nodelet: nodelet.h Source File

00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef NODELET_NODELET_H
00031 #define NODELET_NODELET_H
00032 
00033 #include "exception.h"
00034 
00035 #include <string>
00036 #include <vector>
00037 #include <map>
00038 
00039 #include <ros/console.h>
00040 #include <boost/shared_ptr.hpp>
00041 #include <bondcpp/bond.h>
00042 
00043 namespace ros
00044 {
00045 class NodeHandle;
00046 class CallbackQueue;
00047 class CallbackQueueInterface;
00048 class AsyncSpinner;
00049 }
00050 
00051 #define NODELET_DEBUG(...) ROS_DEBUG_NAMED(getName(), __VA_ARGS__)
00052 #define NODELET_DEBUG_STREAM(...) ROS_DEBUG_STREAM_NAMED(getName(), __VA_ARGS__)
00053 #define NODELET_DEBUG_ONCE(...) ROS_DEBUG_ONCE_NAMED(getName(), __VA_ARGS__)
00054 #define NODELET_DEBUG_STREAM_ONCE(...) ROS_DEBUG_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00055 #define NODELET_DEBUG_COND(cond, ...) ROS_DEBUG_COND_NAMED(cond, getName(), __VA_ARGS__)
00056 #define NODELET_DEBUG_STREAM_COND(cond, ...) ROS_DEBUG_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00057 #define NODELET_DEBUG_THROTTLE(rate, ...) ROS_DEBUG_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00058 #define NODELET_DEBUG_STREAM_THROTTLE(rate, ...) ROS_DEBUG_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00059 #define NODELET_DEBUG_FILTER(filter, ...) ROS_DEBUG_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00060 #define NODELET_DEBUG_STREAM_FILTER(filter, ...) ROS_DEBUG_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00061 
00062 #define NODELET_INFO(...) ROS_INFO_NAMED(getName(), __VA_ARGS__)
00063 #define NODELET_INFO_STREAM(...) ROS_INFO_STREAM_NAMED(getName(), __VA_ARGS__)
00064 #define NODELET_INFO_ONCE(...) ROS_INFO_ONCE_NAMED(getName(), __VA_ARGS__)
00065 #define NODELET_INFO_STREAM_ONCE(...) ROS_INFO_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00066 #define NODELET_INFO_COND(cond, ...) ROS_INFO_COND_NAMED(cond, getName(), __VA_ARGS__)
00067 #define NODELET_INFO_STREAM_COND(cond, ...) ROS_INFO_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00068 #define NODELET_INFO_THROTTLE(rate, ...) ROS_INFO_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00069 #define NODELET_INFO_STREAM_THROTTLE(rate, ...) ROS_INFO_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00070 #define NODELET_INFO_FILTER(filter, ...) ROS_INFO_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00071 #define NODELET_INFO_STREAM_FILTER(filter, ...) ROS_INFO_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00072 
00073 #define NODELET_WARN(...) ROS_WARN_NAMED(getName(), __VA_ARGS__)
00074 #define NODELET_WARN_STREAM(...) ROS_WARN_STREAM_NAMED(getName(), __VA_ARGS__)
00075 #define NODELET_WARN_ONCE(...) ROS_WARN_ONCE_NAMED(getName(), __VA_ARGS__)
00076 #define NODELET_WARN_STREAM_ONCE(...) ROS_WARN_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00077 #define NODELET_WARN_COND(cond, ...) ROS_WARN_COND_NAMED(cond, getName(), __VA_ARGS__)
00078 #define NODELET_WARN_STREAM_COND(cond, ...) ROS_WARN_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00079 #define NODELET_WARN_THROTTLE(rate, ...) ROS_WARN_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00080 #define NODELET_WARN_STREAM_THROTTLE(rate, ...) ROS_WARN_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00081 #define NODELET_WARN_FILTER(filter, ...) ROS_WARN_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00082 #define NODELET_WARN_STREAM_FILTER(filter, ...) ROS_WARN_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00083 
00084 #define NODELET_ERROR(...) ROS_ERROR_NAMED(getName(), __VA_ARGS__)
00085 #define NODELET_ERROR_STREAM(...) ROS_ERROR_STREAM_NAMED(getName(), __VA_ARGS__)
00086 #define NODELET_ERROR_ONCE(...) ROS_ERROR_ONCE_NAMED(getName(), __VA_ARGS__)
00087 #define NODELET_ERROR_STREAM_ONCE(...) ROS_ERROR_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00088 #define NODELET_ERROR_COND(cond, ...) ROS_ERROR_COND_NAMED(cond, getName(), __VA_ARGS__)
00089 #define NODELET_ERROR_STREAM_COND(cond, ...) ROS_ERROR_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00090 #define NODELET_ERROR_THROTTLE(rate, ...) ROS_ERROR_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00091 #define NODELET_ERROR_STREAM_THROTTLE(rate, ...) ROS_ERROR_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00092 #define NODELET_ERROR_FILTER(filter, ...) ROS_ERROR_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00093 #define NODELET_ERROR_STREAM_FILTER(filter, ...) ROS_ERROR_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00094 
00095 #define NODELET_FATAL(...) ROS_FATAL_NAMED(getName(), __VA_ARGS__)
00096 #define NODELET_FATAL_STREAM(...) ROS_FATAL_STREAM_NAMED(getName(), __VA_ARGS__)
00097 #define NODELET_FATAL_ONCE(...) ROS_FATAL_ONCE_NAMED(getName(), __VA_ARGS__)
00098 #define NODELET_FATAL_STREAM_ONCE(...) ROS_FATAL_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00099 #define NODELET_FATAL_COND(cond, ...) ROS_FATAL_COND_NAMED(cond, getName(), __VA_ARGS__)
00100 #define NODELET_FATAL_STREAM_COND(cond, ...) ROS_FATAL_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00101 #define NODELET_FATAL_THROTTLE(rate, ...) ROS_FATAL_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00102 #define NODELET_FATAL_STREAM_THROTTLE(rate, ...) ROS_FATAL_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00103 #define NODELET_FATAL_FILTER(filter, ...) ROS_FATAL_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00104 #define NODELET_FATAL_STREAM_FILTER(filter, ...) ROS_FATAL_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00105 
00106 namespace nodelet
00107 {
00108 typedef boost::shared_ptr<ros::NodeHandle> NodeHandlePtr;
00109 typedef std::map<std::string, std::string> M_string;
00110 typedef std::vector<std::string> V_string;
00111 
00112 namespace detail
00113 {
00114 class CallbackQueueManager;
00115 class CallbackQueue;
00116 typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
00117 }
00118 
00119 class UninitializedException : public Exception
00120 {
00121 public:
00122   UninitializedException(const std::string& method_name)
00123   : Exception("Calling [" + method_name + "] before the Nodelet is initialized is not allowed.")
00124   {}
00125 };
00126 
00127 class MultipleInitializationException : public Exception
00128 {
00129 public:
00130   MultipleInitializationException()
00131   : Exception("Initialized multiple times")
00132   {}
00133 };
00134 
00135 class Nodelet
00136 {
00137   // Protected data fields for use by the subclass.
00138 protected:
00139   inline const std::string& getName() const { return nodelet_name_; }
00140   inline const V_string& getMyArgv() const { return my_argv_; }
00141 
00142   ros::NodeHandle& getNodeHandle() const;
00143   ros::NodeHandle& getPrivateNodeHandle() const;
00144   ros::NodeHandle& getMTNodeHandle() const;
00145   ros::NodeHandle& getMTPrivateNodeHandle() const;
00146 
00147   ros::CallbackQueueInterface& getSTCallbackQueue() const;
00148   ros::CallbackQueueInterface& getMTCallbackQueue() const;
00149 
00150 
00151   // Internal storage;
00152 private:
00153   bool inited_;
00154 
00155   std::string nodelet_name_;
00156 
00157   detail::CallbackQueuePtr mt_callback_queue_;
00158   detail::CallbackQueuePtr st_callback_queue_;
00159   detail::CallbackQueueManager* callback_manager_;
00160 
00161   NodeHandlePtr nh_;
00162   NodeHandlePtr private_nh_;
00163   NodeHandlePtr mt_nh_;
00164   NodeHandlePtr mt_private_nh_;
00165   V_string my_argv_;
00166 
00167   boost::shared_ptr<bond::Bond> bond_;
00168 
00169   // Method to be overridden by subclass when starting up.
00170   virtual void onInit () = 0;
00171 
00172   // Public API used for launching
00173 public:
00175   Nodelet();
00176 
00182   void init (const std::string& name, const M_string& remapping_args, const V_string& my_argv, detail::CallbackQueueManager* callback_manager, boost::shared_ptr<bond::Bond> bond);
00183 
00184   virtual ~Nodelet();
00185 };
00186 
00187 }
00188 #endif //NODELET_NODELET_H