#include <RosLoService.h>

Inheritance diagram for RosLoService:

Classes
class	PubParentFilterStruct
Public Member Functions
bool	CallbackRegisterService (vision_srvs::register_jlo_callback::Request &request, vision_srvs::register_jlo_callback::Response &answer)
bool	PublishUpdate (unsigned long id, PubParentFilterStruct &obj_to_pub)
	Helper fundction handling the final publishing of updated registered jlos.
	RosLoService (const char *nodename, ros::NodeHandle &n, std::string configFile)
bool	ServiceCallback (vision_srvs::srvjlo::Request &request, vision_srvs::srvjlo::Response &answer)
void	UpdateEventHandler ()
	this function will wait for update events and publish then a partial lo to specified topics
	~RosLoService ()
Static Public Member Functions
static void	UpdateEventNotifier (unsigned long object_id)
	raises and update event
Private Member Functions
void	tf_subscription_callback (const tf::tfMessage::ConstPtr &msg_in_)
Private Attributes
ros::ServiceServer	located_object_service
std::map< unsigned long, PubParentFilterStruct >	m_jlotopicMap
std::map< unsigned long, unsigned long >	m_parentToRegisteredJlo
std::map< std::string, ros::Publisher >	m_topicPublisherMap
std::set< std::string >	tf_blacklist
ros::Subscriber	tf_subscription
Static Private Attributes
static std::queue< unsigned long >	m_queueOfLosToPublish

Detailed Description

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. class RosLoService Implementation for ros calling the lo-ServiceInterface functionality

Definition at line 42 of file RosLoService.h.

Constructor & Destructor Documentation

RosLoService::RosLoService	(	const char *	nodename,
		ros::NodeHandle &	n,
		std::string	configFile
	)

Start the service listening to listeningTopic, g_stopAll can stop the loop after next read

Advertise the service that answers to normal lo-quieries

Subscribe to a tf topic and listening to it.

Definition at line 48 of file RosLoService.cpp.

RosLoService::~RosLoService ( )

Closing of the ports

Definition at line 94 of file RosLoService.cpp.

Member Function Documentation

bool RosLoService::CallbackRegisterService	(	vision_srvs::register_jlo_callback::Request &	request,
		vision_srvs::register_jlo_callback::Response &	answer
	)

Register a callback that wil publish any change on a certain lo id

Parameters:

request	incoming request: topicname and id
answer	outgoing answer: error

Definition at line 548 of file RosLoService.cpp.

bool RosLoService::PublishUpdate	(	unsigned long	id,
		PubParentFilterStruct &	obj_to_pub
	)

Helper fundction handling the final publishing of updated registered jlos.

PublishUpdate

Parameters:

id	jlo to be published
obj_to_pub	object containing parent id and list of publishers to which the update will be send
return	false if the referenced jlo was already deleted

apply filter

Definition at line 425 of file RosLoService.cpp.

bool RosLoService::ServiceCallback	(	vision_srvs::srvjlo::Request &	request,
		vision_srvs::srvjlo::Response &	answer
	)

Parses a service request and reacts on the input, by generating the answer

Parameters:

request	incoming request: command := {idquery, framequery, update, del, cout}, [id\|parentid\|matrix, cov,type\|name]+
answer	outgoing answer: error, [id, parentid, matrix, cov, type, name]

Definition at line 163 of file RosLoService.cpp.

void RosLoService::tf_subscription_callback ( const tf::tfMessage::ConstPtr & msg_in_ ) [private]

subscribing to one tf topic to update lowlevel entries

Definition at line 582 of file RosLoService.cpp.

void RosLoService::UpdateEventHandler ( )

this function will wait for update events and publish then a partial lo to specified topics

UpdateEventHandler

register all parents and map them back to updates of children

Definition at line 500 of file RosLoService.cpp.

void RosLoService::UpdateEventNotifier ( unsigned long object_id ) [static]

raises and update event

UpdateEventNotifier