Added the dynamic_reconfigure function to handle generic parameters to the...

Added the dynamic_reconfigure function to handle generic parameters to the module and module action classes.

include/iri_ros_tools/module.h

@@ -160,6 +160,17 @@ class CModule
       *              and can be ignored.
       */
     virtual void reconfigure_callback(ModuleCfg &config, uint32_t level)=0;
+    /**
+     * \ brief Handles the dynamic reconfigure parameters of the module service
+     *
+     * This functions handles all generic module service parameters for each instance
+     * and updates the internal attributes accordingly.
+     *
+     * \param config data object with all the module parameters.
+     * \param name prefix given to the module servie variables in order to locate and
+     *             handle them.
+     */
+    void dynamic_reconfigure(ModuleCfg &config, const std::string &name);
     /**
       * \brief function to start the operation of the class
       *
@@ -307,6 +318,26 @@ void *CModule<ModuleCfg>::module_thread(void *param)
   pthread_exit(NULL);
 }
 
+template<class ModuleCfg>
+void CModule<ModuleCfg>::dynamic_reconfigure(ModuleCfg &config, const std::string &name)
+{
+  std::vector<typename ModuleCfg::AbstractParamDescriptionConstPtr> params;
+  boost::any value;
+
+  params=ModuleCfg::__getParamDescriptions__();
+
+  for(typename std::vector<typename ModuleCfg::AbstractParamDescriptionConstPtr>::iterator param=params.begin();param!=params.end();param++)
+  {
+    if((*param)->name==(name+"_rate_hz"))
+    {
+
+      (*param)->getValue(config,value);
+      if(value.type()==typeid(double))
+        this->set_rate(boost::any_cast<double &>(value));
+    }
+  }
+}
+
 template<class ModuleCfg>
 void CModule<ModuleCfg>::start_operation(void)
 {

include/iri_ros_tools/module_action.h

@@ -56,7 +56,7 @@ typedef enum {ACTION_IDLE,
   * 
   *   <main node namespace>/<class namespace>/<class name>
   */
-template<class action_ros>
+template<class action_ros,class dyn_reconf_config>
 class CModuleAction
 {
   private:
@@ -279,6 +279,17 @@ class CModuleAction
 
       */
     CModuleAction(const std::string &name,const std::string &name_space=std::string(""));
+     /**
+     * \ brief Handles the dynamic reconfigure parameters of the module service
+     *
+     * This functions handles all generic module service parameters for each instance
+     * and updates the internal attributes accordingly.
+     *
+     * \param config data object with all the module parameters.
+     * \param name prefix given to the module servie variables in order to locate and
+     *             handle them.
+     */
+    void dynamic_reconfigure(dyn_reconf_config &config, const std::string &name);
     /**
       * \brief Sets the maximum number of attempts to start the action
       * 
@@ -457,9 +468,9 @@ class CModuleAction
           ROS_DEBUG_STREAM("CModuleAction::make_request: Server " << this->name << " is Available!");
           this->current_num_retries=0;
           this->action_client->sendGoal(msg,
-                      boost::bind(&CModuleAction<action_ros>::action_done,     this, _1, _2),
-                      boost::bind(&CModuleAction<action_ros>::action_active,   this),
-                      boost::bind(&CModuleAction<action_ros>::action_feedback, this, _1));
+                      boost::bind(&CModuleAction<action_ros,dyn_reconf_config>::action_done,     this, _1, _2),
+                      boost::bind(&CModuleAction<action_ros,dyn_reconf_config>::action_active,   this),
+                      boost::bind(&CModuleAction<action_ros,dyn_reconf_config>::action_feedback, this, _1));
           this->feedback_watchdog.reset(ros::Duration(this->watchdog_time));
           this->status=ACTION_RUNNING;
           if(this->use_timeout)
@@ -559,8 +570,8 @@ class CModuleAction
     ~CModuleAction();
 };
 
-template<class action_ros>
-CModuleAction<action_ros>::CModuleAction(const std::string &name,const std::string &name_space):nh(name_space)
+template<class action_ros,class dyn_reconf_config>
+CModuleAction<action_ros,dyn_reconf_config>::CModuleAction(const std::string &name,const std::string &name_space):nh(name_space)
 {
   this->name=this->nh.getNamespace()+"/"+name;
   this->status=ACTION_IDLE;
@@ -582,28 +593,98 @@ CModuleAction<action_ros>::CModuleAction(const std::string &name,const std::stri
   this->enabled=true;
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::action_active(void)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf_config &config, const std::string &name)
+{
+  std::vector<typename dyn_reconf_config::AbstractParamDescriptionConstPtr> params;
+  bool enable_timeout,enable_watchdog;
+  double timeout,watchdog;
+  boost::any value;
+
+  params=dyn_reconf_config::__getParamDescriptions__();
+
+  for(typename std::vector<typename dyn_reconf_config::AbstractParamDescriptionConstPtr>::iterator param=params.begin();param!=params.end();param++)
+  {
+    if((*param)->name==(name+"_num_retries"))
+    {
+      (*param)->getValue(config,value);
+      if(value.type()==typeid(int))
+        this->set_max_num_retries(boost::any_cast<int &>(value));
+    }
+    else if((*param)->name==(name+"_enable_timeout"))
+    {
+      if(value.type()==typeid(bool))
+      {
+        if(boost::any_cast<bool &>(value))
+          enable_timeout=true;
+        else
+          enable_timeout=false;
+      }
+    }
+    if((*param)->name==(name+"_timeout_s"))
+    {
+      (*param)->getValue(config,value);
+      if(value.type()==typeid(double))
+        timeout=boost::any_cast<double &>(value);
+    }
+    if((*param)->name==(name+"_feedback_watchdog_time_s"))
+    {
+      (*param)->getValue(config,value);
+      if(value.type()==typeid(double))
+        watchdog=boost::any_cast<double &>(value);
+    }
+    else if((*param)->name==(name+"_enable_watchdog"))
+    {
+      if(value.type()==typeid(bool))
+      {
+        if(boost::any_cast<bool &>(value))
+          enable_watchdog=true;
+        else
+          enable_watchdog=false;
+      }
+    }
+    else if((*param)->name==(name+"_enabled"))
+    {
+      if(value.type()==typeid(bool))
+      {
+        if(boost::any_cast<bool &>(value))
+          this->enable();
+        else
+          this->disable();
+      }
+    }
+  }
+  if(enable_timeout)
+    this->enable_timeout(timeout);
+  else
+    this->disable_timeout();
+  if(enable_watchdog)
+    this->enable_watchdog(watchdog);
+}
+
+
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::action_active(void)
 {
   ROS_DEBUG_STREAM("CModuleAction::action_active: Goal on server " << this->name << " just went active!");
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::set_max_num_retries(unsigned int max_retries)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::set_max_num_retries(unsigned int max_retries)
 {
   this->action_access.enter();
   this->max_num_retries=max_retries;
   this->action_access.exit();
 }
 
-template<class action_ros>
-unsigned int CModuleAction<action_ros>::get_max_num_retries(void)
+template<class action_ros,class dyn_reconf_config>
+unsigned int CModuleAction<action_ros,dyn_reconf_config>::get_max_num_retries(void)
 {
   return this->max_num_retries;
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::enable_watchdog(double time_s)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::enable_watchdog(double time_s)
 {
   this->action_access.enter();
   if(time_s>0.0)
@@ -620,28 +701,28 @@ void CModuleAction<action_ros>::enable_watchdog(double time_s)
   this->action_access.exit();
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::disable_watchdog(void)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::disable_watchdog(void)
 {
   this->action_access.enter();
   this->use_watchdog=false;
   this->action_access.exit();
 }
 
-template<class action_ros>
-bool CModuleAction<action_ros>::is_watchdog_enabled(void)
+template<class action_ros,class dyn_reconf_config>
+bool CModuleAction<action_ros,dyn_reconf_config>::is_watchdog_enabled(void)
 {
   return this->use_watchdog;
 }
 
-template<class action_ros>
-double CModuleAction<action_ros>::get_feedback_watchdog_time(void)
+template<class action_ros,class dyn_reconf_config>
+double CModuleAction<action_ros,dyn_reconf_config>::get_feedback_watchdog_time(void)
 {
   return this->watchdog_time;
 }
 
-template<class action_ros>
-bool CModuleAction<action_ros>::is_watchdog_active(void)
+template<class action_ros,class dyn_reconf_config>
+bool CModuleAction<action_ros,dyn_reconf_config>::is_watchdog_active(void)
 {
   this->action_access.enter();
   if(this->enabled)
@@ -662,8 +743,8 @@ bool CModuleAction<action_ros>::is_watchdog_active(void)
     return false;
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::enable_timeout(double time_s)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::enable_timeout(double time_s)
 {
   this->action_access.enter();
   if(time_s>0.0)
@@ -679,16 +760,16 @@ void CModuleAction<action_ros>::enable_timeout(double time_s)
   this->action_access.exit();
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::disable_timeout(void)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::disable_timeout(void)
 {
   this->action_access.enter();
   this->use_timeout=false;
   this->action_access.exit();
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::update_timeout(double time_s)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::update_timeout(double time_s)
 {
   this->action_access.enter();
   if(this->use_timeout)
@@ -707,22 +788,22 @@ void CModuleAction<action_ros>::update_timeout(double time_s)
   this->action_access.exit();
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::stop_timeout(void)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::stop_timeout(void)
 {
   this->action_access.enter();
   this->action_timeout.stop();
   this->action_access.exit();
 }
 
-template<class action_ros>
-bool CModuleAction<action_ros>::is_timeout_enabled(void)
+template<class action_ros,class dyn_reconf_config>
+bool CModuleAction<action_ros,dyn_reconf_config>::is_timeout_enabled(void)
 {
   return this->use_timeout;
 }
 
-template<class action_ros>
-bool CModuleAction<action_ros>::is_timeout_active(void)
+template<class action_ros,class dyn_reconf_config>
+bool CModuleAction<action_ros,dyn_reconf_config>::is_timeout_active(void)
 {
   this->action_access.enter();
   if(this->use_timeout && this->action_timeout.timed_out())
@@ -738,36 +819,36 @@ bool CModuleAction<action_ros>::is_timeout_active(void)
   }
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::enable(void)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::enable(void)
 {
   this->action_access.enter();
   this->enabled=true;
   this->action_access.exit();
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::disable(void)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::disable(void)
 {
   this->action_access.enter();
   this->enabled=false;
   this->action_access.exit();
 }
 
-template<class action_ros>
-bool CModuleAction<action_ros>::is_enabled(void)
+template<class action_ros,class dyn_reconf_config>
+bool CModuleAction<action_ros,dyn_reconf_config>::is_enabled(void)
 {
   return this->enabled;
 }
 
-template<class action_ros>
-std::string CModuleAction<action_ros>::get_name(void)
+template<class action_ros,class dyn_reconf_config>
+std::string CModuleAction<action_ros,dyn_reconf_config>::get_name(void)
 {
   return this->name;
 }
 
-template<class action_ros>
-void CModuleAction<action_ros>::cancel(void)
+template<class action_ros,class dyn_reconf_config>
+void CModuleAction<action_ros,dyn_reconf_config>::cancel(void)
 {
   actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
 
@@ -779,8 +860,8 @@ void CModuleAction<action_ros>::cancel(void)
   }
 }
 
-template<class action_ros>
-bool CModuleAction<action_ros>::is_finished(void)
+template<class action_ros,class dyn_reconf_config>
+bool CModuleAction<action_ros,dyn_reconf_config>::is_finished(void)
 {
   actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
   
@@ -796,8 +877,8 @@ bool CModuleAction<action_ros>::is_finished(void)
     return true;
 }
 
-template<class action_ros>
-action_status CModuleAction<action_ros>::get_state(void)
+template<class action_ros,class dyn_reconf_config>
+action_status CModuleAction<action_ros,dyn_reconf_config>::get_state(void)
 {
   if(this->enabled)
   {
@@ -813,8 +894,8 @@ action_status CModuleAction<action_ros>::get_state(void)
   return this->status;
 }
 
-template<class action_ros>
-CModuleAction<action_ros>::~CModuleAction()
+template<class action_ros,class dyn_reconf_config>
+CModuleAction<action_ros,dyn_reconf_config>::~CModuleAction()
 {
   if(this->enabled)
   {

include/iri_ros_tools/module_service.h

@@ -122,7 +122,7 @@ class CModuleService
      * \param name prefix given to the module servie variables in order to locate and
      *             handle them.
      */
-    void dynamice_reconfigure(dyn_reconf_config &config, std::string &name);
+    void dynamic_reconfigure(dyn_reconf_config &config, const std::string &name);
 
     /**
       * \brief Sets the maximum number of attempts to start the action
@@ -217,7 +217,7 @@ CModuleService<service_msg,dyn_reconf_config>::CModuleService(const std::string
 }
 
 template<class service_msg,class dyn_reconf_config>
-void CModuleService<service_msg,dyn_reconf_config>::dynamice_reconfigure(dyn_reconf_config &config, std::string &name)
+void CModuleService<service_msg,dyn_reconf_config>::dynamic_reconfigure(dyn_reconf_config &config, const std::string &name)
 {
   std::vector<typename dyn_reconf_config::AbstractParamDescriptionConstPtr> params;
   boost::any value;
@@ -226,13 +226,13 @@ void CModuleService<service_msg,dyn_reconf_config>::dynamice_reconfigure(dyn_rec
 
   for(typename std::vector<typename dyn_reconf_config::AbstractParamDescriptionConstPtr>::iterator param=params.begin();param!=params.end();param++)
   {
-    if((*param)->name==(name+"_max_num_retries"))
+    if((*param)->name==(name+"_num_retries"))
     {
       (*param)->getValue(config,value);
       if(value.type()==typeid(int))
         this->set_max_num_retries(boost::any_cast<int &>(value));
     }
-    if((*param)->name==(name+"_enable"))
+    else if((*param)->name==(name+"_enabled"))
     {
       if(value.type()==typeid(bool))
       {