From 9e8800a4d0bb6d10ed904557acafe661fdc294ed Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Mon, 6 Jun 2011 09:31:09 +0000
Subject: [PATCH] - updating algorithm templates to include CMutex and
reconfigure callback - adding virtual reconfigure callback in base algorithm
---
include/iri_base_algorithm/iri_base_algorithm.h | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index ea4f3f0..c804249 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -228,6 +228,20 @@ class IriBaseAlgorithm : public AbstractAlgorithmNode
*/
void reconfigureCallback(Config &config, uint32_t level);
+ /**
+ * \brief dynamic reconfigure server callback
+ *
+ * This method is called whenever a new configuration is received through
+ * the dynamic reconfigure. The derivated generic algorithm class must
+ * implement it.
+ *
+ * \param config an object with new configuration from all algorithm
+ * parameters defined in the config file.
+ * \param level integer referring the level in which the configuration
+ * has been changed.
+ */
+ virtual void node_config_update(Config &config, uint32_t level) = 0;
+
/**
* \brief add diagnostics
*
@@ -311,6 +325,7 @@ IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
template <class Algorithm>
void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
{
+ node_config_update(config, level);
this->alg_.config_update(config, level);
}
--
GitLab