transformer.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
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#include <rve_common/registry.h>
#include <rve_properties/property_node.h>
#include <rve_render_client/client_context.h>
#include <rve_render_client/context_object_collection.h>
#include <rve_render_client/scene_object_collection.h>
#include <rve_render_client/scene.h>

#include <ros/callback_queue.h>

#include <rve_transformer/transformer.h>

namespace rve_transformer
{

Transformer::Transformer()
: callback_queue_(0)
, manager_(0)
, scene_objects_(rve_render_client::createSceneObjectCollection())
, context_objects_(rve_render_client::createContextObjectCollection())
{
}

Transformer::~Transformer()
{
  property_node_->removeChangeCallback(this);
  property_node_.reset();
  subs_.clear();
  pubs_.clear();
  delete callback_queue_;
}

void Transformer::init(TransformerManager* manager, const rve_properties::PropertyNodePtr& property_node)
{
  manager_ = manager;
  property_node_ = property_node;

  if (!property_node_)
  {
    property_node_.reset(new rve_properties::PropertyNode);
  }

  callback_queue_ = new ros::CallbackQueue();

  onInit();
}

void Transformer::update()
{
  callback_queue_->callAvailable();
  onUpdate();
}

void Transformer::setSubscription(const std::string& name, const std::string& topic)
{
  V_Sub::iterator it = subs_.begin();
  V_Sub::iterator end = subs_.end();
  for (; it != end; ++it)
  {
    const SubPtr& sub = *it;

    if (sub->name == name)
    {
      if (topic.empty())
      {
        sub->sub->unsubscribe();
      }
      else
      {
        ros::NodeHandle nh;
        sub->sub->subscribe(nh, topic, sub->queue_size, ros::TransportHints(), callback_queue_);
      }
      return;
    }
  }

  throw std::runtime_error("No subscription named " + name);
}

void Transformer::addObjectImpl(const rve_render_client::SceneObjectPtr& obj)
{
  scene_objects_->addObject(obj);
}

void Transformer::removeObject(const rve_render_client::SceneObjectPtr& obj)
{
  scene_objects_->removeObject(obj);
}

void Transformer::addObjectImpl(const rve_render_client::ContextObjectPtr& obj)
{
  context_objects_->addObject(obj);
}

void Transformer::removeObject(const rve_render_client::ContextObjectPtr& obj)
{
  context_objects_->removeObject(obj);
}

void Transformer::attachToScene(rve_render_client::Scene* scene)
{
  scene->addObject(scene_objects_.get());
}

void Transformer::detachFromScene(rve_render_client::Scene* scene)
{
  scene->removeObject(scene_objects_.get());
}

void Transformer::attachToContext(rve_render_client::ClientContext* context)
{
  context->addObject(context_objects_.get());
}

void Transformer::detachFromContext(rve_render_client::ClientContext* context)
{
  context->removeObject(context_objects_.get());
}

bool Transformer::addToRegistry( rve_common::RegistryPtr registry, rve_common::RegistrantWPtr registrant )
{
  return scene_objects_->addToRegistry( registry, registrant );
}

bool Transformer::removeFromRegistry( rve_common::RegistryPtr registry, rve_common::RegistrantWPtr registrant )
{
  return scene_objects_->removeFromRegistry( registry, registrant );
}

} // namespace rve_transformer