Fawkes API
Fawkes Development Version
dynamic_reconfigure_thread.h
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/***************************************************************************
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* dynamic_reconfigure_thread.h - Robotino ROS Dynamic Reconfigure Thread
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*
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* Created: Fri May 05 20:07:27 2017
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* Copyright 2017 Christoph Henke
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _ROS_DYNAMIC_RECONFIGURE_THREAD_H_
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#define _ROS_DYNAMIC_RECONFIGURE_THREAD_H_
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#include <aspect/blackboard.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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#include <interfaces/DynamicReconfigureInterface.h>
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#include <plugins/ros/aspect/ros.h>
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#include <ros/ros.h>
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namespace
fawkes
{
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class
DynamicReconfigureInterface;
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}
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class
RosDynamicReconfigureThread
:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::BlackBoardAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::ROSAspect
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{
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public
:
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RosDynamicReconfigureThread
();
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virtual
void
init
();
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virtual
void
finalize
();
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virtual
void
loop
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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// set methods for dynamic reconfiguration of different types
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bool
set_dynreconf_value(
const
std::string &service,
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const
std::string ¶meter,
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const
std::string &value);
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bool
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set_dynreconf_value(
const
std::string &service,
const
std::string ¶meter,
const
bool
value);
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bool
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set_dynreconf_value(
const
std::string &service,
const
std::string ¶meter,
const
int
value);
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bool
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set_dynreconf_value(
const
std::string &service,
const
std::string ¶meter,
const
double
value);
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// method for resetting the dynamic reconfigure interface
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void
reset_dynamic_reconfigure_interface();
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private
:
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fawkes::DynamicReconfigureInterface
*dynrec_if_;
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};
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#endif
/* ROS_DYNAMIC_RECONFIGURE_THREAD_H__ */
RosDynamicReconfigureThread::RosDynamicReconfigureThread
RosDynamicReconfigureThread()
Contructor.
Definition:
dynamic_reconfigure_thread.cpp:39
RosDynamicReconfigureThread::init
virtual void init()
Method for initialization.
Definition:
dynamic_reconfigure_thread.cpp:48
RosDynamicReconfigureThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
dynamic_reconfigure_thread.h:55
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:56
RosDynamicReconfigureThread
Definition:
dynamic_reconfigure_thread.h:38
fawkes::BlackBoardAspect
Definition:
blackboard.h:38
fawkes
fawkes::LoggingAspect
Definition:
logging.h:38
fawkes::ROSAspect
Definition:
ros.h:38
fawkes::Thread
Definition:
thread.h:45
RosDynamicReconfigureThread::finalize
virtual void finalize()
Method for finalization.
Definition:
dynamic_reconfigure_thread.cpp:75
fawkes::ConfigurableAspect
Definition:
configurable.h:38
fawkes::DynamicReconfigureInterface
Definition:
DynamicReconfigureInterface.h:39
RosDynamicReconfigureThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
dynamic_reconfigure_thread.cpp:302
src
plugins
ros
dynamic_reconfigure_thread.h
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