rtabmap_ros: CommonDataSubscriberDefines.h Source File

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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
00029 #define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
00030 
00031 #include <rtabmap/utilite/UConversion.h>
00032 
00033 #define DATA_SYNC2(PREFIX, SYNC_NAME, MSG0, MSG1) \
00034         typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1> PREFIX##SYNC_NAME##SyncPolicy; \
00035         message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
00036 
00037 #define DATA_SYNCS2(PREFIX, MSG0, MSG1) \
00038                 DATA_SYNC2(PREFIX, Approximate, MSG0, MSG1) \
00039                 DATA_SYNC2(PREFIX, Exact, MSG0, MSG1) \
00040                 void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&);
00041 
00042 #define DATA_SYNC3(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2) \
00043                 typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2> PREFIX##SYNC_NAME##SyncPolicy; \
00044                 message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
00045 
00046 #define DATA_SYNCS3(PREFIX, MSG0, MSG1, MSG2) \
00047                 DATA_SYNC3(PREFIX, Approximate, MSG0, MSG1, MSG2) \
00048                 DATA_SYNC3(PREFIX, Exact, MSG0, MSG1, MSG2) \
00049                 void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&); \
00050 
00051 #define DATA_SYNC4(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3) \
00052                 typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3> PREFIX##SYNC_NAME##SyncPolicy; \
00053                 message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
00054 
00055 #define DATA_SYNCS4(PREFIX, MSG0, MSG1, MSG2, MSG3) \
00056                 DATA_SYNC4(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3) \
00057                 DATA_SYNC4(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3) \
00058                 void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&); \
00059 
00060 #define DATA_SYNC5(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4) \
00061                 typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4> PREFIX##SYNC_NAME##SyncPolicy; \
00062                 message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
00063 
00064 #define DATA_SYNCS5(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4) \
00065                 DATA_SYNC5(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4) \
00066                 DATA_SYNC5(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4) \
00067                 void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&); \
00068 
00069 #define DATA_SYNC6(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
00070                 typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5> PREFIX##SYNC_NAME##SyncPolicy; \
00071                 message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
00072 
00073 #define DATA_SYNCS6(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
00074                 DATA_SYNC6(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
00075                 DATA_SYNC6(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
00076                 void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&); \
00077 
00078 #define DATA_SYNC7(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
00079                 typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6> PREFIX##SYNC_NAME##SyncPolicy; \
00080                 message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
00081 
00082 #define DATA_SYNCS7(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
00083                 DATA_SYNC7(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
00084                 DATA_SYNC7(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
00085                 void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&); \
00086 
00087 #define DATA_SYNC8(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
00088                 typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7> PREFIX##SYNC_NAME##SyncPolicy; \
00089                 message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
00090 
00091 #define DATA_SYNCS8(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
00092                 DATA_SYNC8(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
00093                 DATA_SYNC8(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
00094                 void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&, const MSG7##ConstPtr&); \
00095 
00096 
00097 // Constructor
00098 #define SYNC_INIT(PREFIX) \
00099         PREFIX##ApproximateSync_(0), \
00100         PREFIX##ExactSync_(0)
00101 
00102 // Destructor
00103 #define SYNC_DEL(PREFIX) \
00104         if(PREFIX##ApproximateSync_) delete PREFIX##ApproximateSync_; \
00105         if(PREFIX##ExactSync_) delete PREFIX##ExactSync_;
00106 
00107 // Sync declarations
00108 #define SYNC_DECL2(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1) \
00109                 if(APPROX) \
00110                 { \
00111                         PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
00112                                         PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
00113                         PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \
00114                 } \
00115                 else \
00116                 { \
00117                         PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
00118                                         PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
00119                         PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \
00120                 } \
00121                 subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s", \
00122                                 name_.c_str(), \
00123                                 APPROX?"approx":"exact", \
00124                                 SUB0.getTopic().c_str(), \
00125                                 SUB1.getTopic().c_str());
00126 
00127 #define SYNC_DECL3(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \
00128                 if(APPROX) \
00129                 { \
00130                         PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
00131                                         PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
00132                         PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \
00133                 } \
00134                 else \
00135                 { \
00136                         PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
00137                                         PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
00138                         PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \
00139                 } \
00140                 subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s", \
00141                                 name_.c_str(), \
00142                                 APPROX?"approx":"exact", \
00143                                 SUB0.getTopic().c_str(), \
00144                                 SUB1.getTopic().c_str(), \
00145                                 SUB2.getTopic().c_str());
00146 
00147 #define SYNC_DECL4(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \
00148                 if(APPROX) \
00149                 { \
00150                         PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
00151                                         PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
00152                         PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \
00153                 } \
00154                 else \
00155                 { \
00156                         PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
00157                                         PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
00158                         PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \
00159                 } \
00160                 subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s", \
00161                                 name_.c_str(), \
00162                                 APPROX?"approx":"exact", \
00163                                 SUB0.getTopic().c_str(), \
00164                                 SUB1.getTopic().c_str(), \
00165                                 SUB2.getTopic().c_str(), \
00166                                 SUB3.getTopic().c_str());
00167 
00168 #define SYNC_DECL5(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \
00169                 if(APPROX) \
00170                 { \
00171                         PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
00172                                         PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
00173                         PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
00174                 } \
00175                 else \
00176                 { \
00177                         PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
00178                                         PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
00179                         PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
00180                 } \
00181                 subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
00182                                 name_.c_str(), \
00183                                 approxSync?"approx":"exact", \
00184                                 SUB0.getTopic().c_str(), \
00185                                 SUB1.getTopic().c_str(), \
00186                                 SUB2.getTopic().c_str(), \
00187                                 SUB3.getTopic().c_str(), \
00188                                 SUB4.getTopic().c_str());
00189 
00190 #define SYNC_DECL6(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \
00191                 if(APPROX) \
00192                 { \
00193                         PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
00194                                         PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
00195                         PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
00196                 } \
00197                 else \
00198                 { \
00199                         PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
00200                                         PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
00201                         PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
00202                 } \
00203                 subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
00204                                 name_.c_str(), \
00205                                 APPROX?"approx":"exact", \
00206                                 SUB0.getTopic().c_str(), \
00207                                 SUB1.getTopic().c_str(), \
00208                                 SUB2.getTopic().c_str(), \
00209                                 SUB3.getTopic().c_str(), \
00210                                 SUB4.getTopic().c_str(), \
00211                                 SUB5.getTopic().c_str());
00212 
00213 #define SYNC_DECL7(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6) \
00214                 if(APPROX) \
00215                 { \
00216                         PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
00217                                         PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
00218                         PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \
00219                 } \
00220                 else \
00221                 { \
00222                         PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
00223                                         PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
00224                         PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7)); \
00225                 } \
00226                 subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
00227                                 name_.c_str(), \
00228                                 APPROX?"approx":"exact", \
00229                                 SUB0.getTopic().c_str(), \
00230                                 SUB1.getTopic().c_str(), \
00231                                 SUB2.getTopic().c_str(), \
00232                                 SUB3.getTopic().c_str(), \
00233                                 SUB4.getTopic().c_str(), \
00234                                 SUB5.getTopic().c_str(), \
00235                                 SUB6.getTopic().c_str());
00236 
00237 #define SYNC_DECL8(PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \
00238                 if(APPROX) \
00239                 { \
00240                         PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
00241                                         PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
00242                         PREFIX##ApproximateSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \
00243                 } \
00244                 else \
00245                 { \
00246                         PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
00247                                         PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
00248                         PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6, _7, _8)); \
00249                 } \
00250                 subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s,\n   %s", \
00251                                 name_.c_str(), \
00252                                 APPROX?"approx":"exact", \
00253                                 SUB0.getTopic().c_str(), \
00254                                 SUB1.getTopic().c_str(), \
00255                                 SUB2.getTopic().c_str(), \
00256                                 SUB3.getTopic().c_str(), \
00257                                 SUB4.getTopic().c_str(), \
00258                                 SUB5.getTopic().c_str(), \
00259                                 SUB6.getTopic().c_str(), \
00260                                 SUB7.getTopic().c_str());
00261 
00262 
00263 #endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */