Fawkes API  Fawkes Development Version
joint_thread.cpp
1 
2 /***************************************************************************
3  * joint_thread.cpp - Thread to publish JointStates to ROS
4  *
5  * Created: Wed Sep 25 18:27:26 2013
6  * Copyright 2013 Till Hofmann
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #include "joint_thread.h"
23 
24 #include <ros/this_node.h>
25 #include <sensor_msgs/JointState.h>
26 
27 using namespace fawkes;
28 
29 /** @class RosJointThread "joint_thread.h"
30  * Thread to publish JointStates to ROS.
31  * This thread reads all Joint Blackboard Interfaces and publishes every
32  * joint to ROS.
33  * @author Till Hofmann
34  */
35 
36 /** Constructor. */
38  : Thread("RosJointThread", Thread::OPMODE_WAITFORWAKEUP),
39  BlackBoardInterfaceListener("RosJointThread")
40 {
41 }
42 
43 /** Destructor. */
45 {
46 }
47 
48 void
50 {
51  ros_pub_ = rosnode->advertise<sensor_msgs::JointState>("/joints", 100);
52  // check for open JointInterfaces
54  for (std::list<JointInterface *>::iterator it = ifs_.begin(); it != ifs_.end(); it++) {
56  }
57  // watch for creation of new JointInterfaces
58  bbio_add_observed_create("JointInterface");
59 
60  // register to blackboard
63 }
64 
65 void
67 {
70  for (std::list<JointInterface *>::iterator it = ifs_.begin(); it != ifs_.end(); it++) {
71  blackboard->close(*it);
72  }
73  ros_pub_.shutdown();
74 }
75 
76 void
77 RosJointThread::bb_interface_created(const char *type, const char *id) throw()
78 {
79  if (strncmp(type, "JointInterface", __INTERFACE_TYPE_SIZE) != 0) return;
80  JointInterface *interface;
81  try {
82  interface = blackboard->open_for_reading<JointInterface>(id);
83  } catch (Exception &e) {
84  logger->log_warn(name(), "Failed to open %s:%s: %s", type, id, e.what());
85  return;
86  }
87  try {
88  bbil_add_data_interface(interface);
90  ifs_.push_back(interface);
91  } catch (Exception &e) {
92  blackboard->close(interface);
93  logger->log_warn(name(), "Failed to register for %s:%s: %s", type, id, e.what());
94  return;
95  }
96 }
97 
98 void
100  unsigned int instance_serial)
101  throw()
102 {
103  conditional_close(interface);
104 }
105 
106 
107 void
109  unsigned int instance_serial)
110  throw()
111 {
112  conditional_close(interface);
113 }
114 
115 void
116 RosJointThread::conditional_close(Interface *interface) throw()
117 {
118  // Verify it's a JointInterface
119  JointInterface *jiface = dynamic_cast<JointInterface *>(interface);
120  if (! jiface) return;
121 
122  std::list<JointInterface *>::iterator it;
123  for (it = ifs_.begin(); it != ifs_.end(); ++it) {
124  if (*interface == **it) {
125  if (! interface->has_writer() && (interface->num_readers() == 1)) {
126  // It's only us
129  blackboard->close(*it);
130  ifs_.erase(it);
131  break;
132  }
133  }
134  }
135 }
136 
137 void
139 {
140  JointInterface *jiface = dynamic_cast<JointInterface *>(interface);
141  if (!jiface) return;
142  jiface->read();
143  sensor_msgs::JointState joint_state;
144 // std::string names[] = { "testJoint" };
145  joint_state.name.push_back(jiface->id());
146  joint_state.position.push_back(jiface->position());
147  joint_state.velocity.push_back(jiface->velocity());
148  ros_pub_.publish(joint_state);
149 }
virtual void register_observer(BlackBoardInterfaceObserver *observer)
Register BB interface observer.
Definition: blackboard.cpp:230
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
virtual void init()
Initialize the thread.
virtual void bb_interface_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
float position() const
Get position value.
Fawkes library namespace.
const char * id() const
Get identifier of interface.
Definition: interface.cpp:661
virtual const char * what() const
Get primary string.
Definition: exception.cpp:661
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
Definition: blackboard.cpp:218
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void update_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Update BB event listener.
Definition: blackboard.cpp:203
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:79
Logger * logger
This is the Logger member used to access the logger.
Definition: logging.h:44
virtual void bb_interface_reader_removed(fawkes::Interface *interface, unsigned int instance_serial)
A reading instance has been closed for a watched interface.
virtual void register_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Register BB event listener.
Definition: blackboard.cpp:190
virtual ~RosJointThread()
Destructor.
void bbio_add_observed_create(const char *type_pattern, const char *id_pattern="*")
Add interface creation type to watch list.
float velocity() const
Get velocity value.
Base class for exceptions in Fawkes.
Definition: exception.h:36
void read()
Read from BlackBoard into local copy.
Definition: interface.cpp:477
virtual void unregister_observer(BlackBoardInterfaceObserver *observer)
Unregister BB interface observer.
Definition: blackboard.cpp:244
bool has_writer() const
Check if there is a writer for the interface.
Definition: interface.cpp:834
const char * name() const
Get name of thread.
Definition: thread.h:95
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.
RosJointThread()
Constructor.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
virtual std::list< Interface * > open_multiple_for_reading(const char *type_pattern, const char *id_pattern="*", const char *owner=NULL)=0
Open multiple interfaces for reading.
void bbil_remove_data_interface(Interface *interface)
Remove an interface to the data modification watch list.
LockPtr< ros::NodeHandle > rosnode
Central ROS node handle.
Definition: ros.h:48
JointInterface Fawkes BlackBoard Interface.
unsigned int num_readers() const
Get the number of readers.
Definition: interface.cpp:863
BlackBoard interface listener.
BlackBoard * blackboard
This is the BlackBoard instance you can use to interact with the BlackBoard.
Definition: blackboard.h:44
virtual void finalize()
Finalize the thread.
void bbil_add_data_interface(Interface *interface)
Add an interface to the data modification watch list.
virtual void close(Interface *interface)=0
Close interface.