ros_msg_transporter.hpp

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/***************************************************************************
  tag: Ruben Smits  Tue Nov 16 09:18:49 CET 2010  ros_msg_transporter.hpp

                        ros_msg_transporter.hpp -  description
                           -------------------
    begin                : Tue November 16 2010
    copyright            : (C) 2010 Ruben Smits
    email                : first.last@mech.kuleuven.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/


// Copyright  (C)  2010  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA


#ifndef _ROS_MSG_TRANSPORTER_HPP_
#define _ROS_MSG_TRANSPORTER_HPP_

#include <rtt/types/TypeTransporter.hpp>
#include <rtt/Port.hpp>
#include <rtt/TaskContext.hpp>
#include <rtt/internal/ConnFactory.hpp>
#include <ros/ros.h>


#include "ros_publish_activity.hpp"

namespace ros_integration {

  using namespace RTT;
  template<typename T>
  class RosPubChannelElement: public base::ChannelElement<T>,public RosPublisher
  {
    char hostname[1024];
    std::string topicname;
    ros::NodeHandle ros_node;
    ros::Publisher ros_pub;
    RosPublishActivity::shared_ptr act;

  public:

    RosPubChannelElement(base::PortInterface* port,const ConnPolicy& policy)
    {
      if ( policy.name_id.empty() ){
        std::stringstream namestr;
        gethostname(hostname, sizeof(hostname));
        
        namestr << hostname<<'/' << port->getInterface()->getOwner()->getName()
                << '/' << port->getName() << '/'<<this << '/' << getpid();
        policy.name_id = namestr.str();
      }
      topicname=policy.name_id;
      Logger::In in(topicname);
      log(Debug)<<"Creating ROS publisher for port "<<port->getInterface()->getOwner()->getName()<<"."<<port->getName()<<" on topic "<<policy.name_id<<endlog();

      ros_pub = ros_node.advertise<T>(policy.name_id, policy.size);
      act = RosPublishActivity::Instance();
      act->addPublisher( this );
    }

    ~RosPubChannelElement() {
      Logger::In in(topicname);
      log(Debug)<<"Destroying RosPubChannelElement"<<endlog();
      act->removePublisher( this );
    }

    virtual bool inputReady() {
      return true;
    }
    
    virtual bool data_sample(typename base::ChannelElement<T>::param_t sample)
    {
      return true;
    }

    bool signal(){
      //Logger::In in(topicname);
      //log(Debug)<<"Requesting publish"<<endlog();
      return act->requestPublish(this);
    }
    
    void publish(){
      typename base::ChannelElement<T>::value_t sample; // XXX: real-time !
      // this read should always succeed since signal() means 'data available in a data element'.
      typename base::ChannelElement<T>::shared_ptr input = this->getInput();
      while( input && (input->read(sample,true) == NewData) )
          ros_pub.publish(sample);
    }
    
  };

  template<typename T>
  class RosSubChannelElement: public base::ChannelElement<T>
  {
    ros::NodeHandle ros_node;
    ros::Subscriber ros_sub;
    bool newdata,init;
    base::DataObjectLockFree<T> m_msg;
    
  public:
    RosSubChannelElement(base::PortInterface* port, const ConnPolicy& policy):
    newdata(false),init(false)
    {
      log(Debug)<<"Creating ROS subscriber for port "<<port->getInterface()->getOwner()->getName()<<"."<<port->getName()<<" on topic "<<policy.name_id<<endlog();
      ros_sub=ros_node.subscribe(policy.name_id,policy.size,&RosSubChannelElement::newData,this);
      this->ref();
    }

    ~RosSubChannelElement() {
    }

    virtual bool inputReady() {
      return true;
    }
    void newData(const T& msg){
      m_msg.Set(msg);
      newdata=true;
      init=true;
      this->signal();
    }

    FlowStatus read(typename base::ChannelElement<T>::reference_t sample, bool copy_old_data)
    {
      if(!init)
        return NoData;

      if(newdata){
        newdata=false;
        sample=m_msg.Get();
        return NewData;
      }
      else
        if(copy_old_data)
          sample=m_msg.Get();
        return OldData;
    }
  };

  template <class T>
  class RosMsgTransporter : public RTT::types::TypeTransporter{
    virtual base::ChannelElementBase::shared_ptr createStream (base::PortInterface *port, const ConnPolicy &policy, bool is_sender) const{
      if(is_sender){
        base::ChannelElementBase* buf = internal::ConnFactory::buildDataStorage<T>(policy);
        base::ChannelElementBase::shared_ptr tmp = base::ChannelElementBase::shared_ptr(new RosPubChannelElement<T>(port,policy));
        buf->setOutput(tmp);
        return buf;
      }
      else
        return new RosSubChannelElement<T>(port,policy);
      
    }
  };
} 
#endif

---

rtt_ros_integration
Author(s): Ruben Smits, ruben.smits@mech.kuleuven.be
autogenerated on Fri Jan 11 09:42:47 2013