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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2009-2010, Willow Garage, 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 Willow Garage 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.
*********************************************************************/
#include <dynamic_reconfigure/server.h>
#include <dynamic_reconfigure/TestConfig.h>
void callback(dynamic_reconfigure::Server<dynamic_reconfigure::TestConfig>& srv, dynamic_reconfigure::TestConfig &config, uint32_t level)
{
ROS_INFO("Reconfigure request : %i %f %s %i %i Group1:%i Group2: %f %s", config.int_, config.double_, config.str_.c_str(), (int) config.bool_, config.level, config.group1_int, config.group2_double, config.group2_string.c_str());
config.int_ |= 1;
config.double_ = -config.double_;
config.str_ += "A";
config.bool_ = !config.bool_;
config.level = level;
dynamic_reconfigure::TestConfig max;
srv.getConfigMax(max);
max.int_ = max.int_ + 1;
srv.setConfigMax(max);
ROS_INFO("TEST");
ROS_INFO("Group 2 requested to be set to %d", config.groups.group_one.group2.state);
ROS_INFO("group2_doube requested to be set to %f", config.groups.group_one.group2.group2_double);
ROS_INFO("Reconfigured to : %i %f %s %i %i", config.int_, config.double_, config.str_.c_str(), (int) config.bool_, config.level);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "dynamic_reconfigure_test_server");
dynamic_reconfigure::Server<dynamic_reconfigure::TestConfig> srvs;
dynamic_reconfigure::Server<dynamic_reconfigure::TestConfig>::CallbackType f = boost::bind(&callback, boost::ref(srvs),boost::placeholders::_1, boost::placeholders::_2);
srvs.setCallback(f);
ROS_INFO("Constants are: %i %f %s %i", dynamic_reconfigure::Test_int_const, dynamic_reconfigure::Test_double_const, dynamic_reconfigure::Test_str_const, (int) dynamic_reconfigure::Test_bool_const);
ROS_INFO("Starting to spin...");
ros::spin();
return 0;
}
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