CommonDataSubscriberDefines.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
29 #define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
30 
31 #include <rtabmap/utilite/UConversion.h>
32 
33 #define DATA_SYNC2(PREFIX, SYNC_NAME, MSG0, MSG1) \
34  typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1> PREFIX##SYNC_NAME##SyncPolicy; \
35  message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
36 
37 #define DATA_SYNCS2(PREFIX, MSG0, MSG1) \
38  DATA_SYNC2(PREFIX, Approximate, MSG0, MSG1) \
39  DATA_SYNC2(PREFIX, Exact, MSG0, MSG1) \
40  void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&);
41 
42 #define DATA_SYNC3(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2) \
43  typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2> PREFIX##SYNC_NAME##SyncPolicy; \
44  message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
45 
46 #define DATA_SYNCS3(PREFIX, MSG0, MSG1, MSG2) \
47  DATA_SYNC3(PREFIX, Approximate, MSG0, MSG1, MSG2) \
48  DATA_SYNC3(PREFIX, Exact, MSG0, MSG1, MSG2) \
49  void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&); \
50 
51 #define DATA_SYNC4(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3) \
52  typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3> PREFIX##SYNC_NAME##SyncPolicy; \
53  message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
54 
55 #define DATA_SYNCS4(PREFIX, MSG0, MSG1, MSG2, MSG3) \
56  DATA_SYNC4(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3) \
57  DATA_SYNC4(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3) \
58  void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&); \
59 
60 #define DATA_SYNC5(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4) \
61  typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4> PREFIX##SYNC_NAME##SyncPolicy; \
62  message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
63 
64 #define DATA_SYNCS5(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4) \
65  DATA_SYNC5(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4) \
66  DATA_SYNC5(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4) \
67  void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&); \
68 
69 #define DATA_SYNC6(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
70  typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5> PREFIX##SYNC_NAME##SyncPolicy; \
71  message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
72 
73 #define DATA_SYNCS6(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
74  DATA_SYNC6(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
75  DATA_SYNC6(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
76  void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&); \
77 
78 #define DATA_SYNC7(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
79  typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6> PREFIX##SYNC_NAME##SyncPolicy; \
80  message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
81 
82 #define DATA_SYNCS7(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
83  DATA_SYNC7(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
84  DATA_SYNC7(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
85  void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&); \
86 
87 #define DATA_SYNC8(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
88  typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7> PREFIX##SYNC_NAME##SyncPolicy; \
89  message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
90 
91 #define DATA_SYNCS8(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
92  DATA_SYNC8(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
93  DATA_SYNC8(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
94  void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&, const MSG7##ConstPtr&); \
95 
96 
97 // Constructor
98 #define SYNC_INIT(PREFIX) \
99  PREFIX##ApproximateSync_(0), \
100  PREFIX##ExactSync_(0)
101 
102 // Destructor
103 #define SYNC_DEL(PREFIX) \
104  if(PREFIX##ApproximateSync_) delete PREFIX##ApproximateSync_; \
105  if(PREFIX##ExactSync_) delete PREFIX##ExactSync_;
106 
107 // Sync declarations
108 #define SYNC_DECL2(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1) \
109  if(APPROX) \
110  { \
111  PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
112  PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
113  PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
114  } \
115  else \
116  { \
117  PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
118  PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
119  PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
120  } \
121  subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s", \
122  name_.c_str(), \
123  APPROX?"approx":"exact", \
124  SUB0.getTopic().c_str(), \
125  SUB1.getTopic().c_str());
126 
127 #define SYNC_DECL3(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \
128  if(APPROX) \
129  { \
130  PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
131  PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
132  PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
133  } \
134  else \
135  { \
136  PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
137  PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
138  PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
139  } \
140  subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s", \
141  name_.c_str(), \
142  APPROX?"approx":"exact", \
143  SUB0.getTopic().c_str(), \
144  SUB1.getTopic().c_str(), \
145  SUB2.getTopic().c_str());
146 
147 #define SYNC_DECL4(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \
148  if(APPROX) \
149  { \
150  PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
151  PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
152  PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
153  } \
154  else \
155  { \
156  PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
157  PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
158  PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
159  } \
160  subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", \
161  name_.c_str(), \
162  APPROX?"approx":"exact", \
163  SUB0.getTopic().c_str(), \
164  SUB1.getTopic().c_str(), \
165  SUB2.getTopic().c_str(), \
166  SUB3.getTopic().c_str());
167 
168 #define SYNC_DECL5(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \
169  if(APPROX) \
170  { \
171  PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
172  PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
173  PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
174  } \
175  else \
176  { \
177  PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
178  PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
179  PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
180  } \
181  subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
182  name_.c_str(), \
183  APPROX?"approx":"exact", \
184  SUB0.getTopic().c_str(), \
185  SUB1.getTopic().c_str(), \
186  SUB2.getTopic().c_str(), \
187  SUB3.getTopic().c_str(), \
188  SUB4.getTopic().c_str());
189 
190 #define SYNC_DECL6(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \
191  if(APPROX) \
192  { \
193  PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
194  PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
195  PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
196  } \
197  else \
198  { \
199  PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
200  PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
201  PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
202  } \
203  subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
204  name_.c_str(), \
205  APPROX?"approx":"exact", \
206  SUB0.getTopic().c_str(), \
207  SUB1.getTopic().c_str(), \
208  SUB2.getTopic().c_str(), \
209  SUB3.getTopic().c_str(), \
210  SUB4.getTopic().c_str(), \
211  SUB5.getTopic().c_str());
212 
213 #define SYNC_DECL7(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6) \
214  if(APPROX) \
215  { \
216  PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
217  PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
218  PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
219  } \
220  else \
221  { \
222  PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
223  PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
224  PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
225  } \
226  subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
227  name_.c_str(), \
228  APPROX?"approx":"exact", \
229  SUB0.getTopic().c_str(), \
230  SUB1.getTopic().c_str(), \
231  SUB2.getTopic().c_str(), \
232  SUB3.getTopic().c_str(), \
233  SUB4.getTopic().c_str(), \
234  SUB5.getTopic().c_str(), \
235  SUB6.getTopic().c_str());
236 
237 #define SYNC_DECL8(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \
238  if(APPROX) \
239  { \
240  PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
241  PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
242  PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
243  } \
244  else \
245  { \
246  PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
247  PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
248  PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
249  } \
250  subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
251  name_.c_str(), \
252  APPROX?"approx":"exact", \
253  SUB0.getTopic().c_str(), \
254  SUB1.getTopic().c_str(), \
255  SUB2.getTopic().c_str(), \
256  SUB3.getTopic().c_str(), \
257  SUB4.getTopic().c_str(), \
258  SUB5.getTopic().c_str(), \
259  SUB6.getTopic().c_str(), \
260  SUB7.getTopic().c_str());
261 
262 
263 #endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */
UConversion.h

rtabmap_sync
Author(s): Mathieu Labbe
autogenerated on Mon Apr 28 2025 02:39:12