nodelet: nodelet.h Source File

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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 
00042 namespace ros
00043 {
00044 class NodeHandle;
00045 class CallbackQueueInterface;
00046 }
00047 
00048 #define NODELET_DEBUG(...) ROS_DEBUG_NAMED(getName(), __VA_ARGS__)
00049 #define NODELET_DEBUG_STREAM(...) ROS_DEBUG_STREAM_NAMED(getName(), __VA_ARGS__)
00050 #define NODELET_DEBUG_ONCE(...) ROS_DEBUG_ONCE_NAMED(getName(), __VA_ARGS__)
00051 #define NODELET_DEBUG_STREAM_ONCE(...) ROS_DEBUG_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00052 #define NODELET_DEBUG_COND(cond, ...) ROS_DEBUG_COND_NAMED(cond, getName(), __VA_ARGS__)
00053 #define NODELET_DEBUG_STREAM_COND(cond, ...) ROS_DEBUG_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00054 #define NODELET_DEBUG_THROTTLE(rate, ...) ROS_DEBUG_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00055 #define NODELET_DEBUG_STREAM_THROTTLE(rate, ...) ROS_DEBUG_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00056 #define NODELET_DEBUG_FILTER(filter, ...) ROS_DEBUG_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00057 #define NODELET_DEBUG_STREAM_FILTER(filter, ...) ROS_DEBUG_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00058 
00059 #define NODELET_INFO(...) ROS_INFO_NAMED(getName(), __VA_ARGS__)
00060 #define NODELET_INFO_STREAM(...) ROS_INFO_STREAM_NAMED(getName(), __VA_ARGS__)
00061 #define NODELET_INFO_ONCE(...) ROS_INFO_ONCE_NAMED(getName(), __VA_ARGS__)
00062 #define NODELET_INFO_STREAM_ONCE(...) ROS_INFO_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00063 #define NODELET_INFO_COND(cond, ...) ROS_INFO_COND_NAMED(cond, getName(), __VA_ARGS__)
00064 #define NODELET_INFO_STREAM_COND(cond, ...) ROS_INFO_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00065 #define NODELET_INFO_THROTTLE(rate, ...) ROS_INFO_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00066 #define NODELET_INFO_STREAM_THROTTLE(rate, ...) ROS_INFO_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00067 #define NODELET_INFO_FILTER(filter, ...) ROS_INFO_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00068 #define NODELET_INFO_STREAM_FILTER(filter, ...) ROS_INFO_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00069 
00070 #define NODELET_WARN(...) ROS_WARN_NAMED(getName(), __VA_ARGS__)
00071 #define NODELET_WARN_STREAM(...) ROS_WARN_STREAM_NAMED(getName(), __VA_ARGS__)
00072 #define NODELET_WARN_ONCE(...) ROS_WARN_ONCE_NAMED(getName(), __VA_ARGS__)
00073 #define NODELET_WARN_STREAM_ONCE(...) ROS_WARN_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00074 #define NODELET_WARN_COND(cond, ...) ROS_WARN_COND_NAMED(cond, getName(), __VA_ARGS__)
00075 #define NODELET_WARN_STREAM_COND(cond, ...) ROS_WARN_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00076 #define NODELET_WARN_THROTTLE(rate, ...) ROS_WARN_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00077 #define NODELET_WARN_STREAM_THROTTLE(rate, ...) ROS_WARN_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00078 #define NODELET_WARN_FILTER(filter, ...) ROS_WARN_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00079 #define NODELET_WARN_STREAM_FILTER(filter, ...) ROS_WARN_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00080 
00081 #define NODELET_ERROR(...) ROS_ERROR_NAMED(getName(), __VA_ARGS__)
00082 #define NODELET_ERROR_STREAM(...) ROS_ERROR_STREAM_NAMED(getName(), __VA_ARGS__)
00083 #define NODELET_ERROR_ONCE(...) ROS_ERROR_ONCE_NAMED(getName(), __VA_ARGS__)
00084 #define NODELET_ERROR_STREAM_ONCE(...) ROS_ERROR_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00085 #define NODELET_ERROR_COND(cond, ...) ROS_ERROR_COND_NAMED(cond, getName(), __VA_ARGS__)
00086 #define NODELET_ERROR_STREAM_COND(cond, ...) ROS_ERROR_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00087 #define NODELET_ERROR_THROTTLE(rate, ...) ROS_ERROR_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00088 #define NODELET_ERROR_STREAM_THROTTLE(rate, ...) ROS_ERROR_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00089 #define NODELET_ERROR_FILTER(filter, ...) ROS_ERROR_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00090 #define NODELET_ERROR_STREAM_FILTER(filter, ...) ROS_ERROR_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00091 
00092 #define NODELET_FATAL(...) ROS_FATAL_NAMED(getName(), __VA_ARGS__)
00093 #define NODELET_FATAL_STREAM(...) ROS_FATAL_STREAM_NAMED(getName(), __VA_ARGS__)
00094 #define NODELET_FATAL_ONCE(...) ROS_FATAL_ONCE_NAMED(getName(), __VA_ARGS__)
00095 #define NODELET_FATAL_STREAM_ONCE(...) ROS_FATAL_STREAM_ONCE_NAMED(getName(), __VA_ARGS__)
00096 #define NODELET_FATAL_COND(cond, ...) ROS_FATAL_COND_NAMED(cond, getName(), __VA_ARGS__)
00097 #define NODELET_FATAL_STREAM_COND(cond, ...) ROS_FATAL_STREAM_COND_NAMED(cond, getName(), __VA_ARGS__)
00098 #define NODELET_FATAL_THROTTLE(rate, ...) ROS_FATAL_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00099 #define NODELET_FATAL_STREAM_THROTTLE(rate, ...) ROS_FATAL_STREAM_THROTTLE_NAMED(rate, getName(), __VA_ARGS__)
00100 #define NODELET_FATAL_FILTER(filter, ...) ROS_FATAL_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00101 #define NODELET_FATAL_STREAM_FILTER(filter, ...) ROS_FATAL_STREAM_FILTER_NAMED(filter, getName(), __VA_ARGS__)
00102 
00103 // named versions of the macros
00104 #define NODELET_DEBUG_NAMED(suffix, ...) ROS_DEBUG_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00105 #define NODELET_DEBUG_STREAM_NAMED(suffix, ...) ROS_DEBUG_STREAM_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00106 #define NODELET_DEBUG_ONCE_NAMED(suffix, ...) ROS_DEBUG_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00107 #define NODELET_DEBUG_STREAM_ONCE_NAMED(suffix, ...) ROS_DEBUG_STREAM_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00108 #define NODELET_DEBUG_COND_NAMED(cond, suffix, ...) ROS_DEBUG_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00109 #define NODELET_DEBUG_STREAM_COND_NAMED(cond, suffix, ...) ROS_DEBUG_STREAM_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00110 #define NODELET_DEBUG_THROTTLE_NAMED(rate, suffix, ...) ROS_DEBUG_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00111 #define NODELET_DEBUG_STREAM_THROTTLE_NAMED(rate, suffix, ...) ROS_DEBUG_STREAM_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00112 #define NODELET_DEBUG_FILTER_NAMED(filter, suffix, ...) ROS_DEBUG_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00113 #define NODELET_DEBUG_STREAM_FILTER_NAMED(filter, suffix, ...) ROS_DEBUG_STREAM_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00114 
00115 #define NODELET_INFO_NAMED(suffix, ...) ROS_INFO_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00116 #define NODELET_INFO_STREAM_NAMED(suffix, ...) ROS_INFO_STREAM_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00117 #define NODELET_INFO_ONCE_NAMED(suffix, ...) ROS_INFO_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00118 #define NODELET_INFO_STREAM_ONCE_NAMED(suffix, ...) ROS_INFO_STREAM_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00119 #define NODELET_INFO_COND_NAMED(cond, suffix, ...) ROS_INFO_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00120 #define NODELET_INFO_STREAM_COND_NAMED(cond, suffix, ...) ROS_INFO_STREAM_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00121 #define NODELET_INFO_THROTTLE_NAMED(rate, suffix, ...) ROS_INFO_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00122 #define NODELET_INFO_STREAM_THROTTLE_NAMED(rate, suffix, ...) ROS_INFO_STREAM_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00123 #define NODELET_INFO_FILTER_NAMED(filter, suffix, ...) ROS_INFO_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00124 #define NODELET_INFO_STREAM_FILTER_NAMED(filter, suffix, ...) ROS_INFO_STREAM_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00125 
00126 #define NODELET_WARN_NAMED(suffix, ...) ROS_WARN_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00127 #define NODELET_WARN_STREAM_NAMED(suffix, ...) ROS_WARN_STREAM_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00128 #define NODELET_WARN_ONCE_NAMED(suffix, ...) ROS_WARN_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00129 #define NODELET_WARN_STREAM_ONCE_NAMED(suffix, ...) ROS_WARN_STREAM_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00130 #define NODELET_WARN_COND_NAMED(cond, suffix, ...) ROS_WARN_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00131 #define NODELET_WARN_STREAM_COND_NAMED(cond, suffix, ...) ROS_WARN_STREAM_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00132 #define NODELET_WARN_THROTTLE_NAMED(rate, suffix, ...) ROS_WARN_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00133 #define NODELET_WARN_STREAM_THROTTLE_NAMED(rate, suffix, ...) ROS_WARN_STREAM_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00134 #define NODELET_WARN_FILTER_NAMED(filter, suffix, ...) ROS_WARN_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00135 #define NODELET_WARN_STREAM_FILTER_NAMED(filter, suffix, ...) ROS_WARN_STREAM_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00136 
00137 #define NODELET_ERROR_NAMED(suffix, ...) ROS_ERROR_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00138 #define NODELET_ERROR_STREAM_NAMED(suffix, ...) ROS_ERROR_STREAM_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00139 #define NODELET_ERROR_ONCE_NAMED(suffix, ...) ROS_ERROR_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00140 #define NODELET_ERROR_STREAM_ONCE_NAMED(suffix, ...) ROS_ERROR_STREAM_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00141 #define NODELET_ERROR_COND_NAMED(cond, suffix, ...) ROS_ERROR_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00142 #define NODELET_ERROR_STREAM_COND_NAMED(cond, suffix, ...) ROS_ERROR_STREAM_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00143 #define NODELET_ERROR_THROTTLE_NAMED(rate, suffix, ...) ROS_ERROR_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00144 #define NODELET_ERROR_STREAM_THROTTLE_NAMED(rate, suffix, ...) ROS_ERROR_STREAM_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00145 #define NODELET_ERROR_FILTER_NAMED(filter, suffix, ...) ROS_ERROR_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00146 #define NODELET_ERROR_STREAM_FILTER_NAMED(filter, suffix, ...) ROS_ERROR_STREAM_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00147 
00148 #define NODELET_FATAL_NAMED(suffix, ...) ROS_FATAL_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00149 #define NODELET_FATAL_STREAM_NAMED(suffix, ...) ROS_FATAL_STREAM_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00150 #define NODELET_FATAL_ONCE_NAMED(suffix, ...) ROS_FATAL_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00151 #define NODELET_FATAL_STREAM_ONCE_NAMED(suffix, ...) ROS_FATAL_STREAM_ONCE_NAMED(getSuffixedName(suffix), __VA_ARGS__)
00152 #define NODELET_FATAL_COND_NAMED(cond, suffix, ...) ROS_FATAL_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00153 #define NODELET_FATAL_STREAM_COND_NAMED(cond, suffix, ...) ROS_FATAL_STREAM_COND_NAMED(cond, getSuffixedName(suffix), __VA_ARGS__)
00154 #define NODELET_FATAL_THROTTLE_NAMED(rate, suffix, ...) ROS_FATAL_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00155 #define NODELET_FATAL_STREAM_THROTTLE_NAMED(rate, suffix, ...) ROS_FATAL_STREAM_THROTTLE_NAMED(rate, getSuffixedName(suffix), __VA_ARGS__)
00156 #define NODELET_FATAL_FILTER_NAMED(filter, suffix, ...) ROS_FATAL_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00157 #define NODELET_FATAL_STREAM_FILTER_NAMED(filter, suffix, ...) ROS_FATAL_STREAM_FILTER_NAMED(filter, getSuffixedName(suffix), __VA_ARGS__)
00158 
00159 namespace nodelet
00160 {
00161 typedef boost::shared_ptr<ros::NodeHandle> NodeHandlePtr;
00162 typedef std::map<std::string, std::string> M_string;
00163 typedef std::vector<std::string> V_string;
00164 
00165 class UninitializedException : public Exception
00166 {
00167 public:
00168   UninitializedException(const std::string& method_name)
00169   : Exception("Calling [" + method_name + "] before the Nodelet is initialized is not allowed.")
00170   {}
00171 };
00172 
00173 class MultipleInitializationException : public Exception
00174 {
00175 public:
00176   MultipleInitializationException()
00177   : Exception("Initialized multiple times")
00178   {}
00179 };
00180 
00181 class Nodelet
00182 {
00183   // Protected data fields for use by the subclass.
00184 protected:
00185   inline const std::string& getName() const { return nodelet_name_; }
00186   inline std::string getSuffixedName(const std::string& suffix) const
00187   {
00188     return nodelet_name_ + "." + suffix;
00189   }
00190   inline const V_string& getMyArgv() const { return my_argv_; }
00191   inline const M_string& getRemappingArgs() const { return remapping_args_; }
00192 
00193   ros::NodeHandle& getNodeHandle() const;
00194   ros::NodeHandle& getPrivateNodeHandle() const;
00195   ros::NodeHandle& getMTNodeHandle() const;
00196   ros::NodeHandle& getMTPrivateNodeHandle() const;
00197 
00198   ros::CallbackQueueInterface& getSTCallbackQueue() const;
00199   ros::CallbackQueueInterface& getMTCallbackQueue() const;
00200 
00201 
00202   // Internal storage;
00203 private:
00204   bool inited_;
00205 
00206   std::string nodelet_name_;
00207 
00208   NodeHandlePtr nh_;
00209   NodeHandlePtr private_nh_;
00210   NodeHandlePtr mt_nh_;
00211   NodeHandlePtr mt_private_nh_;
00212   V_string my_argv_;
00213   M_string remapping_args_;
00214 
00215   // Method to be overridden by subclass when starting up.
00216   virtual void onInit() = 0;
00217 
00218   // Public API used for launching
00219 public:
00221   Nodelet();
00222 
00228   void init(const std::string& name, const M_string& remapping_args, const V_string& my_argv,
00229             ros::CallbackQueueInterface* st_queue = NULL,
00230             ros::CallbackQueueInterface* mt_queue = NULL);
00231 
00232   virtual ~Nodelet();
00233 };
00234 
00235 }
00236 #endif //NODELET_NODELET_H