def _change_config(self, config, level):
self.config = self.callback(config, level)
if self.config is None:
msg = 'Reconfigure callback should return a possibly updated configuration.'
rospy.logerr(msg)
raise DynamicReconfigureCallbackException(msg)
self._copy_to_parameter_server()
self.update_topic.publish(encode_config(self.config))
return self.config
def update_configuration(self, changes, timeout=None):
"""
Change the server's configuration
@param changes: dictionary of key value pairs for the parameters that are changing
@type changes: {str: value}
"""
# Retrieve the parameter descriptions
if self.param_description is None:
self.get_parameter_descriptions(timeout)
# Cast the parameters to the appropriate types
if self.param_description is not None:
for name, value in list(changes.items())[:]:
if name != 'groups':
dest_type = self._param_types.get(name)
if dest_type is None:
raise DynamicReconfigureParameterException(
'don\'t know parameter: %s' % name)
try:
found = False
descr = [
x for x in self.param_description
if x['name'].lower() == name.lower()
][0]
# Fix not converting bools properly
if dest_type is bool and type(value) is str:
changes[name] = value.lower() in ("yes", "true",
"t", "1")
found = True
# Handle enums
elif type(value
) is str and not descr['edit_method'] == '':
enum_descr = eval(descr['edit_method'])
found = False
for const in enum_descr['enum']:
if value.lower() == const['name'].lower():
val_type = self._param_type_from_string(
const['type'])
changes[name] = val_type(const['value'])
found = True
if not found:
if sys.version_info.major < 3:
if type(value) is unicode:
changes[name] = unicode(value)
else:
changes[name] = dest_type(value)
else:
changes[name] = dest_type(value)
except ValueError as e:
raise DynamicReconfigureParameterException(
'can\'t set parameter \'%s\' of %s: %s' %
(name, str(dest_type), e))
if 'groups' in changes.keys():
changes['groups'] = self.update_groups(changes['groups'])
config = encode_config(changes)
try:
msg = self._set_service(config).config
except ServiceException as e:
raise DynamicReconfigureCallbackException('service call failed')
if self.group_description is None:
self.get_group_descriptions(timeout)
resp = decode_config(msg, self.group_description)
return resp