action_relay.h

Go to the documentation of this file.

#ifndef MESSAGE_RELAY_RELAY_ACTION_RELAY_H
#define MESSAGE_RELAY_RELAY_ACTION_RELAY_H

#include "message_relay/relay_factory/topic_relay_factory.h"
#include "message_relay/relay/topic_relay.h"

#include "ros/callback_queue.h"
#include "ros/ros.h"

#include <string>
#include <vector>

namespace message_relay
{

struct ActionRelayParams
{
  std::string type;
  std::string action;
  boost::shared_ptr<ros::NodeHandle> origin;
  boost::shared_ptr<ros::NodeHandle> target;
  FrameIdProcessor::ConstPtr frame_id_processor;
  TimeProcessor::ConstPtr time_processor;
  double feedback_throttle_frequency;
  int queue_size;
  boost::shared_ptr<ros::CallbackQueue> callback_queue;

  ActionRelayParams()
      : queue_size(100)
  { }
};

class ActionRelay
{
public:
  typedef boost::shared_ptr<ActionRelay> Ptr;

  virtual ~ActionRelay()
  { }

protected:
  ActionRelay()
  { }
};

class ActionRelayImpl : public ActionRelay
{
  friend ActionRelay::Ptr createActionRelay(const ActionRelayParams &params);

private:
  explicit ActionRelayImpl(const ActionRelayParams &params)
  {
    message_relay::TopicRelayParams status_params;
    status_params.queue_size = params.queue_size;
    status_params.callback_queue = params.callback_queue;
    status_params.origin = params.origin;
    status_params.target = params.target;
    status_params.frame_id_processor = params.frame_id_processor;
    status_params.time_processor = params.time_processor;
    status_params.type = "actionlib_msgs/GoalStatusArray";
    status_params.topic = params.action + "/status";
    relays_.push_back(message_relay::createTopicRelay(status_params));

    message_relay::TopicRelayParams feedback_params;
    feedback_params.throttle_frequency = params.feedback_throttle_frequency;
    feedback_params.queue_size = params.queue_size;
    feedback_params.callback_queue = params.callback_queue;
    feedback_params.origin = params.origin;
    feedback_params.target = params.target;
    feedback_params.frame_id_processor = params.frame_id_processor;
    status_params.time_processor = params.time_processor;
    feedback_params.type = params.type + "Feedback";
    feedback_params.topic = params.action + "/feedback";
    relays_.push_back(message_relay::createTopicRelay(feedback_params));

    message_relay::TopicRelayParams result_params;
    result_params.queue_size = params.queue_size;
    result_params.callback_queue = params.callback_queue;
    result_params.origin = params.origin;
    result_params.target = params.target;
    result_params.frame_id_processor = params.frame_id_processor;
    status_params.time_processor = params.time_processor;
    result_params.type = params.type + "Result";
    result_params.topic = params.action + "/result";
    relays_.push_back(message_relay::createTopicRelay(result_params));

    message_relay::TopicRelayParams goal_params;
    goal_params.queue_size = params.queue_size;
    goal_params.callback_queue = params.callback_queue;
    goal_params.origin = params.target;
    goal_params.target = params.origin;
    goal_params.frame_id_processor = FrameIdProcessor::inverse(params.frame_id_processor);
    status_params.time_processor = TimeProcessor::inverse(params.time_processor);
    goal_params.type = params.type + "Goal";
    goal_params.topic = params.action + "/goal";
    relays_.push_back(message_relay::createTopicRelay(goal_params));

    message_relay::TopicRelayParams cancel_params;
    cancel_params.queue_size = params.queue_size;
    cancel_params.callback_queue = params.callback_queue;
    cancel_params.origin = params.target;
    cancel_params.target = params.origin;
    goal_params.frame_id_processor = FrameIdProcessor::inverse(params.frame_id_processor);
    status_params.time_processor = TimeProcessor::inverse(params.time_processor);
    cancel_params.type = "actionlib_msgs/GoalID";
    cancel_params.topic = params.action + "/cancel";
    relays_.push_back(message_relay::createTopicRelay(cancel_params));
  }

  std::vector<message_relay::TopicRelay::Ptr> relays_;
};

}  // namespace message_relay

#endif  // MESSAGE_RELAY_RELAY_ACTION_RELAY_H