516 lines
22 KiB
C++
516 lines
22 KiB
C++
//#line 2 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/templates/ConfigType.h.template"
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// *********************************************************
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//
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// File autogenerated for the Steve package
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// by the dynamic_reconfigure package.
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// Please do not edit.
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//
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// ********************************************************/
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#ifndef __Steve__NODE_EXAMPLE_PARAMSCONFIG_H__
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#define __Steve__NODE_EXAMPLE_PARAMSCONFIG_H__
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#if __cplusplus >= 201103L
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#define DYNAMIC_RECONFIGURE_FINAL final
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#else
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#define DYNAMIC_RECONFIGURE_FINAL
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#endif
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#include <dynamic_reconfigure/config_tools.h>
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#include <limits>
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#include <ros/node_handle.h>
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#include <dynamic_reconfigure/ConfigDescription.h>
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#include <dynamic_reconfigure/ParamDescription.h>
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#include <dynamic_reconfigure/Group.h>
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#include <dynamic_reconfigure/config_init_mutex.h>
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#include <boost/any.hpp>
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namespace Steve
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{
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class node_example_paramsConfigStatics;
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class node_example_paramsConfig
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{
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public:
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class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
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{
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public:
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AbstractParamDescription(std::string n, std::string t, uint32_t l,
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std::string d, std::string e)
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{
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name = n;
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type = t;
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level = l;
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description = d;
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edit_method = e;
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}
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virtual void clamp(node_example_paramsConfig &config, const node_example_paramsConfig &max, const node_example_paramsConfig &min) const = 0;
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virtual void calcLevel(uint32_t &level, const node_example_paramsConfig &config1, const node_example_paramsConfig &config2) const = 0;
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virtual void fromServer(const ros::NodeHandle &nh, node_example_paramsConfig &config) const = 0;
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virtual void toServer(const ros::NodeHandle &nh, const node_example_paramsConfig &config) const = 0;
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virtual bool fromMessage(const dynamic_reconfigure::Config &msg, node_example_paramsConfig &config) const = 0;
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virtual void toMessage(dynamic_reconfigure::Config &msg, const node_example_paramsConfig &config) const = 0;
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virtual void getValue(const node_example_paramsConfig &config, boost::any &val) const = 0;
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};
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typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
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typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
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// Final keyword added to class because it has virtual methods and inherits
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// from a class with a non-virtual destructor.
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template <class T>
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class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription
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{
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public:
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ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
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std::string a_description, std::string a_edit_method, T node_example_paramsConfig::* a_f) :
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AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
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field(a_f)
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{}
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T node_example_paramsConfig::* field;
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virtual void clamp(node_example_paramsConfig &config, const node_example_paramsConfig &max, const node_example_paramsConfig &min) const
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{
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if (config.*field > max.*field)
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config.*field = max.*field;
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if (config.*field < min.*field)
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config.*field = min.*field;
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}
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virtual void calcLevel(uint32_t &comb_level, const node_example_paramsConfig &config1, const node_example_paramsConfig &config2) const
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{
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if (config1.*field != config2.*field)
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comb_level |= level;
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}
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virtual void fromServer(const ros::NodeHandle &nh, node_example_paramsConfig &config) const
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{
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nh.getParam(name, config.*field);
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}
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virtual void toServer(const ros::NodeHandle &nh, const node_example_paramsConfig &config) const
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{
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nh.setParam(name, config.*field);
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}
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virtual bool fromMessage(const dynamic_reconfigure::Config &msg, node_example_paramsConfig &config) const
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{
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return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
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}
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virtual void toMessage(dynamic_reconfigure::Config &msg, const node_example_paramsConfig &config) const
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{
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dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
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}
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virtual void getValue(const node_example_paramsConfig &config, boost::any &val) const
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{
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val = config.*field;
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}
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};
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class AbstractGroupDescription : public dynamic_reconfigure::Group
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{
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public:
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AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
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{
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name = n;
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type = t;
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parent = p;
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state = s;
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id = i;
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}
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std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
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bool state;
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virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
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virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
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virtual void updateParams(boost::any &cfg, node_example_paramsConfig &top) const= 0;
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virtual void setInitialState(boost::any &cfg) const = 0;
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void convertParams()
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{
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for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
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{
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parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
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}
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}
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};
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typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
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typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
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// Final keyword added to class because it has virtual methods and inherits
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// from a class with a non-virtual destructor.
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template<class T, class PT>
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class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription
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{
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public:
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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)
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{
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}
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GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
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{
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parameters = g.parameters;
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abstract_parameters = g.abstract_parameters;
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}
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virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
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{
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PT* config = boost::any_cast<PT*>(cfg);
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if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
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return false;
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for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
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{
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boost::any n = &((*config).*field);
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if(!(*i)->fromMessage(msg, n))
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return false;
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}
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return true;
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}
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virtual void setInitialState(boost::any &cfg) const
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{
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PT* config = boost::any_cast<PT*>(cfg);
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T* group = &((*config).*field);
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group->state = state;
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for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
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{
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boost::any n = boost::any(&((*config).*field));
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(*i)->setInitialState(n);
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}
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}
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virtual void updateParams(boost::any &cfg, node_example_paramsConfig &top) const
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{
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PT* config = boost::any_cast<PT*>(cfg);
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T* f = &((*config).*field);
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f->setParams(top, abstract_parameters);
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for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
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{
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boost::any n = &((*config).*field);
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(*i)->updateParams(n, top);
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}
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}
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virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
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{
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const PT config = boost::any_cast<PT>(cfg);
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dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
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for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
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{
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(*i)->toMessage(msg, config.*field);
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}
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}
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T PT::* field;
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std::vector<node_example_paramsConfig::AbstractGroupDescriptionConstPtr> groups;
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};
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class DEFAULT
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{
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public:
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DEFAULT()
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{
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state = true;
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name = "Default";
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}
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void setParams(node_example_paramsConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
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{
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for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
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{
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boost::any val;
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(*_i)->getValue(config, val);
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if("message"==(*_i)->name){message = boost::any_cast<std::string>(val);}
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if("a"==(*_i)->name){a = boost::any_cast<int>(val);}
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if("b"==(*_i)->name){b = boost::any_cast<int>(val);}
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}
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}
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std::string message;
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int a;
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int b;
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bool state;
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std::string name;
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}groups;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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std::string message;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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int a;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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int b;
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//#line 228 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/templates/ConfigType.h.template"
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bool __fromMessage__(dynamic_reconfigure::Config &msg)
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{
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const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
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const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
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int count = 0;
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for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
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if ((*i)->fromMessage(msg, *this))
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count++;
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for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
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{
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if ((*i)->id == 0)
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{
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boost::any n = boost::any(this);
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(*i)->updateParams(n, *this);
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(*i)->fromMessage(msg, n);
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}
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}
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if (count != dynamic_reconfigure::ConfigTools::size(msg))
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{
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ROS_ERROR("node_example_paramsConfig::__fromMessage__ called with an unexpected parameter.");
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ROS_ERROR("Booleans:");
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for (unsigned int i = 0; i < msg.bools.size(); i++)
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ROS_ERROR(" %s", msg.bools[i].name.c_str());
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ROS_ERROR("Integers:");
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for (unsigned int i = 0; i < msg.ints.size(); i++)
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ROS_ERROR(" %s", msg.ints[i].name.c_str());
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ROS_ERROR("Doubles:");
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for (unsigned int i = 0; i < msg.doubles.size(); i++)
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ROS_ERROR(" %s", msg.doubles[i].name.c_str());
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ROS_ERROR("Strings:");
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for (unsigned int i = 0; i < msg.strs.size(); i++)
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ROS_ERROR(" %s", msg.strs[i].name.c_str());
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// @todo Check that there are no duplicates. Make this error more
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// explicit.
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return false;
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}
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return true;
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}
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// This version of __toMessage__ is used during initialization of
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// statics when __getParamDescriptions__ can't be called yet.
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void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
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{
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dynamic_reconfigure::ConfigTools::clear(msg);
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for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
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(*i)->toMessage(msg, *this);
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for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
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{
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if((*i)->id == 0)
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{
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(*i)->toMessage(msg, *this);
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}
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}
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}
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void __toMessage__(dynamic_reconfigure::Config &msg) const
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{
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const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
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const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
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__toMessage__(msg, __param_descriptions__, __group_descriptions__);
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}
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void __toServer__(const ros::NodeHandle &nh) const
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{
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const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
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for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
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(*i)->toServer(nh, *this);
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}
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void __fromServer__(const ros::NodeHandle &nh)
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{
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static bool setup=false;
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const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
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for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
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(*i)->fromServer(nh, *this);
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const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
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for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
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if (!setup && (*i)->id == 0) {
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setup = true;
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boost::any n = boost::any(this);
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(*i)->setInitialState(n);
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}
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}
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}
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void __clamp__()
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{
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const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
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const node_example_paramsConfig &__max__ = __getMax__();
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const node_example_paramsConfig &__min__ = __getMin__();
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for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
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(*i)->clamp(*this, __max__, __min__);
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}
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uint32_t __level__(const node_example_paramsConfig &config) const
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{
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const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
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uint32_t level = 0;
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for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
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(*i)->calcLevel(level, config, *this);
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return level;
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}
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static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
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static const node_example_paramsConfig &__getDefault__();
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static const node_example_paramsConfig &__getMax__();
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static const node_example_paramsConfig &__getMin__();
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static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
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static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
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private:
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static const node_example_paramsConfigStatics *__get_statics__();
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};
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template <> // Max and min are ignored for strings.
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inline void node_example_paramsConfig::ParamDescription<std::string>::clamp(node_example_paramsConfig &config, const node_example_paramsConfig &max, const node_example_paramsConfig &min) const
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{
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(void) config;
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(void) min;
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(void) max;
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return;
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}
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class node_example_paramsConfigStatics
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{
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friend class node_example_paramsConfig;
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node_example_paramsConfigStatics()
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{
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node_example_paramsConfig::GroupDescription<node_example_paramsConfig::DEFAULT, node_example_paramsConfig> Default("Default", "", 0, 0, true, &node_example_paramsConfig::groups);
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__min__.message = "";
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__max__.message = "";
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__default__.message = "hello";
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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Default.abstract_parameters.push_back(node_example_paramsConfig::AbstractParamDescriptionConstPtr(new node_example_paramsConfig::ParamDescription<std::string>("message", "str", 0, "The message.", "", &node_example_paramsConfig::message)));
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__param_descriptions__.push_back(node_example_paramsConfig::AbstractParamDescriptionConstPtr(new node_example_paramsConfig::ParamDescription<std::string>("message", "str", 0, "The message.", "", &node_example_paramsConfig::message)));
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__min__.a = -100;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__max__.a = 100;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__default__.a = 1;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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Default.abstract_parameters.push_back(node_example_paramsConfig::AbstractParamDescriptionConstPtr(new node_example_paramsConfig::ParamDescription<int>("a", "int", 0, "First number.", "", &node_example_paramsConfig::a)));
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__param_descriptions__.push_back(node_example_paramsConfig::AbstractParamDescriptionConstPtr(new node_example_paramsConfig::ParamDescription<int>("a", "int", 0, "First number.", "", &node_example_paramsConfig::a)));
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__min__.b = -100;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__max__.b = 100;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__default__.b = 2;
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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Default.abstract_parameters.push_back(node_example_paramsConfig::AbstractParamDescriptionConstPtr(new node_example_paramsConfig::ParamDescription<int>("b", "int", 0, "First number.", "", &node_example_paramsConfig::b)));
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//#line 274 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__param_descriptions__.push_back(node_example_paramsConfig::AbstractParamDescriptionConstPtr(new node_example_paramsConfig::ParamDescription<int>("b", "int", 0, "First number.", "", &node_example_paramsConfig::b)));
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//#line 246 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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Default.convertParams();
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//#line 246 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/src/dynamic_reconfigure/parameter_generator.py"
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__group_descriptions__.push_back(node_example_paramsConfig::AbstractGroupDescriptionConstPtr(new node_example_paramsConfig::GroupDescription<node_example_paramsConfig::DEFAULT, node_example_paramsConfig>(Default)));
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//#line 366 "/home/pi/ros_catkin_ws/src/dynamic_reconfigure/templates/ConfigType.h.template"
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for (std::vector<node_example_paramsConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
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{
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__description_message__.groups.push_back(**i);
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}
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__max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
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__min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
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__default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
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}
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std::vector<node_example_paramsConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
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std::vector<node_example_paramsConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
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node_example_paramsConfig __max__;
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node_example_paramsConfig __min__;
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node_example_paramsConfig __default__;
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dynamic_reconfigure::ConfigDescription __description_message__;
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static const node_example_paramsConfigStatics *get_instance()
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{
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// Split this off in a separate function because I know that
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// instance will get initialized the first time get_instance is
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// called, and I am guaranteeing that get_instance gets called at
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// most once.
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static node_example_paramsConfigStatics instance;
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return &instance;
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}
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};
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inline const dynamic_reconfigure::ConfigDescription &node_example_paramsConfig::__getDescriptionMessage__()
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{
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return __get_statics__()->__description_message__;
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}
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inline const node_example_paramsConfig &node_example_paramsConfig::__getDefault__()
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{
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return __get_statics__()->__default__;
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}
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inline const node_example_paramsConfig &node_example_paramsConfig::__getMax__()
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{
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return __get_statics__()->__max__;
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}
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inline const node_example_paramsConfig &node_example_paramsConfig::__getMin__()
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{
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return __get_statics__()->__min__;
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}
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inline const std::vector<node_example_paramsConfig::AbstractParamDescriptionConstPtr> &node_example_paramsConfig::__getParamDescriptions__()
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{
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return __get_statics__()->__param_descriptions__;
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}
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inline const std::vector<node_example_paramsConfig::AbstractGroupDescriptionConstPtr> &node_example_paramsConfig::__getGroupDescriptions__()
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{
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return __get_statics__()->__group_descriptions__;
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}
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inline const node_example_paramsConfigStatics *node_example_paramsConfig::__get_statics__()
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{
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const static node_example_paramsConfigStatics *statics;
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if (statics) // Common case
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return statics;
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boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
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if (statics) // In case we lost a race.
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return statics;
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statics = node_example_paramsConfigStatics::get_instance();
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return statics;
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}
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}
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#undef DYNAMIC_RECONFIGURE_FINAL
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#endif // __NODE_EXAMPLE_PARAMSRECONFIGURATOR_H__
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