roseus.cpp File Reference

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <math.h>
#include <time.h>
#include <pthread.h>
#include <setjmp.h>
#include <errno.h>
#include <list>
#include <vector>
#include <set>
#include <string>
#include <map>
#include <sstream>
#include <cstdio>
#include <boost/thread/mutex.hpp>
#include <boost/thread/condition.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/variant.hpp>
#include <boost/foreach.hpp>
#include <ros/init.h>
#include <ros/rate.h>
#include <ros/master.h>
#include <ros/this_node.h>
#include <ros/node_handle.h>
#include <ros/service.h>
#include <ros/service_server_link.h>
#include <ros/service_manager.h>
#include <ros/connection.h>
#include <rospack/rospack.h>
#include <ros/param.h>
#include <ros/callback_queue.h>
#include "eus.h"
#include "defun.h"

Include dependency graph for roseus.cpp:

Go to the source code of this file.

Classes
class	EuslispMessage
class	EuslispServiceCallbackHelper
class	EuslispSubscriptionCallbackHelper
class	RoseusStaticData
struct	ros::serialization::Serializer< EuslispMessage >
class	TimerFunction

Namespaces
	ros
	ros::master
	ros::param
	ros::serialization

Macros
#define	class   eus_class
#define	def_rosconsole_formatter(funcname, rosfuncname)
#define	export   eus_export
#define	isInstalledCheck   if( ! ros::ok() ) { error(E_USER,"You must call (ros::roseus \"name\") before creating the first NodeHandle"); }
#define	s_mapAdvertised   s_staticdata.mapAdvertised
#define	s_mapHandle   s_staticdata.mapHandle
#define	s_mapServiced   s_staticdata.mapServiced
#define	s_mapSubscribed   s_staticdata.mapSubscribed
#define	s_mapTimered   s_staticdata.mapTimered
#define	s_node   s_staticdata.node
#define	s_rate   s_staticdata.rate
#define	string   eus_string
#define	throw   eus_throw
#define	vector   eus_vector

Functions
pointer	___roseus (register context *ctx, int n, pointer *argv, pointer env)
else	_exit (ckintval(argv[0]))
	def_rosconsole_formatter (ROSEUS_ROSDEBUG, ROS_DEBUG) def_rosconsole_formatter(ROSEUS_ROSINFO
ROS_INFO	def_rosconsole_formatter (ROSEUS_ROSWARN, ROS_WARN) def_rosconsole_formatter(ROSEUS_ROSERROR
ROS_INFO ROS_ERROR	def_rosconsole_formatter (ROSEUS_ROSFATAL, ROS_FATAL) pointer ROSEUS_EXIT(register context *ctx
void	EusValueToXmlRpc (register context *ctx, pointer argp, XmlRpc::XmlRpcValue &rpc_value)
byte *	get_string (register pointer s)
int	getInteger (pointer message, pointer method)
string	getString (pointer message, pointer method)
	if (s_bInstalled)
	if (n==0) _exit(0)
void	ros::master::init (const M_string &remappings)
void	ros::param::init (const M_string &remappings)
void	register_roseus ()
pointer	ROSEUS (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_ADVERTISE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_ADVERTISE_SERVICE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_CREATE_NODEHANDLE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_CREATE_TIMER (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_DELETE_PARAM (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_DURATION_SLEEP (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GET_HOST (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GET_NODES (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GET_PARAM (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GET_PARAM_CACHED (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GET_PORT (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GET_TOPICS (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GET_URI (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GETNAME (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GETNAMESPACE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GETNUMPUBLISHERS (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GETNUMSUBSCRIBERS (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GETTOPICPUBLISHER (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_GETTOPICSUBSCRIBER (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_HAS_PARAM (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_LIST_PARAM (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_OK (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_PUBLISH (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_RATE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_RESOLVE_NAME (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_ROSPACK_DEPENDS (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_ROSPACK_FIND (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_ROSPACK_PLUGINS (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SEARCH_PARAM (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SERVICE_CALL (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SERVICE_EXISTS (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SET_LOGGER_LEVEL (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SET_PARAM (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SLEEP (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SPIN (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SPINONCE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_SUBSCRIBE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_TIME_NOW (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_UNADVERTISE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_UNADVERTISE_SERVICE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_UNSUBSCRIBE (register context *ctx, int n, pointer *argv)
pointer	ROSEUS_WAIT_FOR_SERVICE (register context *ctx, int n, pointer *argv)
void	roseusSignalHandler (int sig)
void	StoreConnectionHeader (EuslispMessage *eus_msg)
pointer	XmlRpcToEusList (register context *ctx, XmlRpc::XmlRpcValue param_list)
pointer	XmlRpcToEusValue (register context *ctx, XmlRpc::XmlRpcValue rpc_value)

Variables
ROS_INFO ROS_ERROR int pointer *	argv
std::string	ros::master::g_uri
pointer	K_FUNCTION_DOCUMENTATION
pointer	K_ROSEUS_CONNECTION_HEADER
pointer	K_ROSEUS_CURRENT_EXPECTED
pointer	K_ROSEUS_CURRENT_REAL
pointer	K_ROSEUS_DATATYPE
pointer	K_ROSEUS_DEFINITION
pointer	K_ROSEUS_DESERIALIZE
pointer	K_ROSEUS_GET
pointer	K_ROSEUS_GROUPNAME
pointer	K_ROSEUS_INIT
pointer	K_ROSEUS_LAST_DURATION
pointer	K_ROSEUS_LAST_EXPECTED
pointer	K_ROSEUS_LAST_REAL
pointer	K_ROSEUS_MD5SUM
pointer	K_ROSEUS_NSEC
pointer	K_ROSEUS_ONESHOT
pointer	K_ROSEUS_REQUEST
pointer	K_ROSEUS_RESPONSE
pointer	K_ROSEUS_SEC
pointer	K_ROSEUS_SERIALIZATION_LENGTH
pointer	K_ROSEUS_SERIALIZE
pointer	LAMCLOSURE
ROS_INFO ROS_ERROR int	n
pointer	QANON
pointer	QNOOUT
pointer	QREPOVERSION
pointer	QROSDEBUG
pointer	QROSERROR
pointer	QROSFATAL
pointer	QROSINFO
pointer	QROSWARN
rospack::Rospack	rp
static bool	s_bInstalled = false
static RoseusStaticData	s_staticdata

Macro Definition Documentation

#define class   eus_class

Definition at line 79 of file roseus.cpp.

#define def_rosconsole_formatter	(		funcname,
			rosfuncname
	)

Value:

pointer funcname(register context *ctx,int n,pointer *argv)   \
  { pointer *argv2,msg;                                         \
    int argc2;                                                  \
    argc2 = n+1;                                                \
    argv2 = (pointer *)malloc(sizeof(pointer)*argc2);           \
    argv2[0] = NIL;                                             \
    for(int i=0;i<n;i++) argv2[i+1]=argv[i] ;                   \
    msg = XFORMAT(ctx, argc2, argv2);                           \
    rosfuncname("%s", msg->c.str.chars);                        \
    free(argv2);                                                \
    return (T);                                                 \
  }

Definition at line 798 of file roseus.cpp.

#define export   eus_export

Definition at line 81 of file roseus.cpp.

#define isInstalledCheck   if( ! ros::ok() ) { error(E_USER,"You must call (ros::roseus \"name\") before creating the first NodeHandle"); }

Definition at line 123 of file roseus.cpp.

#define s_mapAdvertised   s_staticdata.mapAdvertised

Definition at line 146 of file roseus.cpp.

#define s_mapHandle   s_staticdata.mapHandle

Definition at line 150 of file roseus.cpp.

#define s_mapServiced   s_staticdata.mapServiced

Definition at line 148 of file roseus.cpp.

#define s_mapSubscribed   s_staticdata.mapSubscribed

Definition at line 147 of file roseus.cpp.

#define s_mapTimered   s_staticdata.mapTimered

Definition at line 149 of file roseus.cpp.

#define s_node   s_staticdata.node

Definition at line 144 of file roseus.cpp.

#define s_rate   s_staticdata.rate

Definition at line 145 of file roseus.cpp.

#define string   eus_string

Definition at line 83 of file roseus.cpp.

#define throw   eus_throw

Definition at line 80 of file roseus.cpp.

#define vector   eus_vector

Definition at line 82 of file roseus.cpp.

Function Documentation

pointer ___roseus	(	register context *	ctx,
		int	n,
		pointer *	argv,
		pointer	env
	)

Definition at line 1930 of file roseus.cpp.

else _exit

(

ckintval(argv[0])

)

def_rosconsole_formatter	(	ROSEUS_ROSDEBUG	,
		ROS_DEBUG
	)

ROS_INFO def_rosconsole_formatter	(	ROSEUS_ROSWARN	,
		ROS_WARN
	)

ROS_INFO ROS_ERROR def_rosconsole_formatter	(	ROSEUS_ROSFATAL	,
		ROS_FATAL
	)

void EusValueToXmlRpc	(	register context *	ctx,
		pointer	argp,
		XmlRpc::XmlRpcValue &	rpc_value
	)

Definition at line 1253 of file roseus.cpp.

byte* get_string

(

register pointer

s

)

Definition at line 98 of file roseus.cpp.

int getInteger	(	pointer	message,
		pointer	method
	)

Definition at line 188 of file roseus.cpp.

string getString	(	pointer	message,
		pointer	method
	)

Definition at line 159 of file roseus.cpp.

if

(

s_bInstalled

)

Definition at line 821 of file roseus.cpp.

if

(

n

= =0

)

void register_roseus

(

)

Definition at line 93 of file roseus.cpp.

pointer ROSEUS	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 572 of file roseus.cpp.

pointer ROSEUS_ADVERTISE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 944 of file roseus.cpp.

pointer ROSEUS_ADVERTISE_SERVICE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1194 of file roseus.cpp.

pointer ROSEUS_CREATE_NODEHANDLE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 673 of file roseus.cpp.

pointer ROSEUS_CREATE_TIMER	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1868 of file roseus.cpp.

pointer ROSEUS_DELETE_PARAM	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1540 of file roseus.cpp.

pointer ROSEUS_DURATION_SLEEP	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 778 of file roseus.cpp.

pointer ROSEUS_GET_HOST	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1749 of file roseus.cpp.

pointer ROSEUS_GET_NODES	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1757 of file roseus.cpp.

pointer ROSEUS_GET_PARAM	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1450 of file roseus.cpp.

pointer ROSEUS_GET_PARAM_CACHED	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1490 of file roseus.cpp.

pointer ROSEUS_GET_PORT	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1780 of file roseus.cpp.

pointer ROSEUS_GET_TOPICS	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1795 of file roseus.cpp.

pointer ROSEUS_GET_URI	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1787 of file roseus.cpp.

pointer ROSEUS_GETNAME	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1696 of file roseus.cpp.

pointer ROSEUS_GETNAMESPACE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1703 of file roseus.cpp.

pointer ROSEUS_GETNUMPUBLISHERS	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 904 of file roseus.cpp.

pointer ROSEUS_GETNUMSUBSCRIBERS	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1026 of file roseus.cpp.

pointer ROSEUS_GETTOPICPUBLISHER	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1052 of file roseus.cpp.

pointer ROSEUS_GETTOPICSUBSCRIBER	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 924 of file roseus.cpp.

pointer ROSEUS_HAS_PARAM	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1529 of file roseus.cpp.

pointer ROSEUS_LIST_PARAM	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1565 of file roseus.cpp.

pointer ROSEUS_OK	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 788 of file roseus.cpp.

pointer ROSEUS_PUBLISH	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 996 of file roseus.cpp.

pointer ROSEUS_RATE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 761 of file roseus.cpp.

pointer ROSEUS_RESOLVE_NAME	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1686 of file roseus.cpp.

pointer ROSEUS_ROSPACK_DEPENDS	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1610 of file roseus.cpp.

pointer ROSEUS_ROSPACK_FIND	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1589 of file roseus.cpp.

pointer ROSEUS_ROSPACK_PLUGINS	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1645 of file roseus.cpp.

pointer ROSEUS_SEARCH_PARAM	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1551 of file roseus.cpp.

pointer ROSEUS_SERVICE_CALL	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1108 of file roseus.cpp.

pointer ROSEUS_SERVICE_EXISTS	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1094 of file roseus.cpp.

pointer ROSEUS_SET_LOGGER_LEVEL	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1712 of file roseus.cpp.

pointer ROSEUS_SET_PARAM	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1333 of file roseus.cpp.

pointer ROSEUS_SLEEP	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 771 of file roseus.cpp.

pointer ROSEUS_SPIN	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 709 of file roseus.cpp.

pointer ROSEUS_SPINONCE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 719 of file roseus.cpp.

pointer ROSEUS_SUBSCRIBE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 837 of file roseus.cpp.

pointer ROSEUS_TIME_NOW	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 747 of file roseus.cpp.

pointer ROSEUS_UNADVERTISE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 983 of file roseus.cpp.

pointer ROSEUS_UNADVERTISE_SERVICE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1239 of file roseus.cpp.

pointer ROSEUS_UNSUBSCRIBE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 891 of file roseus.cpp.

pointer ROSEUS_WAIT_FOR_SERVICE	(	register context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 1075 of file roseus.cpp.

void roseusSignalHandler

(

int

sig

)

Definition at line 562 of file roseus.cpp.

void StoreConnectionHeader

(

EuslispMessage *

eus_msg

)

Definition at line 307 of file roseus.cpp.

pointer XmlRpcToEusList	(	register context *	ctx,
		XmlRpc::XmlRpcValue	param_list
	)

Definition at line 1401 of file roseus.cpp.

pointer XmlRpcToEusValue	(	register context *	ctx,
		XmlRpc::XmlRpcValue	rpc_value
	)

Definition at line 1348 of file roseus.cpp.

Variable Documentation

ROS_INFO ROS_ERROR int pointer* argv

Initial value:

{
  ROS_INFO("%s", __PRETTY_FUNCTION__)

Definition at line 819 of file roseus.cpp.

pointer K_FUNCTION_DOCUMENTATION

pointer K_ROSEUS_CONNECTION_HEADER

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_CURRENT_EXPECTED

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_CURRENT_REAL

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_DATATYPE

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_DEFINITION

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_DESERIALIZE

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_GET

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_GROUPNAME

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_INIT

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_LAST_DURATION

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_LAST_EXPECTED

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_LAST_REAL

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_MD5SUM

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_NSEC

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_ONESHOT

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_REQUEST

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_RESPONSE

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_SEC

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_SERIALIZATION_LENGTH

Definition at line 152 of file roseus.cpp.

pointer K_ROSEUS_SERIALIZE

Definition at line 152 of file roseus.cpp.

pointer LAMCLOSURE

ROS_INFO ROS_ERROR int n

Definition at line 818 of file roseus.cpp.

pointer QANON

Definition at line 152 of file roseus.cpp.

pointer QNOOUT

Definition at line 152 of file roseus.cpp.

pointer QREPOVERSION

Definition at line 152 of file roseus.cpp.

pointer QROSDEBUG

Definition at line 152 of file roseus.cpp.

pointer QROSERROR

Definition at line 152 of file roseus.cpp.

pointer QROSFATAL

Definition at line 152 of file roseus.cpp.

pointer QROSINFO

Definition at line 152 of file roseus.cpp.

pointer QROSWARN

Definition at line 152 of file roseus.cpp.

rospack::Rospack rp

Definition at line 90 of file roseus.cpp.

bool s_bInstalled = false

static

Definition at line 143 of file roseus.cpp.

RoseusStaticData s_staticdata

static

Definition at line 142 of file roseus.cpp.