configuration) { | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| dynamic_reconfigure::Config temp_config = configuration; | ||
| received_configuration_ = true; | ||
| latest_configuration_.__fromMessage__(temp_config); | ||
| cv_.notify_all(); | ||
|
|
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| if (config_callback_) { | ||
| try { | ||
| config_callback_(latest_configuration_); | ||
| } catch (std::exception& e) { | ||
| ROS_WARN("Configuration callback failed with exception %s", e.what()); | ||
| } catch (...) { | ||
| ROS_WARN("Configuration callback failed with unprintable exception"); | ||
| } | ||
| } else { | ||
| ROS_DEBUG( | ||
| "Unable to call Configuration callback because none was set.\n" \ | ||
| "See setConfigurationCallback"); | ||
| } | ||
| } | ||
|
|
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| void descriptionCallback( | ||
| const dynamic_reconfigure::ConfigDescription& description) { | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| received_description_ = true; | ||
| latest_description_ = description; | ||
| cv_.notify_all(); | ||
|
|
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| if (description_callback_) { | ||
| try { | ||
| description_callback_(description); | ||
| } catch (std::exception& e) { | ||
| ROS_WARN("Description callback failed with exception %s", e.what()); | ||
| } catch (...) { | ||
| ROS_WARN("Description callback failed with unprintable exception"); | ||
| } | ||
| } else { | ||
| ROS_DEBUG( | ||
| "Unable to call Description callback because none was set.\n" \ | ||
| "See setDescriptionCallback"); | ||
| } | ||
| } | ||
|
|
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| bool getDescription(ConfigDescription& configuration, | ||
| const ros::Duration& timeout) { | ||
| if (timeout == ros::Duration(0)) { | ||
| ROS_INFO_ONCE("Waiting for configuration..."); | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| while (!received_description_) { | ||
| if (!ros::ok()) return false; | ||
| cv_.wait(lock); | ||
| } | ||
| } else { | ||
| ros::Time start_time = ros::Time::now(); | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| while (!received_description_) { | ||
| if (!ros::ok()) return false; | ||
| ros::Duration time_left = timeout - (ros::Time::now() - start_time); | ||
| if (time_left.toSec() <= 0.0) return false; | ||
| cv_.wait_for(lock, boost::chrono::nanoseconds(time_left.toNSec())); | ||
| } | ||
| } | ||
| configuration = latest_description_; | ||
| return true; | ||
| } | ||
|
|
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| std::string name_; | ||
| bool received_configuration_; | ||
| ConfigType latest_configuration_; | ||
| bool received_description_; | ||
| dynamic_reconfigure::ConfigDescription latest_description_; | ||
| boost::condition_variable cv_; | ||
| boost::mutex mutex_; | ||
| ros::NodeHandle nh_; | ||
| ros::ServiceClient set_service_; | ||
| ros::Subscriber descr_sub_; | ||
| ros::Subscriber config_sub_; | ||
|
|
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| boost::function<void(const ConfigType&)> config_callback_; | ||
| boost::function<void(const dynamic_reconfigure::ConfigDescription&)> | ||
| description_callback_; | ||
| }; | ||
| } | ||
|
|
||
| #endif // __CLIENT_H__ |
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