transformer.h

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/*
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#ifndef RVE_TRANSFORMER_TRANSFORMER_H
#define RVE_TRANSFORMER_TRANSFORMER_H

#include <rve_common/forwards.h>
#include <rve_properties/forwards.h>
#include <rve_render_client/forwards.h>
#include <message_filters/chain.h>
#include <message_filters/subscriber.h>
#include <ros/parameter_adapter.h>
#include <ros/message_traits.h>
#include <ros/advertise_options.h>
#include <ros/publisher.h>

#include <vector>
#include <set>

namespace ros
{
class CallbackQueue;
}

namespace rve_transformer
{

class TransformerManager;

class Publisher
{
public:
  template<typename T>
  void publish(const T& t)
  {
    if (pub_)
    {
      pub_.publish(t);
    }
  }

private:
  void setPublisher(const ros::Publisher& pub)
  {
    pub_ = pub;
  }

  ros::Publisher pub_;

  friend class Transformer;
};
typedef boost::shared_ptr<Publisher> PublisherPtr;

class Transformer
{
public:
  Transformer();
  virtual ~Transformer();

  const rve_properties::PropertyNodePtr& getPropertyNode() { return property_node_; }
  ros::CallbackQueue* getCallbackQueue() { return callback_queue_; }
  TransformerManager* getManager() { return manager_; }

  // TODO: attachToScene should really be able to take care of automatically doing attachToContext and
  // not necessitate a call to attachToContext first
  void attachToScene(rve_render_client::Scene* scene);
  void detachFromScene(rve_render_client::Scene* scene);

  void attachToContext(rve_render_client::ClientContext* context);
  void detachFromContext(rve_render_client::ClientContext* context);

  void update();

  void setSubscription(const std::string& name, const std::string& topic);

  bool addToRegistry( rve_common::RegistryPtr registry, rve_common::RegistrantWPtr registrant );
  bool removeFromRegistry( rve_common::RegistryPtr registry, rve_common::RegistrantWPtr registrant );

protected:
  virtual void onInit() = 0;
  virtual void onUpdate() = 0;

  template<typename P>
  void addSubscriber(const std::string& name, uint32_t queue_size, const boost::function<void(P)>& callback)
  {
    typedef ros::ParameterAdapter<P> PA;
    boost::shared_ptr<message_filters::Subscriber<typename PA::Message> > sub(new message_filters::Subscriber<typename PA::Message>);
    sub->registerCallback(callback);
    addSubscriber(name, queue_size, sub);
  }

  template<typename P>
  void addSubscriber(const std::string& name, uint32_t queue_size, void(*callback)(P))
  {
    typedef ros::ParameterAdapter<P> PA;
    boost::shared_ptr<message_filters::Subscriber<typename PA::Message> > sub(new message_filters::Subscriber<typename PA::Message>);
    sub->registerCallback(callback);
    addSubscriber(name, queue_size, sub);
  }

  template<typename T, typename P>
  void addSubscriber(const std::string& name, uint32_t queue_size, void(T::*callback)(P), T* t)
  {
    typedef ros::ParameterAdapter<P> PA;
    boost::shared_ptr<message_filters::Subscriber<typename PA::Message> > sub(new message_filters::Subscriber<typename PA::Message>);
    sub->registerCallback(callback, t);
    addSubscriber(name, queue_size, sub);
  }

  template<typename M>
  PublisherPtr addPublisher(const std::string& name, uint32_t queue_size)
  {
    PubPtr pub(new Pub);
    pub->ops.template init<M>("", queue_size);
    pub->name = name;
    pub->pub.reset(new Publisher);
    pubs_.push_back(pub);

    return pub->pub;
  }

  template<typename T>
  T addObject(const T& t)
  {
    addObjectImpl(t);
    return t;
  }
  void removeObject(const rve_render_client::SceneObjectPtr& obj);
  void removeObject(const rve_render_client::ContextObjectPtr& obj);

private:
  Transformer(const Transformer&);
  void operator=(const Transformer&);

  void init(TransformerManager* manager, const rve_properties::PropertyNodePtr& property_node);

  void addObjectImpl(const rve_render_client::SceneObjectPtr& obj);
  void addObjectImpl(const rve_render_client::ContextObjectPtr& obj);

  template<typename M>
  void addSubscriber(const std::string& name, uint32_t queue_size, const boost::shared_ptr<message_filters::Subscriber<M> >& sub)
  {
    SubPtr my_sub(new Sub);
    message_filters::Chain<M>* chain = new message_filters::Chain<M>;
    chain->addFilter(sub);
    my_sub->name = name;
    my_sub->chain.reset(chain);
    my_sub->sub = sub;
    my_sub->queue_size = queue_size;
    my_sub->datatype = ros::message_traits::datatype<M>();
    subs_.push_back(my_sub);
  }

  rve_properties::PropertyNodePtr property_node_;
  ros::CallbackQueue* callback_queue_;
  TransformerManager* manager_;

  struct Sub
  {
    message_filters::ChainBasePtr chain;
    message_filters::SubscriberBasePtr sub;
    std::string datatype;
    std::string name;
    uint32_t queue_size;
  };
  typedef boost::shared_ptr<Sub> SubPtr;
  typedef std::vector<SubPtr> V_Sub;
  V_Sub subs_;

  struct Pub
  {
    ros::AdvertiseOptions ops;
    std::string name;
    PublisherPtr pub;
  };
  typedef boost::shared_ptr<Pub> PubPtr;
  typedef std::vector<PubPtr> V_Pub;
  V_Pub pubs_;

  rve_render_client::SceneObjectCollectionPtr scene_objects_;
  rve_render_client::ContextObjectCollectionPtr context_objects_;

  friend class TransformerManager;
};

} // namespace rve_transformer

#endif // RVE_TRANSFORMER_TRANSFORMER_H