node.h
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1 #pragma once
2 
3 #include "ensenso_camera/ros2/node_handle.h"
4 
5 // ---------------------------------------------------------------------------------------------------------------------
6 // Code from ROS2 visibility_control.h
7 // ---------------------------------------------------------------------------------------------------------------------
8 
9 #ifdef ROS2 /**********************************************************************************************************/
10 #ifndef ENSENSO_CAMERA__VISIBILITY_CONTROL_H_
11 #define ENSENSO_CAMERA__VISIBILITY_CONTROL_H_
12 
13 #ifdef __cplusplus
14 extern "C" {
15 #endif
16 
17 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
18 // https://gcc.gnu.org/wiki/Visibility
19 
20 #if defined _WIN32 || defined __CYGWIN__
21 #ifdef __GNUC__
22 #define ENSENSO_CAMERA_EXPORT __attribute__((dllexport))
23 #define ENSENSO_CAMERA_IMPORT __attribute__((dllimport))
24 #else
25 #define ENSENSO_CAMERA_EXPORT __declspec(dllexport)
26 #define ENSENSO_CAMERA_IMPORT __declspec(dllimport)
27 #endif
28 #ifdef ENSENSO_CAMERA_BUILDING_DLL
29 #define ENSENSO_CAMERA_PUBLIC ENSENSO_CAMERA_EXPORT
30 #else
31 #define ENSENSO_CAMERA_PUBLIC ENSENSO_CAMERA_IMPORT
32 #endif
33 #define ENSENSO_CAMERA_PUBLIC_TYPE ENSENSO_CAMERA_PUBLIC
34 #define ENSENSO_CAMERA_LOCAL
35 #else
36 #define ENSENSO_CAMERA_EXPORT __attribute__((visibility("default")))
37 #define ENSENSO_CAMERA_IMPORT
38 #if __GNUC__ >= 4
39 #define ENSENSO_CAMERA_PUBLIC __attribute__((visibility("default")))
40 #define ENSENSO_CAMERA_LOCAL __attribute__((visibility("hidden")))
41 #else
42 #define ENSENSO_CAMERA_PUBLIC
43 #define ENSENSO_CAMERA_LOCAL
44 #endif
45 #define ENSENSO_CAMERA_PUBLIC_TYPE
46 #endif
47 
48 #ifdef __cplusplus
49 }
50 #endif
51 
52 #endif // ENSENSO_CAMERA__VISIBILITY_CONTROL_H_
53 #endif // ROS2
54 
55 // ---------------------------------------------------------------------------------------------------------------------
56 // Macros for unifying ROS1 nodelets and ROS2 nodes (which can be run as components)
57 // ---------------------------------------------------------------------------------------------------------------------
58 
59 #ifdef ROS2 /**********************************************************************************************************/
60 #include "rclcpp_components/register_node_macro.hpp"
61 
62 #define GENERATE_NODE_CLASS(ClassName) \
63  class ClassName##Node : public rclcpp::Node \
64  { \
65  public: \
66  ENSENSO_CAMERA_PUBLIC \
67  explicit ClassName##Node(rclcpp::NodeOptions const& options = rclcpp::NodeOptions()); \
68  ~ClassName##Node(); \
69  \
70  private: \
71  std::string cameraType; \
72  std::unique_ptr<ClassName> camera; \
73  };
74 
75 #define GENERATE_NODE_CLASS_IMPL(ClassName, CameraType) \
76  ClassName##Node::ClassName##Node(rclcpp::NodeOptions const& options) \
77  : Node(#ClassName "Node", options), cameraType(CameraType) \
78  { \
79  DECLARE_NODE_PARAMETERS(this); \
80  \
81  auto nh = create_node_handle(this); \
82  ensenso::ros::NodeHandleWrapper nhw = ensenso::ros::NodeHandleWrapper(std::move(nh)); \
83  \
84  camera_node::initNxLib(nhw.getPrivateNodeHandle()); \
85  \
86  camera = camera_node::initCamera<ClassName>(nhw, cameraType); \
87  } \
88  \
89  ClassName##Node::~ClassName##Node() \
90  { \
91  camera->close(); \
92  }
93 
94 #define NODE_PUBLIC_INTERFACE(ClassName) \
95  ENSENSO_CAMERA_PUBLIC \
96  explicit ClassName##Node(rclcpp::NodeOptions const& options = rclcpp::NodeOptions()); \
97  ~ClassName##Node(); \
98  void onInit()
99 
100 #define NODE_CTOR_IMPL_HEADER(ClassName) \
101  ClassName##Node::ClassName##Node(rclcpp::NodeOptions const& options) : Node(#ClassName "Node", options),
102 
103 #define NODE_DTOR_IMPL_HEADER(ClassName) ClassName##Node::~ClassName##Node()
104 
105 #define NODE_ON_INIT_IMPL_HEADER(ClassName) void ClassName##Node::onInit()
106 
107 #define SINGLE_NODE_CLASS(ClassName) class ClassName : public rclcpp::Node
108 #define SINGLE_NODE_CTOR(ClassName, NodeName) ClassName() : Node(NodeName)
109 
110 #define REGISTER_NODE(ClassName) RCLCPP_COMPONENTS_REGISTER_NODE(ClassName##Node)
111 
112 #define DECLARE_NODE_PARAMETERS(node) \
113  node->declare_parameter<std::string>("serial", ""); \
114  node->declare_parameter<std::string>("settings", ""); \
115  node->declare_parameter<std::string>("file_camera_path", ""); \
116  node->declare_parameter<bool>("fixed", false); \
117  node->declare_parameter<int>("threads", -1); \
118  node->declare_parameter<std::string>("camera_frame", ""); \
119  node->declare_parameter<std::string>("target_frame", ""); \
120  node->declare_parameter<std::string>("link_frame", ""); \
121  node->declare_parameter<std::string>("robot_frame", ""); \
122  node->declare_parameter<std::string>("wrist_frame", ""); \
123  node->declare_parameter<int>("tcp_port", -1); \
124  node->declare_parameter<bool>("wait_for_camera", false); \
125  node->declare_parameter<std::string>("objects_file", ""); \
126  node->declare_parameter<std::string>("objects_frame", ""); \
127  node->declare_parameter<std::string>("visualization_marker_topic", ""); \
128  node->declare_parameter<double>("visualization_marker_rate", 1.0);
129 
130 namespace ensenso
131 {
132 namespace ros
133 {
134 struct NodeHandleWrapper
135 {
136  NodeHandle nh;
137 
138  NodeHandleWrapper(NodeHandle nh) : nh(::std::move(nh))
139  {
140  }
141 
142  NodeHandle& getNodeHandle()
143  {
144  return nh;
145  }
146 
147  NodeHandle& getPrivateNodeHandle()
148  {
149  return nh;
150  }
151 };
152 } // namespace ros
153 } // namespace ensenso
154 
155 #define CREATE_NODE_HANDLE_WRAPPER(name) \
156  rclcpp::Node::SharedPtr name##_ = shared_from_this(); \
157  ensenso::ros::NodeHandleWrapper name = ensenso::ros::NodeHandleWrapper(std::move(name##_));
158 
159 #else /***ROS1*********************************************************************************************************/
160 #include <nodelet/nodelet.h>
161 #include <pluginlib/class_list_macros.h>
162 
163 #define GENERATE_NODE_CLASS(ClassName) \
164  class ClassName##Nodelet : public nodelet::Nodelet \
165  { \
166  public: \
167  ClassName##Nodelet(); \
168  ~ClassName##Nodelet(); \
169  void onInit() override; \
170  \
171  private: \
172  std::string cameraType; \
173  std::unique_ptr<ClassName> camera; \
174  };
175 
176 #define GENERATE_NODE_CLASS_IMPL(ClassName, CameraType) \
177  ClassName##Nodelet::ClassName##Nodelet() : cameraType(CameraType) \
178  { \
179  } \
180  \
181  ClassName##Nodelet::~ClassName##Nodelet() \
182  { \
183  camera->close(); \
184  } \
185  \
186  void ClassName##Nodelet::onInit() \
187  { \
188  CREATE_NODE_HANDLE_WRAPPER(nh) \
189  camera_node::initNxLib(nh.getPrivateNodeHandle()); \
190  camera = camera_node::initCamera<ClassName>(nh, cameraType); \
191  }
192 
193 #define NODE_PUBLIC_INTERFACE(ClassName) \
194 public: \
195  ClassName##Nodelet(); \
196  ~ClassName##Nodelet(); \
197  void onInit() override
198 
199 #define NODE_CTOR_IMPL_HEADER(ClassName) ClassName##Nodelet::ClassName##Nodelet() :
200 
201 #define NODE_DTOR_IMPL_HEADER(ClassName) ClassName##Nodelet::~ClassName##Nodelet()
202 
203 #define NODE_ON_INIT_IMPL_HEADER(ClassName) void ClassName##Nodelet::onInit()
204 
205 #define SINGLE_NODE_CLASS(ClassName) class ClassName
206 #define SINGLE_NODE_CTOR(ClassName, NodeName) ClassName()
207 
208 #define REGISTER_NODE(ClassName) PLUGINLIB_EXPORT_CLASS(ClassName##Nodelet, nodelet::Nodelet)
209 
210 namespace ensenso
211 {
212 namespace ros
213 {
214 using NodeHandle = ::ros::NodeHandle;
215 
216 struct NodeHandleWrapper
217 {
218  NodeHandle nh;
219  NodeHandle nhPrivate;
220 
221  NodeHandleWrapper(NodeHandle& nh, NodeHandle& nhPrivate) : nh(nh), nhPrivate(nhPrivate)
222  {
223  }
224  NodeHandle& getNodeHandle()
225  {
226  return nh;
227  }
228  NodeHandle& getPrivateNodeHandle()
229  {
230  return nhPrivate;
231  }
232 };
233 } // namespace ros
234 } // namespace ensenso
235 
236 #define CREATE_NODE_HANDLE_WRAPPER(name) \
237  ensenso::ros::NodeHandleWrapper name = ensenso::ros::NodeHandleWrapper(getNodeHandle(), getPrivateNodeHandle());
238 #endif
ensenso::ros::NodeHandleWrapper::NodeHandleWrapper
NodeHandleWrapper(NodeHandle &nh, NodeHandle &nhPrivate)
Definition: node.h:221
ensenso::ros::NodeHandleWrapper::getNodeHandle
NodeHandle & getNodeHandle()
Definition: node.h:224
ensenso::ros::NodeHandleWrapper::getPrivateNodeHandle
NodeHandle & getPrivateNodeHandle()
Definition: node.h:228
class_list_macros.h
node_handle.h
ensenso::ros::NodeHandle
::ros::NodeHandle NodeHandle
Definition: node.h:214
move
void move(std::vector< T > &a, std::vector< T > &b)

ensenso_camera
Author(s): Ensenso
autogenerated on Sat Jun 3 2023 02:17:04