topic_handlers.h

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#ifndef ROSSERIAL_SERVER_TOPIC_HANDLERS_H
#define ROSSERIAL_SERVER_TOPIC_HANDLERS_H
 
#include <ros/ros.h>
#include <rosserial_msgs/TopicInfo.h>
#include <topic_tools/shape_shifter.h>
#include <rosserial_server/msg_lookup.h>
 
namespace rosserial_server
{
 
class Publisher {
public:
  Publisher(ros::NodeHandle& nh, const rosserial_msgs::TopicInfo& topic_info) {
    rosserial_server::MsgInfo msginfo;
    try
    {
      msginfo = lookupMessage(topic_info.message_type);
    }
    catch (const std::exception& e)
    {
      ROS_WARN_STREAM("Unable to look up message: " << e.what());
    }
 
    if (!msginfo.md5sum.empty() && msginfo.md5sum != topic_info.md5sum)
    {
      ROS_WARN_STREAM("Message" << topic_info.message_type  << "MD5 sum from client does not "
                      "match that in system. Will avoid using system's message definition.");
      msginfo.full_text = "";
    }
    message_.morph(topic_info.md5sum, topic_info.message_type, msginfo.full_text, "false");
    publisher_ = message_.advertise(nh, topic_info.topic_name, 1);
  }
 
  void handle(ros::serialization::IStream stream) {
    ros::serialization::Serializer<topic_tools::ShapeShifter>::read(stream, message_);
    publisher_.publish(message_);
  }
 
  std::string get_topic() {
    return publisher_.getTopic();
  }
 
private:
  ros::Publisher publisher_;
  topic_tools::ShapeShifter message_;
};
 
typedef boost::shared_ptr<Publisher> PublisherPtr;
 
 
class Subscriber {
public:
  Subscriber(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info,
      boost::function<void(std::vector<uint8_t>& buffer)> write_fn)
    : write_fn_(write_fn) {
    ros::SubscribeOptions opts;
    opts.init<topic_tools::ShapeShifter>(
        topic_info.topic_name, 1, boost::bind(&Subscriber::handle, this, _1));
    opts.md5sum = topic_info.md5sum;
    opts.datatype = topic_info.message_type;
    subscriber_ = nh.subscribe(opts);
  }
 
  std::string get_topic() {
    return subscriber_.getTopic();
  }
 
private:
  void handle(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg) {
    size_t length = ros::serialization::serializationLength(*msg);
    std::vector<uint8_t> buffer(length);
 
    ros::serialization::OStream ostream(&buffer[0], length);
    ros::serialization::Serializer<topic_tools::ShapeShifter>::write(ostream, *msg);
 
    write_fn_(buffer);
  }
 
  ros::Subscriber subscriber_;
  boost::function<void(std::vector<uint8_t>& buffer)> write_fn_;
};
 
typedef boost::shared_ptr<Subscriber> SubscriberPtr;
 
class ServiceClient {
public:
  ServiceClient(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info,
      boost::function<void(std::vector<uint8_t>& buffer, const uint16_t topic_id)> write_fn)
    : write_fn_(write_fn) {
    topic_id_ = -1;
 
    rosserial_server::MsgInfo srvinfo;
    rosserial_server::MsgInfo reqinfo;
    rosserial_server::MsgInfo respinfo;
    try
    {
      srvinfo = lookupMessage(topic_info.message_type, "srv");
      reqinfo = lookupMessage(topic_info.message_type + "Request", "srv");
      respinfo = lookupMessage(topic_info.message_type + "Response", "srv");
    }
    catch (const std::exception& e)
    {
      ROS_WARN_STREAM("Unable to look up service definition: " << e.what());
    }
    service_md5_ = srvinfo.md5sum;
    request_message_md5_ = reqinfo.md5sum;
    response_message_md5_ = respinfo.md5sum;
 
    ros::ServiceClientOptions opts;
    opts.service = topic_info.topic_name;
    opts.md5sum = srvinfo.md5sum;
    opts.persistent = false; // always false for now
    service_client_ = nh.serviceClient(opts);
  }
  void setTopicId(uint16_t topic_id) {
    topic_id_ = topic_id;
  }
  std::string getServiceMD5() {
    return service_md5_;
  }
  std::string getRequestMessageMD5() {
    return request_message_md5_;
  }
  std::string getResponseMessageMD5() {
    return response_message_md5_;
  }
 
  void handle(ros::serialization::IStream stream) {
    // deserialize request message
    ros::serialization::Serializer<topic_tools::ShapeShifter>::read(stream, request_message_);
 
    // perform service call
    // note that at present, at least for rosserial-windows a service call returns nothing,
    // so we discard the return value of this call() invocation.
    service_client_.call(request_message_, response_message_, service_md5_);
 
    // write service response over the wire
    size_t length = ros::serialization::serializationLength(response_message_);
    std::vector<uint8_t> buffer(length);
    ros::serialization::OStream ostream(&buffer[0], length);
    ros::serialization::Serializer<topic_tools::ShapeShifter>::write(ostream, response_message_);
    write_fn_(buffer,topic_id_);
  }
 
private:
  topic_tools::ShapeShifter request_message_;
  topic_tools::ShapeShifter response_message_;
  ros::ServiceClient service_client_;
  boost::function<void(std::vector<uint8_t>& buffer, const uint16_t topic_id)> write_fn_;
  std::string service_md5_;
  std::string request_message_md5_;
  std::string response_message_md5_;
  uint16_t topic_id_;
};
 
typedef boost::shared_ptr<ServiceClient> ServiceClientPtr;
 
}  // namespace
 
#endif  // ROSSERIAL_SERVER_TOPIC_HANDLERS_H