connection_based_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/connection_based_nodelet.h"
#include "jsk_topic_tools/log_utils.h"

namespace jsk_topic_tools
{
  void ConnectionBasedNodelet::onInit()
  {
    connection_status_ = NOT_SUBSCRIBED;
    bool use_multithread;
    ros::param::param<bool>("~use_multithread_callback", use_multithread, true);
    if (use_multithread) {
      NODELET_DEBUG("use multithread callback");
      nh_.reset (new ros::NodeHandle (getMTNodeHandle ()));
      pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ()));
    } else {
      NODELET_DEBUG("use singlethread callback");
      nh_.reset (new ros::NodeHandle (getNodeHandle ()));
      pnh_.reset (new ros::NodeHandle (getPrivateNodeHandle ()));
    }
    pnh_->param("always_subscribe", always_subscribe_, false);
    pnh_->param("verbose_connection", verbose_connection_, false);
    if (!verbose_connection_) {
      nh_->param("verbose_connection", verbose_connection_, false);
    }

    // timer to warn when onInitProcess is not called
    pnh_->param("no_warn_on_init_post_process", on_init_post_process_called_, false);
    if (!on_init_post_process_called_) {
      timer_warn_on_init_post_process_called_ = nh_->createWallTimer(
        ros::WallDuration(5),
        &ConnectionBasedNodelet::warnOnInitPostProcessCalledCallback,
        this,
        /*oneshot=*/true);
    }

    // timer to warn when no connection in a few seconds
    ever_subscribed_ = false;
    timer_warn_never_subscribed_ = nh_->createWallTimer(
      ros::WallDuration(5),
      &ConnectionBasedNodelet::warnNeverSubscribedCallback,
      this,
      /*oneshot=*/true);
  }

  void ConnectionBasedNodelet::onInitPostProcess()
  {
    on_init_post_process_called_ = true;
    if (always_subscribe_) {
      boost::mutex::scoped_lock lock(connection_mutex_);
      ever_subscribed_ = true;
      subscribe();
    }
  }

  inline bool ConnectionBasedNodelet::isSubscribed()
  {
    return connection_status_ == SUBSCRIBED;
  }


  void ConnectionBasedNodelet::warnOnInitPostProcessCalledCallback(const ros::WallTimerEvent& event)
  {
    if (!on_init_post_process_called_) {
      NODELET_WARN("[%s] onInitPostProcess is not yet called.", nodelet::Nodelet::getName().c_str());
    }
  }

  void ConnectionBasedNodelet::warnNeverSubscribedCallback(const ros::WallTimerEvent& event)
  {
    if (!ever_subscribed_) {
      NODELET_WARN("'%s' subscribes topics only with child subscribers.", nodelet::Nodelet::getName().c_str());
    }
  }

  void ConnectionBasedNodelet::connectionCallback(const ros::SingleSubscriberPublisher& pub)
  {
    if (verbose_connection_) {
      NODELET_INFO("New connection or disconnection is detected");
    }
    if (!always_subscribe_) {
      boost::mutex::scoped_lock lock(connection_mutex_);
      for (size_t i = 0; i < publishers_.size(); i++) {
        ros::Publisher pub = publishers_[i];
        if (pub.getNumSubscribers() > 0) {
          if (!ever_subscribed_) {
            ever_subscribed_ = true;
          }
          if (connection_status_ != SUBSCRIBED) {
            if (verbose_connection_) {
              NODELET_INFO("Subscribe input topics");
            }
            subscribe();
            connection_status_ = SUBSCRIBED;
          }
          return;
        }
      }
      if (connection_status_ == SUBSCRIBED) {
        if (verbose_connection_) {
          NODELET_INFO("Unsubscribe input topics");
        }
        unsubscribe();
        connection_status_ = NOT_SUBSCRIBED;
      }
    }
  }
  
  void ConnectionBasedNodelet::imageConnectionCallback(
    const image_transport::SingleSubscriberPublisher& pub)
  {
    if (verbose_connection_) {
      NODELET_INFO("New image connection or disconnection is detected");
    }
    if (!always_subscribe_) {
      boost::mutex::scoped_lock lock(connection_mutex_);
      for (size_t i = 0; i < image_publishers_.size(); i++) {
        image_transport::Publisher pub = image_publishers_[i];
        if (pub.getNumSubscribers() > 0) {
          if (!ever_subscribed_) {
            ever_subscribed_ = true;
          }
          if (connection_status_ != SUBSCRIBED) {
            if (verbose_connection_) {
              NODELET_INFO("Subscribe input topics");
            }
            subscribe();
            connection_status_ = SUBSCRIBED;
          }
          return;
        }
      }
      if (connection_status_ == SUBSCRIBED) {
        if (verbose_connection_) {
          NODELET_INFO("Unsubscribe input topics");
        }
        unsubscribe();
        connection_status_ = NOT_SUBSCRIBED;
      }
    }
  }

  void ConnectionBasedNodelet::cameraConnectionCallback(
    const image_transport::SingleSubscriberPublisher& pub)
  {
    cameraConnectionBaseCallback();
  }

  void ConnectionBasedNodelet::cameraInfoConnectionCallback(
    const ros::SingleSubscriberPublisher& pub)
  {
    cameraConnectionBaseCallback();
  }

  void ConnectionBasedNodelet::cameraConnectionBaseCallback()
  {
    if (verbose_connection_) {
      NODELET_INFO("New image connection or disconnection is detected");
    }
    if (!always_subscribe_) {
      boost::mutex::scoped_lock lock(connection_mutex_);
      for (size_t i = 0; i < camera_publishers_.size(); i++) {
        image_transport::CameraPublisher pub = camera_publishers_[i];
        if (pub.getNumSubscribers() > 0) {
          if (!ever_subscribed_) {
            ever_subscribed_ = true;
          }
          if (connection_status_ != SUBSCRIBED) {
            if (verbose_connection_) {
              NODELET_INFO("Subscribe input topics");
            }
            subscribe();
            connection_status_ = SUBSCRIBED;
          }
          return;
        }
      }
      if (connection_status_ == SUBSCRIBED) {
        if (verbose_connection_) {
          NODELET_INFO("Unsubscribe input topics");
        }
        unsubscribe();
        connection_status_ = NOT_SUBSCRIBED;
      }
    }
  }
}