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Parameter conditionally enabled #180

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Parameter conditionally enabled #180

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1 change: 1 addition & 0 deletions msg/ParamDescription.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -3,3 +3,4 @@ string type
uint32 level
string description
string edit_method
string enable_if
3 changes: 2 additions & 1 deletion src/dynamic_reconfigure/encoding.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ def encode_groups(parent, group):
msg.type = group['type']

for param in group['parameters']:
msg.parameters.append(ParamDescription(param['name'], param['type'], param['level'], param['description'], param['edit_method']))
msg.parameters.append(ParamDescription(param['name'], param['type'], param['level'], param['description'], param['edit_method'], param['enable_if']))

group_list.append(msg)
for next in group['groups']:
Expand Down Expand Up @@ -180,6 +180,7 @@ def params_from_msg(msg):
'level': param.level,
'description': param.description,
'edit_method': param.edit_method,
'enable_if': param.enable_if,
})
return params

Expand Down
11 changes: 6 additions & 5 deletions src/dynamic_reconfigure/parameter_generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ def add_group(self, name, type="", state=True):
self.groups.append(group)
return group

def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method=""):
def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method="", enable_if=""):
newparam = {
'name': name,
'type': paramtype,
Expand All @@ -137,6 +137,7 @@ def add(self, name, paramtype, level, description, default=None, min=None, max=N
'srcline': inspect.currentframe().f_back.f_lineno,
'srcfile': inspect.getsourcefile(inspect.currentframe().f_back.f_code),
'edit_method': edit_method,
'enable_if': enable_if,
}
if type == str_t and (max is not None or min is not None):
raise Exception("Max or min specified for %s, which is of string type" % name)
Expand Down Expand Up @@ -270,8 +271,8 @@ def enum(self, constants, description):
return repr({'enum': constants, 'enum_description': description})

# Wrap add and add_group for the default group
def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method=""):
self.group.add(name, paramtype, level, description, default, min, max, edit_method)
def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method="", enable_if=""):
self.group.add(name, paramtype, level, description, default, min, max, edit_method, enable_if)

def add_group(self, name, type="", state=True):
return self.group.add_group(name, type=type, state=state)
Expand Down Expand Up @@ -502,11 +503,11 @@ def write_params(group):
paramdescr,
group.to_dict()['name'] +
".abstract_parameters.push_back(${configname}Config::AbstractParamDescriptionConstPtr(new ${configname}Config::ParamDescription<${ctype}>(\"${name}\", \"${type}\", ${level}, "
"\"${description}\", \"${edit_method}\", &${configname}Config::${name})));", param)
"\"${description}\", \"${edit_method}\", \"${enable_if}\", &${configname}Config::${name})));", param)
self.appendline(
paramdescr,
"__param_descriptions__.push_back(${configname}Config::AbstractParamDescriptionConstPtr(new ${configname}Config::ParamDescription<${ctype}>(\"${name}\", \"${type}\", ${level}, "
"\"${description}\", \"${edit_method}\", &${configname}Config::${name})));", param)
"\"${description}\", \"${edit_method}\", \"${enable_if}\", &${configname}Config::${name})));", param)

for g in group.groups:
write_params(g)
Expand Down
11 changes: 6 additions & 5 deletions src/dynamic_reconfigure/parameter_generator_catkin.py
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,7 @@ def add_group(self, name, type="", state=True):
self.groups.append(group)
return group

def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method=""):
def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method="", enable_if=""):
newparam = {
'name': name,
'type': paramtype,
Expand All @@ -138,6 +138,7 @@ def add(self, name, paramtype, level, description, default=None, min=None, max=N
'srcline': inspect.currentframe().f_back.f_lineno,
'srcfile': inspect.getsourcefile(inspect.currentframe().f_back.f_code),
'edit_method': edit_method,
'enable_if': enable_if,
}
if (paramtype == str_t or paramtype == bool_t) and (max is not None or min is not None):
raise Exception(
Expand Down Expand Up @@ -287,8 +288,8 @@ def enum(self, constants, description):
return repr({'enum': constants, 'enum_description': description})

# Wrap add and add_group for the default group
def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method=""):
self.group.add(name, paramtype, level, description, default, min, max, edit_method)
def add(self, name, paramtype, level, description, default=None, min=None, max=None, edit_method="", enable_if=""):
self.group.add(name, paramtype, level, description, default, min, max, edit_method, enable_if)

def add_group(self, name, type="", state=True):
return self.group.add_group(name, type=type, state=state)
Expand Down Expand Up @@ -481,11 +482,11 @@ def write_params(group):
paramdescr,
group.to_dict()['name'] +
".abstract_parameters.push_back(${configname}Config::AbstractParamDescriptionConstPtr(new ${configname}Config::ParamDescription<${ctype}>(\"${name}\", \"${type}\", ${level}, "
"\"${description}\", \"${edit_method}\", &${configname}Config::${name})));", param)
"\"${description}\", \"${edit_method}\", \"${enable_if}\", &${configname}Config::${name})));", param)
self.appendline(
paramdescr,
"__param_descriptions__.push_back(${configname}Config::AbstractParamDescriptionConstPtr(new ${configname}Config::ParamDescription<${ctype}>(\"${name}\", \"${type}\", ${level}, "
"\"${description}\", \"${edit_method}\", &${configname}Config::${name})));", param)
"\"${description}\", \"${edit_method}\", \"${enable_if}\", &${configname}Config::${name})));", param)

for g in group.groups:
write_params(g)
Expand Down
7 changes: 4 additions & 3 deletions templates/ConfigType.h.template
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Original file line number Diff line number Diff line change
Expand Up @@ -36,13 +36,14 @@ namespace ${pkgname}
{
public:
AbstractParamDescription(std::string n, std::string t, uint32_t l,
std::string d, std::string e)
std::string d, std::string e, std::string ei)
{
name = n;
type = t;
level = l;
description = d;
edit_method = e;
enable_if = ei;
}

virtual void clamp(${configname}Config &config, const ${configname}Config &max, const ${configname}Config &min) const = 0;
Expand All @@ -64,8 +65,8 @@ namespace ${pkgname}
{
public:
ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
std::string a_description, std::string a_edit_method, T ${configname}Config::* a_f) :
AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
std::string a_description, std::string a_edit_method, std::string a_enable_if, T ${configname}Config::* a_f) :
AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method, a_enable_if),
field(a_f)
{}

Expand Down