Make Config instances have default values in constructor- only C++ now, haven't looked at python #33

Author: lucasw

src/dynamic_reconfigure/parameter_generator.py

@@ -481,6 +481,7 @@ def generatecpp(self):
         f = open(os.path.join(self.pkgpath, cfg_cpp_dir, self.name + "Config.h"), 'w')
 
         paramdescr = []
+        paraminit = []
         groups = []
         members = []
         constants = []
@@ -494,6 +495,10 @@ def write_params(group):
             else:
                 paramdescr.append(Template("${configname}Config::GroupDescription<${configname}Config::${class}, ${configname}Config::${parentclass}> ${name}(\"${name}\", \"${type}\", ${parent}, ${id}, ${cstate}, &${configname}Config::${field});").safe_substitute(group.to_dict(), configname=self.name))
             for param in group.parameters:
+                if len(paraminit) > 0:
+                    self.appendline(paraminit, "${name}($v), ", param, "default")
+                else:
+                    self.appendline(paraminit, " : ${name}($v), ", param, "default")
                 self.appendline(members, "${ctype} ${name};", param)
                 self.appendline(paramdescr, "__min__.${name} = $v;", param, "min")
                 self.appendline(paramdescr, "__max__.${name} = $v;", param, "max")
@@ -522,12 +527,16 @@ def write_params(group):
         self.appendgroup(groups, self.group)
 
         paramdescr = string.join(paramdescr, '\n')
+        paraminit = ' '.join(paraminit)
+        # chop off trailing ", "
+        paraminit = paraminit[:-2]
         members = string.join(members, '\n')
         groups = string.join(groups, '\n')
         constants = string.join(constants, '\n')
         f.write(Template(template).substitute(
             uname=self.name.upper(),
             configname=self.name, pkgname=self.pkgname, paramdescr=paramdescr,
+            paraminit=paraminit,
             members=members, groups=groups, doline=LINEDEBUG, constants=constants))
         f.close()
 

src/dynamic_reconfigure/parameter_generator_catkin.py

@@ -461,6 +461,7 @@ def generatecpp(self):
         # Write the configuration manipulator.
         self.mkdirabs(self.cpp_gen_dir)
         paramdescr = []
+        paraminit = []
         groups = []
         members = []
         constants = []
@@ -473,6 +474,10 @@ def write_params(group):
             else:
                 paramdescr.append(Template("${configname}Config::GroupDescription<${configname}Config::${class}, ${configname}Config::${parentclass}> ${name}(\"${name}\", \"${type}\", ${parent}, ${id}, ${cstate}, &${configname}Config::${field});").safe_substitute(group.to_dict(), configname=self.name))
             for param in group.parameters:
+                if len(paraminit) > 0:
+                    self.appendline(paraminit, "${name}($v), ", param, "default")
+                else:
+                    self.appendline(paraminit, " : ${name}($v), ", param, "default")
                 self.appendline(members, "${ctype} ${name};", param)
                 self.appendline(paramdescr, "__min__.${name} = $v;", param, "min")
                 self.appendline(paramdescr, "__max__.${name} = $v;", param, "max")
@@ -501,13 +506,17 @@ def write_params(group):
         self.appendgroup(groups, self.group)
 
         paramdescr = '\n'.join(paramdescr)
+        paraminit = ' '.join(paraminit)
+        # chop off trailing ", "
+        paraminit = paraminit[:-2]
         members = '\n'.join(members)
         constants = '\n'.join(constants)
         groups = '\n'.join(groups)
         with open(os.path.join(self.cpp_gen_dir, self.name + "Config.h"), 'w') as f:
             f.write(Template(template).substitute(
                 uname=self.name.upper(),
                 configname=self.name, pkgname=self.pkgname, paramdescr=paramdescr,
+                paraminit=paraminit,
                 members=members, groups=groups, doline=LINEDEBUG, constants=constants))
         print("Wrote header file in " + os.path.join(self.cpp_gen_dir, self.name + "Config.h"))
 

templates/ConfigType.h.template

@@ -32,6 +32,10 @@ namespace ${pkgname}
   class ${configname}Config
   {
   public:
+    ${configname}Config()
+    ${paraminit}
+    {
+    }
     class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
     {
     public: