buffer_core.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 */

#ifndef TF2_BUFFER_CORE_H
#define TF2_BUFFER_CORE_H

#include "transform_storage.h"

#include <string>

#include "ros/duration.h"
#include "ros/time.h"
//#include "geometry_msgs/TwistStamped.h"
#include "geometry_msgs/TransformStamped.h"

//#include "tf/tf.h"

#include <boost/unordered_map.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/function.hpp>

namespace tf2
{

typedef std::pair<ros::Time, CompactFrameID> P_TimeAndFrameID;
typedef uint32_t TransformableCallbackHandle;
typedef uint64_t TransformableRequestHandle;

class TimeCacheInterface;

enum TransformableResult
{
  TransformAvailable,
  TransformFailure,
};

class BufferCore
{
public:
  /************* Constants ***********************/
  static const double DEFAULT_CACHE_TIME = 10.0;  
  static const uint32_t MAX_GRAPH_DEPTH = 1000UL;  
  static const int64_t DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0ULL; 

  BufferCore(ros::Duration cache_time_ = ros::Duration(DEFAULT_CACHE_TIME));
  virtual ~BufferCore(void);

  void clear();

  bool setTransform(const geometry_msgs::TransformStamped& transform, const std::string & authority, bool is_static = false);

  /*********** Accessors *************/

  geometry_msgs::TransformStamped 
    lookupTransform(const std::string& target_frame, const std::string& source_frame,
                    const ros::Time& time) const;

  geometry_msgs::TransformStamped
    lookupTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame) const;
  
  /*
  geometry_msgs::Twist
    lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, const std::string& reference_frame,
                const tf::Point & reference_point, const std::string& reference_point_frame, 
                const ros::Time& time, const ros::Duration& averaging_interval) const;
  */
  /*
  geometry_msgs::Twist
    lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, 
                const ros::Time& time, const ros::Duration& averaging_interval) const;
  */
  bool canTransform(const std::string& target_frame, const std::string& source_frame,
                    const ros::Time& time, std::string* error_msg = NULL) const;
  
  bool canTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame, std::string* error_msg = NULL) const;

  std::string allFramesAsYAML() const;

  std::string allFramesAsString() const;
  
  typedef boost::function<void(TransformableRequestHandle request_handle, const std::string& target_frame, const std::string& source_frame,
                               ros::Time time, TransformableResult result)> TransformableCallback;

  TransformableCallbackHandle addTransformableCallback(const TransformableCallback& cb);
  void removeTransformableCallback(TransformableCallbackHandle handle);
  TransformableRequestHandle addTransformableRequest(TransformableCallbackHandle handle, const std::string& target_frame, const std::string& source_frame, ros::Time time);
  void cancelTransformableRequest(TransformableRequestHandle handle);

private:


  std::string allFramesAsStringNoLock() const;  


  /******************** Internal Storage ****************/
  
  typedef std::vector<TimeCacheInterface*> V_TimeCacheInterface;
  V_TimeCacheInterface frames_;
  
  mutable boost::mutex frame_mutex_;

  typedef boost::unordered_map<std::string, CompactFrameID> M_StringToCompactFrameID;
  M_StringToCompactFrameID frameIDs_;
  std::vector<std::string> frameIDs_reverse;
  std::map<CompactFrameID, std::string> frame_authority_;


  ros::Duration cache_time_;

  mutable std::vector<P_TimeAndFrameID> lct_cache_;

  typedef boost::unordered_map<TransformableCallbackHandle, TransformableCallback> M_TransformableCallback;
  M_TransformableCallback transformable_callbacks_;
  uint32_t transformable_callbacks_counter_;
  boost::mutex transformable_callbacks_mutex_;

  struct TransformableRequest
  {
    ros::Time time;
    TransformableRequestHandle request_handle;
    TransformableCallbackHandle cb_handle;
    CompactFrameID target_id;
    CompactFrameID source_id;
    std::string target_string;
    std::string source_string;
  };
  typedef std::vector<TransformableRequest> V_TransformableRequest;
  V_TransformableRequest transformable_requests_;
  boost::mutex transformable_requests_mutex_;
  uint64_t transformable_requests_counter_;

  struct RemoveRequestByCallback;
  struct RemoveRequestByID;

  /************************* Internal Functions ****************************/

  TimeCacheInterface* getFrame(CompactFrameID c_frame_id) const;

  TimeCacheInterface* allocateFrame(CompactFrameID cfid, bool is_static);


  bool warnFrameId(const char* function_name_arg, const std::string& frame_id) const;
  CompactFrameID validateFrameId(const char* function_name_arg, const std::string& frame_id) const;

  CompactFrameID lookupFrameNumber(const std::string& frameid_str) const;

  CompactFrameID lookupOrInsertFrameNumber(const std::string& frameid_str);

  const std::string& lookupFrameString(CompactFrameID frame_id_num) const;

  void createConnectivityErrorString(CompactFrameID source_frame, CompactFrameID target_frame, std::string* out) const;

  int getLatestCommonTime(CompactFrameID target_frame, CompactFrameID source_frame, ros::Time& time, std::string* error_string) const;

  template<typename F>
  int walkToTopParent(F& f, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string* error_string) const;

  void testTransformableRequests();
  bool canTransformInternal(CompactFrameID target_id, CompactFrameID source_id,
                    const ros::Time& time, std::string* error_msg) const;
  bool canTransformNoLock(CompactFrameID target_id, CompactFrameID source_id,
                      const ros::Time& time, std::string* error_msg) const;

  //Using tf for now will be replaced fully
  //  tf::Transformer old_tf_;
};
  
}
#endif //TF2_CORE_H