buffer_core.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_BUFFER_CORE_H
#define TF2_BUFFER_CORE_H
 
#include "transform_storage.h"
 
#include <boost/signals2.hpp>
 
#include <string>
 
#include "ros/duration.h"
#include "ros/time.h"
//#include "geometry_msgs/TwistStamped.h"
#include "geometry_msgs/TransformStamped.h"
 
//#include "tf/tf.h"
 
#include <boost/unordered_map.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
 
namespace tf2
{
 
typedef std::pair<ros::Time, CompactFrameID> P_TimeAndFrameID;
typedef uint32_t TransformableCallbackHandle;
typedef uint64_t TransformableRequestHandle;
 
class TimeCacheInterface;
typedef boost::shared_ptr<TimeCacheInterface> TimeCacheInterfacePtr;
 
enum TransformableResult
{
  TransformAvailable,
  TransformFailure,
};
 
class BufferCore
{
public:
  /************* Constants ***********************/
  static const int DEFAULT_CACHE_TIME = 10;  
  static const uint32_t MAX_GRAPH_DEPTH = 1000UL;  
 
  BufferCore(ros::Duration cache_time_ = ros::Duration(DEFAULT_CACHE_TIME));
  virtual ~BufferCore(void);
 
  void clear();
 
  bool setTransform(const geometry_msgs::TransformStamped& transform, const std::string & authority, bool is_static = false);
 
  /*********** Accessors *************/
 
  geometry_msgs::TransformStamped 
    lookupTransform(const std::string& target_frame, const std::string& source_frame,
                    const ros::Time& time) const;
 
  geometry_msgs::TransformStamped
    lookupTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame) const;
  
  /* \brief Lookup the twist of the tracking_frame with respect to the observation frame in the reference_frame using the reference point
   * \param tracking_frame The frame to track
   * \param observation_frame The frame from which to measure the twist
   * \param reference_frame The reference frame in which to express the twist
   * \param reference_point The reference point with which to express the twist
   * \param reference_point_frame The frame_id in which the reference point is expressed
   * \param time The time at which to get the velocity
   * \param duration The period over which to average
   * \return twist The twist output
   * 
   * This will compute the average velocity on the interval 
   * (time - duration/2, time+duration/2). If that is too close to the most
   * recent reading, in which case it will shift the interval up to
   * duration/2 to prevent extrapolation.
   *
   * Possible exceptions tf2::LookupException, tf2::ConnectivityException,
   * tf2::ExtrapolationException, tf2::InvalidArgumentException
   * 
   * New in geometry 1.1
   */
  /*
  geometry_msgs::Twist
    lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, const std::string& reference_frame,
                const tf::Point & reference_point, const std::string& reference_point_frame, 
                const ros::Time& time, const ros::Duration& averaging_interval) const;
  */
  /* \brief lookup the twist of the tracking frame with respect to the observational frame
   * 
   * This is a simplified version of
   * lookupTwist with it assumed that the reference point is the
   * origin of the tracking frame, and the reference frame is the
   * observation frame.  
   *
   * Possible exceptions tf2::LookupException, tf2::ConnectivityException,
   * tf2::ExtrapolationException, tf2::InvalidArgumentException
   * 
   * New in geometry 1.1
   */
  /*
  geometry_msgs::Twist
    lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, 
                const ros::Time& time, const ros::Duration& averaging_interval) const;
  */
  bool canTransform(const std::string& target_frame, const std::string& source_frame,
                    const ros::Time& time, std::string* error_msg = NULL) const;
  
  bool canTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame, std::string* error_msg = NULL) const;
 
  std::string allFramesAsYAML(double current_time) const;
 
  std::string allFramesAsYAML() const;
 
  std::string allFramesAsString() const;
  
  typedef boost::function<void(TransformableRequestHandle request_handle, const std::string& target_frame, const std::string& source_frame,
                               ros::Time time, TransformableResult result)> TransformableCallback;
 
  TransformableCallbackHandle addTransformableCallback(const TransformableCallback& cb);
  void removeTransformableCallback(TransformableCallbackHandle handle);
  TransformableRequestHandle addTransformableRequest(TransformableCallbackHandle handle, const std::string& target_frame, const std::string& source_frame, ros::Time time);
  void cancelTransformableRequest(TransformableRequestHandle handle);
 
 
 
 
  // Tell the buffer that there are multiple threads serviciing it. 
  // This is useful for derived classes to know if they can block or not. 
  void setUsingDedicatedThread(bool value) { using_dedicated_thread_ = value;};
  // Get the state of using_dedicated_thread_
  bool isUsingDedicatedThread() const { return using_dedicated_thread_;};
  
 
 
 
  /* Backwards compatability section for tf::Transformer you should not use these
   */
 
  boost::signals2::connection _addTransformsChangedListener(boost::function<void(void)> callback);
  void _removeTransformsChangedListener(boost::signals2::connection c);
 
 
  bool _frameExists(const std::string& frame_id_str) const;
 
  bool _getParent(const std::string& frame_id, ros::Time time, std::string& parent) const;
 
  void _getFrameStrings(std::vector<std::string>& ids) const;
 
 
  CompactFrameID _lookupFrameNumber(const std::string& frameid_str) const { 
    return lookupFrameNumber(frameid_str); 
  }
  CompactFrameID _lookupOrInsertFrameNumber(const std::string& frameid_str) {
    return lookupOrInsertFrameNumber(frameid_str); 
  }
 
  int _getLatestCommonTime(CompactFrameID target_frame, CompactFrameID source_frame, ros::Time& time, std::string* error_string) const {
    boost::mutex::scoped_lock lock(frame_mutex_);
    return getLatestCommonTime(target_frame, source_frame, time, error_string);
  }
 
  CompactFrameID _validateFrameId(const char* function_name_arg, const std::string& frame_id) const {
    return validateFrameId(function_name_arg, frame_id);
  }
 
  ros::Duration getCacheLength() { return cache_time_;}
 
  std::string _allFramesAsDot(double current_time) const;
  std::string _allFramesAsDot() const;
 
  void _chainAsVector(const std::string & target_frame, ros::Time target_time, const std::string & source_frame, ros::Time source_time, const std::string & fixed_frame, std::vector<std::string>& output) const;
 
private:
 
  std::string allFramesAsStringNoLock() const;  
 
 
  /******************** Internal Storage ****************/
  
  typedef std::vector<TimeCacheInterfacePtr> V_TimeCacheInterface;
  V_TimeCacheInterface frames_;
  
  mutable boost::mutex frame_mutex_;
 
  typedef boost::unordered_map<std::string, CompactFrameID> M_StringToCompactFrameID;
  M_StringToCompactFrameID frameIDs_;
  std::vector<std::string> frameIDs_reverse;
  std::map<CompactFrameID, std::string> frame_authority_;
 
 
  ros::Duration cache_time_;
 
  typedef boost::unordered_map<TransformableCallbackHandle, TransformableCallback> M_TransformableCallback;
  M_TransformableCallback transformable_callbacks_;
  uint32_t transformable_callbacks_counter_;
  boost::mutex transformable_callbacks_mutex_;
 
  struct TransformableRequest
  {
    ros::Time time;
    TransformableRequestHandle request_handle;
    TransformableCallbackHandle cb_handle;
    CompactFrameID target_id;
    CompactFrameID source_id;
    std::string target_string;
    std::string source_string;
  };
  typedef std::vector<TransformableRequest> V_TransformableRequest;
  V_TransformableRequest transformable_requests_;
  boost::mutex transformable_requests_mutex_;
  uint64_t transformable_requests_counter_;
 
  struct RemoveRequestByCallback;
  struct RemoveRequestByID;
 
  // Backwards compatability for tf message_filter
  typedef boost::signals2::signal<void(void)> TransformsChangedSignal;
  TransformsChangedSignal _transforms_changed_;
 
 
  /************************* Internal Functions ****************************/
 
  TimeCacheInterfacePtr getFrame(CompactFrameID c_frame_id) const;
 
  TimeCacheInterfacePtr allocateFrame(CompactFrameID cfid, bool is_static);
 
 
  bool warnFrameId(const char* function_name_arg, const std::string& frame_id) const;
  CompactFrameID validateFrameId(const char* function_name_arg, const std::string& frame_id) const;
 
  CompactFrameID lookupFrameNumber(const std::string& frameid_str) const;
 
  CompactFrameID lookupOrInsertFrameNumber(const std::string& frameid_str);
 
  const std::string& lookupFrameString(CompactFrameID frame_id_num) const;
 
  void createConnectivityErrorString(CompactFrameID source_frame, CompactFrameID target_frame, std::string* out) const;
 
  int getLatestCommonTime(CompactFrameID target_frame, CompactFrameID source_frame, ros::Time& time, std::string* error_string) const;
 
  template<typename F>
  int walkToTopParent(F& f, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string* error_string) const;
 
  template<typename F>
  int walkToTopParent(F& f, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string* error_string, std::vector<CompactFrameID> *frame_chain) const;
 
  void testTransformableRequests();
  bool canTransformInternal(CompactFrameID target_id, CompactFrameID source_id,
                    const ros::Time& time, std::string* error_msg) const;
  bool canTransformNoLock(CompactFrameID target_id, CompactFrameID source_id,
                      const ros::Time& time, std::string* error_msg) const;
 
 
  //Whether it is safe to use canTransform with a timeout. (If another thread is not provided it will always timeout.)
  bool using_dedicated_thread_;
 
public:
  friend class TestBufferCore; // For unit testing
 
};
 
class TestBufferCore
{
public:
  int _walkToTopParent(BufferCore& buffer, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string* error_string, std::vector<CompactFrameID> *frame_chain) const;
  const std::string& _lookupFrameString(BufferCore& buffer, CompactFrameID frame_id_num) const
  {
    return buffer.lookupFrameString(frame_id_num);
  }
};
}
 
#endif //TF2_CORE_H