#! /usr/bin/env python
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from __future__ import print_function

import roslib; roslib.load_manifest('dynamic_reconfigure')
import rospy
import dynamic_reconfigure.server
from dynamic_reconfigure.cfg import TestConfig
import time


def main():
    rospy.init_node("python_test_multiple_ns_server")
    dynamic_reconfigure.server.Server(TestConfig, reconfigure)
    dynamic_reconfigure.server.Server(TestConfig, reconfigure_alternate_ns,
                                      "~alternate_ns")
    dynamic_reconfigure.server.Server(TestConfig, reconfigure_2lvls_ns,
                                      "~alternate_ns/second_lvl")
    dynamic_reconfigure.server.Server(TestConfig, reconfigure_absolute_ns,
                                      "/absolute_ns")
    while not rospy.is_shutdown():
        time.sleep(0.1)


def reconfigure(config, level):
    print(config)

    config['int_'] |= 1
    config['double_'] = -config['double_']
    config['str_'] += "A"
    config['bool_'] = not config['bool_']
    config['level'] = level

    rospy.loginfo("Reconfigured to     : %i %f %s %s %i" % (config['int_'], config['double_'], config['str_'], config['bool_'], config['level']))

    return config  # Returns the updated configuration.


def reconfigure_default(config, level):
    rospy.loginfo("Reconfigure request on default ns")
    return reconfigure(config, level)


def reconfigure_alternate_ns(config, level):
    rospy.loginfo("Reconfigure request on alternate_ns")
    return reconfigure(config, level)


def reconfigure_2lvls_ns(config, level):
    rospy.loginfo("Reconfigure request on alternate_ns/second_lvl")
    return reconfigure(config, level)


def reconfigure_absolute_ns(config, level):
    rospy.loginfo("Reconfigure request on /absolute_ns")
    return reconfigure(config, level)


if __name__ == '__main__':
    main()
