Queues messages that include a Header until there is transform data available for the time the timestamp on the message. More...
#include <message_notifier.h>
Classes | |
| class | MessageDeleter |
| Since we allocate with our own special functions, we need to also delete using them. This provides a deletion interface for the boost::shared_ptr. More... | |
Public Types | |
| typedef boost::function< void(const MessagePtr &)> | Callback |
| typedef boost::shared_ptr < MessageT > | MessagePtr |
Public Member Functions | |
| void | clear () |
| Clear any messages currently in the queue. | |
| void | enqueueMessage (const MessagePtr &message) |
| std::string | getTargetFramesString () |
| Get the target frames as a string for debugging. | |
| ROSCPP_DEPRECATED | MessageNotifier (Transformer &tf, Callback callback, const std::string &topic, const std::string &target_frame, uint32_t queue_size) |
| Constructor. | |
| void | setTargetFrame (const std::vector< std::string > &target_frames) |
| Set the frames you need to be able to transform to before getting a message callback. | |
| void | setTargetFrame (const std::string &target_frame) |
| Set the frame you need to be able to transform to before getting a message callback. | |
| void | setTolerance (const ros::Duration &tolerance) |
| Set the required tolerance for the notifier to return true. | |
| void | setTopic (const std::string &topic) |
| Set the topic to listen on. | |
| void | subscribeToMessage () |
| Subscribe to the message topic. | |
| void | unsubscribeFromMessage () |
| Unsubscribe from the message topic. | |
| ~MessageNotifier () | |
| Destructor. | |
Private Types | |
| typedef std::list< MessagePtr > | L_Message |
| typedef std::vector< MessagePtr > | V_Message |
Private Member Functions | |
| void | checkFailures () |
| void | gatherReadyMessages (V_Message &to_notify) |
| Gather any messages ready to be transformed. | |
| void | incomingMessage (typename MessageT::ConstPtr msg) |
| Callback that happens when we receive a message on the message topic. | |
| void | incomingTFMessage (const tf::tfMessage::ConstPtr msg) |
| Callback that happens when we receive a message on the TF message topic. | |
| void | notify (V_Message &to_notify) |
| Calls the notification callback on each message in the passed vector. | |
| void | processNewMessages (V_Message &messages) |
| Adds messages into the message list, removing old messages if necessary. | |
| void | workerThread () |
| Entry point into the worker thread that does all our actual work, including calling the notification callback. | |
Private Attributes | |
| Callback | callback_ |
| The callback to call when a message is ready. | |
| bool | destructing_ |
| Used to notify the worker thread that it needs to shutdown. | |
| uint64_t | dropped_message_count_ |
| uint64_t | failed_out_the_back_count_ |
| uint64_t | failed_transform_count_ |
| uint64_t | incoming_message_count_ |
| std::string | last_out_the_back_frame_ |
| ros::Time | last_out_the_back_stamp_ |
| boost::mutex | list_mutex_ |
| The mutex used for locking message list operations. | |
| uint32_t | message_count_ |
| The number of messages in the list. Used because messages_.size() has linear cost. | |
| L_Message | messages_ |
| The message list. | |
| boost::condition_variable | new_data_ |
| Condition variable used for waking the worker thread. | |
| V_Message | new_message_queue_ |
| Queues messages to later be processed by the worker thread. | |
| bool | new_messages_ |
| Used to skip waiting on new_data_ if new messages have come in while calling back. | |
| volatile bool | new_transforms_ |
| Used to skip waiting on new_data_ if new transforms have come in while calling back or transforming data. | |
| ros::Time | next_failure_warning_ |
| ros::NodeHandle | node_ |
| The node used to subscribe to the topic. | |
| boost::mutex | queue_mutex_ |
| The mutex used for locking message queue operations. | |
| uint32_t | queue_size_ |
| The maximum number of messages we queue up. | |
| ros::Subscriber | subscriber_ |
| uint64_t | successful_transform_count_ |
| std::vector< std::string > | target_frames_ |
| The frames we need to be able to transform to before a message is ready. | |
| std::string | target_frames_string_ |
| boost::mutex | target_frames_string_mutex_ |
| Transformer & | tf_ |
| The Transformer used to determine if transformation data is available. | |
| ros::Subscriber | tf_subscriber_1_ |
| ros::Subscriber | tf_subscriber_2_ |
| boost::thread | thread_handle_ |
| Thread handle for the worker thread. | |
| ros::Duration | time_tolerance_ |
| Provide additional tolerance on time for messages which are stamped but can have associated duration. | |
| std::string | topic_ |
| The topic to listen on. | |
| uint64_t | transform_message_count_ |
Queues messages that include a Header until there is transform data available for the time the timestamp on the message.
The callback takes one argument, which is a boost shared_ptr to a message. MessageNotifier provides a MessagePtr typedef, so the signature of the callback is:
void funcName(const MessageNotifier<MessageT>::MessagePtr& message);
A bare function can be passed directly as the callback. Methods must be passed using boost::bind. For example
boost::bind(&MyObject::funcName, this, _1);
The message is not locked when your callback is invoked.
MessageNotifier spins up a single thread to call your callback from, so that it's possible to do a lot of work in your callback without blocking the rest of the application.
Definition at line 110 of file message_notifier.h.
| typedef boost::function<void(const MessagePtr&)> tf::MessageNotifier< MessageT >::Callback |
Definition at line 114 of file message_notifier.h.
typedef std::list<MessagePtr> tf::MessageNotifier< MessageT >::L_Message [private] |
Definition at line 295 of file message_notifier.h.
| typedef boost::shared_ptr<MessageT> tf::MessageNotifier< MessageT >::MessagePtr |
Definition at line 113 of file message_notifier.h.
typedef std::vector<MessagePtr> tf::MessageNotifier< MessageT >::V_Message [private] |
Definition at line 294 of file message_notifier.h.
| ROSCPP_DEPRECATED tf::MessageNotifier< MessageT >::MessageNotifier | ( | Transformer & | tf, | |
| Callback | callback, | |||
| const std::string & | topic, | |||
| const std::string & | target_frame, | |||
| uint32_t | queue_size | |||
| ) | [inline] |
Constructor.
| tf | The Transformer to use for checking if the transform data is available | |
| callback | The function to call when a message is ready to be transformed | |
| topic | The topic to listen on | |
| target_frame | The frame we need to be able to transform to before a message is ready | |
| queue_size | The number of messages to keep around waiting for transform data. |
Definition at line 125 of file message_notifier.h.
| tf::MessageNotifier< MessageT >::~MessageNotifier | ( | ) | [inline] |
Destructor.
Definition at line 161 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::checkFailures | ( | ) | [inline, private] |
Definition at line 526 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::clear | ( | ) | [inline, virtual] |
Clear any messages currently in the queue.
Implements tf::MessageNotifierBase.
Definition at line 241 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::enqueueMessage | ( | const MessagePtr & | message | ) | [inline] |
Definition at line 251 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::gatherReadyMessages | ( | V_Message & | to_notify | ) | [inline, private] |
Gather any messages ready to be transformed.
| to_notify | Filled with the messages ready to be transformed, in the order they were received |
Definition at line 302 of file message_notifier.h.
| std::string tf::MessageNotifier< MessageT >::getTargetFramesString | ( | ) | [inline] |
Get the target frames as a string for debugging.
Definition at line 212 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::incomingMessage | ( | typename MessageT::ConstPtr | msg | ) | [inline, private] |
Callback that happens when we receive a message on the message topic.
Definition at line 501 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::incomingTFMessage | ( | const tf::tfMessage::ConstPtr | msg | ) | [inline, private] |
Callback that happens when we receive a message on the TF message topic.
Definition at line 518 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::notify | ( | V_Message & | to_notify | ) | [inline, private] |
Calls the notification callback on each message in the passed vector.
| to_notify | The list of messages to call the callback on |
Definition at line 393 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::processNewMessages | ( | V_Message & | messages | ) | [inline, private] |
Adds messages into the message list, removing old messages if necessary.
Definition at line 406 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::setTargetFrame | ( | const std::vector< std::string > & | target_frames | ) | [inline, virtual] |
Set the frames you need to be able to transform to before getting a message callback.
Implements tf::MessageNotifierBase.
Definition at line 194 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::setTargetFrame | ( | const std::string & | target_frame | ) | [inline, virtual] |
Set the frame you need to be able to transform to before getting a message callback.
Implements tf::MessageNotifierBase.
Definition at line 184 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::setTolerance | ( | const ros::Duration & | tolerance | ) | [inline, virtual] |
Set the required tolerance for the notifier to return true.
Implements tf::MessageNotifierBase.
Definition at line 233 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::setTopic | ( | const std::string & | topic | ) | [inline, virtual] |
Set the topic to listen on.
Implements tf::MessageNotifierBase.
Definition at line 221 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::subscribeToMessage | ( | ) | [inline, virtual] |
Subscribe to the message topic.
Implements tf::MessageNotifierBase.
Definition at line 272 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::unsubscribeFromMessage | ( | ) | [inline, virtual] |
Unsubscribe from the message topic.
Implements tf::MessageNotifierBase.
Definition at line 284 of file message_notifier.h.
| void tf::MessageNotifier< MessageT >::workerThread | ( | ) | [inline, private] |
Entry point into the worker thread that does all our actual work, including calling the notification callback.
Definition at line 436 of file message_notifier.h.
Callback tf::MessageNotifier< MessageT >::callback_ [private] |
The callback to call when a message is ready.
Definition at line 558 of file message_notifier.h.
bool tf::MessageNotifier< MessageT >::destructing_ [private] |
Used to notify the worker thread that it needs to shutdown.
Definition at line 569 of file message_notifier.h.
uint64_t tf::MessageNotifier< MessageT >::dropped_message_count_ [private] |
Definition at line 582 of file message_notifier.h.
uint64_t tf::MessageNotifier< MessageT >::failed_out_the_back_count_ [private] |
Definition at line 579 of file message_notifier.h.
uint64_t tf::MessageNotifier< MessageT >::failed_transform_count_ [private] |
Definition at line 578 of file message_notifier.h.
uint64_t tf::MessageNotifier< MessageT >::incoming_message_count_ [private] |
Definition at line 581 of file message_notifier.h.
std::string tf::MessageNotifier< MessageT >::last_out_the_back_frame_ [private] |
Definition at line 585 of file message_notifier.h.
ros::Time tf::MessageNotifier< MessageT >::last_out_the_back_stamp_ [private] |
Definition at line 584 of file message_notifier.h.
boost::mutex tf::MessageNotifier< MessageT >::list_mutex_ [private] |
The mutex used for locking message list operations.
Definition at line 567 of file message_notifier.h.
uint32_t tf::MessageNotifier< MessageT >::message_count_ [private] |
The number of messages in the list. Used because messages_.size() has linear cost.
Definition at line 566 of file message_notifier.h.
L_Message tf::MessageNotifier< MessageT >::messages_ [private] |
The message list.
Definition at line 565 of file message_notifier.h.
boost::condition_variable tf::MessageNotifier< MessageT >::new_data_ [private] |
Condition variable used for waking the worker thread.
Definition at line 571 of file message_notifier.h.
V_Message tf::MessageNotifier< MessageT >::new_message_queue_ [private] |
Queues messages to later be processed by the worker thread.
Definition at line 574 of file message_notifier.h.
bool tf::MessageNotifier< MessageT >::new_messages_ [private] |
Used to skip waiting on new_data_ if new messages have come in while calling back.
Definition at line 572 of file message_notifier.h.
volatile bool tf::MessageNotifier< MessageT >::new_transforms_ [private] |
Used to skip waiting on new_data_ if new transforms have come in while calling back or transforming data.
Definition at line 573 of file message_notifier.h.
ros::Time tf::MessageNotifier< MessageT >::next_failure_warning_ [private] |
Definition at line 587 of file message_notifier.h.
ros::NodeHandle tf::MessageNotifier< MessageT >::node_ [private] |
The node used to subscribe to the topic.
Definition at line 555 of file message_notifier.h.
boost::mutex tf::MessageNotifier< MessageT >::queue_mutex_ [private] |
The mutex used for locking message queue operations.
Definition at line 575 of file message_notifier.h.
uint32_t tf::MessageNotifier< MessageT >::queue_size_ [private] |
The maximum number of messages we queue up.
Definition at line 563 of file message_notifier.h.
ros::Subscriber tf::MessageNotifier< MessageT >::subscriber_ [private] |
Definition at line 556 of file message_notifier.h.
uint64_t tf::MessageNotifier< MessageT >::successful_transform_count_ [private] |
Definition at line 577 of file message_notifier.h.
std::vector<std::string> tf::MessageNotifier< MessageT >::target_frames_ [private] |
The frames we need to be able to transform to before a message is ready.
Definition at line 559 of file message_notifier.h.
std::string tf::MessageNotifier< MessageT >::target_frames_string_ [private] |
Definition at line 560 of file message_notifier.h.
boost::mutex tf::MessageNotifier< MessageT >::target_frames_string_mutex_ [private] |
Definition at line 561 of file message_notifier.h.
Transformer& tf::MessageNotifier< MessageT >::tf_ [private] |
The Transformer used to determine if transformation data is available.
Definition at line 554 of file message_notifier.h.
ros::Subscriber tf::MessageNotifier< MessageT >::tf_subscriber_1_ [private] |
Definition at line 557 of file message_notifier.h.
ros::Subscriber tf::MessageNotifier< MessageT >::tf_subscriber_2_ [private] |
Definition at line 557 of file message_notifier.h.
boost::thread tf::MessageNotifier< MessageT >::thread_handle_ [private] |
Thread handle for the worker thread.
Definition at line 570 of file message_notifier.h.
ros::Duration tf::MessageNotifier< MessageT >::time_tolerance_ [private] |
Provide additional tolerance on time for messages which are stamped but can have associated duration.
Definition at line 589 of file message_notifier.h.
std::string tf::MessageNotifier< MessageT >::topic_ [private] |
The topic to listen on.
Definition at line 562 of file message_notifier.h.
uint64_t tf::MessageNotifier< MessageT >::transform_message_count_ [private] |
Definition at line 580 of file message_notifier.h.
