protobuf2ros_stream.h

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder 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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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef RC_VISARD_ROS_PROTOBUF2ROS_STREAM_H
#define RC_VISARD_ROS_PROTOBUF2ROS_STREAM_H

#include <memory>

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

#include <rc_dynamics_api/remote_interface.h>

#include "ThreadedStream.h"
#include "publishers/protobuf2ros_publisher.h"

namespace rc
{
class Protobuf2RosStream : public ThreadedStream
{
public:
  Protobuf2RosStream(rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string& stream, ros::NodeHandle& nh,
                     const std::string& frame_id_prefix)
    : ThreadedStream(rcdIface, stream, nh), _tfPrefix(frame_id_prefix)
  {
  }

protected:
  virtual void initRosPublishers();
  virtual bool checkRosPublishersUsed();
  virtual void publishToRos(std::shared_ptr<::google::protobuf::Message> pbMsg);

  virtual bool startReceivingAndPublishingAsRos() override;

  std::shared_ptr<Protobuf2RosPublisher> _rosPublisher;
  const std::string _tfPrefix;
};

class PoseAndTFStream : public Protobuf2RosStream
{
public:
  PoseAndTFStream(rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string& stream, ros::NodeHandle& nh,
             const std::string& frame_id_prefix, bool tfEnabled)
    : Protobuf2RosStream(rcdIface, stream, nh, frame_id_prefix), _tfEnabled(tfEnabled)
  {
    std::string pbMsgType = _rcdyn->getPbMsgTypeOfStream(_stream);
    if (pbMsgType != "Frame")
    {
      std::stringstream msg;
      msg << "Invalid stream type! Can instantiate PoseAndTFStream only for rc_dynamics streams of type 'Frame' "
          << "but got stream '" << stream << "' which is of type '" << pbMsgType << "'!";
      throw std::invalid_argument(msg.str());
    }
  }

protected:
  virtual void initRosPublishers() override;
  virtual bool checkRosPublishersUsed() override;
  virtual void publishToRos(std::shared_ptr<::google::protobuf::Message> pbMsg) override;

  std::shared_ptr<tf::TransformBroadcaster> _tf_pub;
  bool _tfEnabled;
};

class DynamicsStream : public Protobuf2RosStream
{
public:
  DynamicsStream(rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string& stream, ros::NodeHandle& nh,
                 const std::string& frame_id_prefix, bool publishImu2CamAsTf)
    : Protobuf2RosStream(rcdIface, stream, nh, frame_id_prefix), _publishVisualizationMarkers(false), _publishImu2CamAsTf(publishImu2CamAsTf)
  {
    std::string pbMsgType = _rcdyn->getPbMsgTypeOfStream(_stream);
    if (pbMsgType != "Dynamics")
    {
      std::stringstream msg;
      msg << "Invalid stream type! Can instantiate DynamicsStream only for rc_dynamics streams of type 'Dynamics' "
          << "but got stream '" << stream << "' which is of type '" << pbMsgType << "'!";
      throw std::invalid_argument(msg.str());
    }
  }

protected:
  virtual void initRosPublishers() override;
  virtual bool checkRosPublishersUsed() override;
  virtual void publishToRos(std::shared_ptr<::google::protobuf::Message> pbMsg) override;

  std::shared_ptr<ros::Publisher> _pub_odom;
  std::shared_ptr<ros::Publisher> _pub_markers;
  std::shared_ptr<tf::TransformBroadcaster> _tf_pub;
  bool _publishVisualizationMarkers, _publishImu2CamAsTf;
};

}
#endif  // RC_VISARD_ROS_PROTOBUF2ROS_STREAM_H