frame_manager.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * 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.
 *     * Neither the name of the Willow Garage, Inc. 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef RVIZ_FRAME_MANAGER_H
#define RVIZ_FRAME_MANAGER_H
 
#include <map>
 
#include <QObject>
 
#include <ros/time.h>
#include <tf2_ros/buffer.h>
#include <geometry_msgs/Pose.h>
 
#include <rviz/ogre_helpers/ogre_vector.h>
#include <OgreQuaternion.h>
 
#include <boost/thread/mutex.hpp>
 
#ifndef Q_MOC_RUN
#include <tf2_ros/message_filter.h>
#endif
 
namespace tf2_ros
{
class TransformListener;
}
 
namespace rviz
{
class Display;
 
class FrameManager : public QObject
{
  Q_OBJECT
public:
  enum SyncMode
  {
    SyncOff = 0, // use latest TF updates
    SyncExact,   // sync to incoming messages of a display (emitting timeSignal())
    SyncApprox,
    SyncFrame, // synchronize frame lookups to start of update() loop
  };
 
  explicit FrameManager(std::shared_ptr<tf2_ros::Buffer> tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
                        std::shared_ptr<tf2_ros::TransformListener> tf_listener =
                            std::shared_ptr<tf2_ros::TransformListener>());
 
  ~FrameManager() override;
 
  void setFixedFrame(const std::string& frame);
 
  void setPause(bool pause);
 
  bool getPause()
  {
    return pause_;
  }
 
  void setSyncMode(SyncMode mode);
 
  SyncMode getSyncMode()
  {
    return sync_mode_;
  }
 
  void syncTime(ros::Time time);
 
  ros::Time getTime()
  {
    return sync_time_;
  }
 
  template <typename Header>
  bool getTransform(const Header& header, Ogre::Vector3& position, Ogre::Quaternion& orientation)
  {
    return getTransform(header.frame_id, header.stamp, position, orientation);
  }
 
  bool getTransform(const std::string& frame,
                    ros::Time time,
                    Ogre::Vector3& position,
                    Ogre::Quaternion& orientation);
 
  template <typename Header>
  bool transform(const Header& header,
                 const geometry_msgs::Pose& pose,
                 Ogre::Vector3& position,
                 Ogre::Quaternion& orientation)
  {
    return transform(header.frame_id, header.stamp, pose, position, orientation);
  }
 
  bool transform(const std::string& frame,
                 ros::Time time,
                 const geometry_msgs::Pose& pose,
                 Ogre::Vector3& position,
                 Ogre::Quaternion& orientation);
 
  void update();
 
  bool frameHasProblems(const std::string& frame, ros::Time time, std::string& error);
 
  bool transformHasProblems(const std::string& frame, ros::Time time, std::string& error);
 
  template <class M>
  void registerFilterForTransformStatusCheck(tf2_ros::MessageFilter<M>* filter, Display* display)
  {
    filter->registerCallback(
        boost::bind(&FrameManager::messageCallback<M>, this, boost::placeholders::_1, display));
    filter->registerFailureCallback(
        boost::bind(&FrameManager::failureCallback<M, tf2_ros::FilterFailureReason>, this,
                    boost::placeholders::_1, boost::placeholders::_2, display));
  }
 
  const std::string& getFixedFrame()
  {
    return fixed_frame_;
  }
 
  const std::shared_ptr<tf2_ros::Buffer> getTF2BufferPtr()
  {
    return tf_buffer_;
  }
 
  std::string discoverFailureReason(const std::string& frame_id,
                                    const ros::Time& stamp,
                                    const std::string& caller_id,
                                    tf2_ros::FilterFailureReason reason);
 
Q_SIGNALS:
  void fixedFrameChanged();
 
private:
  void adjustTime(ros::Time& time);
 
  template <class M>
  void messageCallback(const ros::MessageEvent<M const>& msg_evt, Display* display)
  {
    boost::shared_ptr<M const> const& msg = msg_evt.getConstMessage();
    const std::string& authority = msg_evt.getPublisherName();
 
    messageArrived(msg->header.frame_id, msg->header.stamp, authority, display);
  }
 
  template <class M, class TfFilterFailureReasonType>
  void failureCallback(const ros::MessageEvent<M const>& msg_evt,
                       TfFilterFailureReasonType reason,
                       Display* display)
  {
    boost::shared_ptr<M const> const& msg = msg_evt.getConstMessage();
    const std::string& authority = msg_evt.getPublisherName();
 
    messageFailed(msg->header.frame_id, msg->header.stamp, authority, reason, display);
  }
 
  void messageArrived(const std::string& frame_id,
                      const ros::Time& stamp,
                      const std::string& caller_id,
                      Display* display);
 
  void messageFailedImpl(const std::string& caller_id, const std::string& status_text, Display* display);
 
  template <class TfFilterFailureReasonType>
  void messageFailed(const std::string& frame_id,
                     const ros::Time& stamp,
                     const std::string& caller_id,
                     TfFilterFailureReasonType reason,
                     Display* display)
  {
    std::string status_text = discoverFailureReason(frame_id, stamp, caller_id, reason);
    messageFailedImpl(caller_id, status_text, display);
  }
 
  struct CacheKey
  {
    CacheKey(const std::string& f, ros::Time t) : frame(f), time(t)
    {
    }
 
    bool operator<(const CacheKey& rhs) const
    {
      if (frame != rhs.frame)
      {
        return frame < rhs.frame;
      }
 
      return time < rhs.time;
    }
 
    std::string frame;
    ros::Time time;
  };
 
  struct CacheEntry
  {
    CacheEntry(const Ogre::Vector3& p, const Ogre::Quaternion& o) : position(p), orientation(o)
    {
    }
 
    Ogre::Vector3 position;
    Ogre::Quaternion orientation;
  };
  typedef std::map<CacheKey, CacheEntry> M_Cache;
 
  boost::mutex cache_mutex_;
  M_Cache cache_;
 
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
  std::string fixed_frame_;
 
  bool pause_;
 
  SyncMode sync_mode_;
 
  // the current synchronized time, used to overwrite ros:Time(0)
  ros::Time sync_time_;
 
  // used for approx. syncing
  double current_delta_; // current time delay between received sync msg's time stamp and now()
  double sync_delta_;    // sliding average of current_delta_, used to compute sync_time_
};
 
} // namespace rviz
 
#endif // RVIZ_FRAME_MANAGER_H