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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 */

#ifndef RVIZ_FRAME_MANAGER_H
#define RVIZ_FRAME_MANAGER_H

#include <map>

#include <QObject>

#include <ros/time.h>

#include <OgreVector3.h>
#include <OgreQuaternion.h>

#include <boost/thread/mutex.hpp>

#include <geometry_msgs/Pose.h>

#include <tf2_ros/message_filter.h>
#include <tf/message_filter.h>

#include <type_traits>

#ifndef Q_MOC_RUN
#endif

#if ROS_VERSION_MINIMUM(1,14,0)
namespace tf2_ros
{
class TransformListener;
}
#else
namespace tf
{
class TransformListener;
}
#endif

namespace rviz
{
class Display;

class FrameManager: public QObject
{
Q_OBJECT
public:

 using TransformListener = std::conditional<ROS_VERSION_MINIMUM(1,14,0), tf2_ros::TransformListener, tf::TransformListener>::type;
 using FilterFailureReason = std::conditional<ROS_VERSION_MINIMUM(1,14,0), tf2_ros::FilterFailureReason, tf::FilterFailureReason>::type;
#if ROS_VERSION_MINIMUM(1,14,0)
 template <class message_type>
 using MessageFilter = tf2_ros::MessageFilter<message_type>;
#else
 template <class message_type>
 using MessageFilter = tf::MessageFilter<message_type>;
#endif

  enum SyncMode {
    SyncOff = 0,
    SyncExact,
    SyncApprox
  };

  FrameManager(boost::shared_ptr<TransformListener> tf = boost::shared_ptr<TransformListener>());

  ~FrameManager();

   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(MessageFilter<M>* filter, Display* display)
  {
    filter->registerCallback(boost::bind(&FrameManager::messageCallback<M>, this, _1, display));
    filter->registerFailureCallback(boost::bind(&FrameManager::failureCallback<M>, this, _1, _2, display));
  }

  const std::string& getFixedFrame() { return fixed_frame_; }

  TransformListener* getTFClient() { return tf_.get(); }

  const boost::shared_ptr<TransformListener>& getTFClientPtr() { return tf_; }

  std::string discoverFailureReason(const std::string& frame_id,
                                    const ros::Time& stamp,
                                    const std::string& caller_id,
                                    FilterFailureReason reason);

Q_SIGNALS:
  void fixedFrameChanged();

private:

  bool adjustTime( const std::string &frame, 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();
    std::string authority = msg_evt.getPublisherName();

    messageArrived(msg->info.header.frame_id, msg->info.header.stamp, authority, display);
  }

  template<class M>
  void failureCallback(const ros::MessageEvent<M const>& msg_evt, FilterFailureReason reason, Display* display)
  {
    boost::shared_ptr<M const> const &msg = msg_evt.getConstMessage();
    std::string authority = msg_evt.getPublisherName();

    messageFailed(msg->info.header.frame_id, msg->info.header.stamp, authority, reason, display);
  }

  void messageArrived(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, Display* display);
  void messageFailed(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, FilterFailureReason reason, Display* 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_;

  boost::shared_ptr<TransformListener> tf_;
  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 sync_delta_;
  double current_delta_;
};

}

#endif // RVIZ_FRAME_MANAGER_H