Fawkes API
Fawkes Development Version
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Thread to exchange transforms between Fawkes and ROS. More...
#include "tf_thread.h"
Public Member Functions | |
RosTfThread () | |
Constructor. | |
virtual | ~RosTfThread () |
Destructor. | |
virtual void | init () |
Initialize the thread. | |
virtual void | loop () |
Code to execute in the thread. | |
virtual void | finalize () |
Finalize the thread. | |
virtual void | bb_interface_created (const char *type, const char *id) throw () |
BlackBoard interface created notification. | |
virtual void | bb_interface_data_changed (fawkes::Interface *interface) throw () |
BlackBoard data changed notification. | |
virtual void | bb_interface_writer_removed (fawkes::Interface *interface, unsigned int instance_serial) throw () |
A writing instance has been closed for a watched interface. | |
virtual void | bb_interface_reader_removed (fawkes::Interface *interface, unsigned int instance_serial) throw () |
A reading instance has been closed for a watched interface. | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. |
Thread to exchange transforms between Fawkes and ROS.
This threads connects to Fawkes and ROS to read and write transforms. Transforms received on one end are republished to the other side. To Fawkes new frames are published during the sensor hook.
RosTfThread::RosTfThread | ( | ) |
Constructor.
Definition at line 38 of file tf_thread.cpp.
RosTfThread::~RosTfThread | ( | ) | [virtual] |
Destructor.
Definition at line 49 of file tf_thread.cpp.
void RosTfThread::bb_interface_created | ( | const char * | type, |
const char * | id | ||
) | throw () [virtual] |
BlackBoard interface created notification.
This is called whenever an interface is created for a type that you registered for.
type | type of the interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call |
id | ID of the newly created interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call |
Reimplemented from fawkes::BlackBoardInterfaceObserver.
Definition at line 178 of file tf_thread.cpp.
References fawkes::BlackBoard::open_for_reading(), fawkes::MultiLogger::log_warn(), fawkes::Exception::what(), fawkes::BlackBoard::update_listener(), and fawkes::BlackBoard::close().
void RosTfThread::bb_interface_data_changed | ( | fawkes::Interface * | interface | ) | throw () [virtual] |
BlackBoard data changed notification.
This is called whenever the data in an interface that you registered for is modified. This happens if a writer calls the Interface::write() method.
interface | interface instance that you supplied to bbil_add_data_interface() |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 141 of file tf_thread.cpp.
References fawkes::Interface::read(), fawkes::TransformInterface::translation(), fawkes::TransformInterface::rotation(), fawkes::Interface::timestamp(), fawkes::Time::stamp(), fawkes::Time::get_sec(), fawkes::Time::get_nsec(), fawkes::TransformInterface::frame(), and fawkes::TransformInterface::child_frame().
void RosTfThread::bb_interface_reader_removed | ( | fawkes::Interface * | interface, |
unsigned int | instance_serial | ||
) | throw () [virtual] |
A reading instance has been closed for a watched interface.
This is called whenever a reading instance of an interface you are watching is closed.
interface | interface instance that you supplied to bbil_add_reader_interface() |
instance_serial | the instance serial of the reading instance that has just been removed. |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 213 of file tf_thread.cpp.
void RosTfThread::bb_interface_writer_removed | ( | fawkes::Interface * | interface, |
unsigned int | instance_serial | ||
) | throw () [virtual] |
A writing instance has been closed for a watched interface.
This is called whenever a writing instance of an interface you are watching is closed.
interface | interface instance that you supplied to bbil_add_writer_interface() |
instance_serial | the instance serial of the writing instance that has just been removed. |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 206 of file tf_thread.cpp.
void RosTfThread::finalize | ( | ) | [virtual] |
Finalize the thread.
This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.
This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.
This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.
Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).
The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Definition at line 94 of file tf_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::unregister_listener(), fawkes::BlackBoard::unregister_observer(), and fawkes::BlackBoard::close().
void RosTfThread::init | ( | ) | [virtual] |
Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Definition at line 58 of file tf_thread.cpp.
References fawkes::ROSAspect::rosnode, fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_multiple_for_reading(), fawkes::BlackBoard::close(), fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_reader_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_writer_interface(), fawkes::BlackBoard::register_listener(), fawkes::BlackBoardInterfaceObserver::bbio_add_observed_create(), and fawkes::BlackBoard::register_observer().
void RosTfThread::loop | ( | ) | [virtual] |
Code to execute in the thread.
Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().
Reimplemented from fawkes::Thread.
Definition at line 111 of file tf_thread.cpp.
References fawkes::Mutex::lock(), fawkes::Mutex::unlock(), fawkes::TransformAspect::tf_publisher, and fawkes::tf::TransformPublisher::send_transform().
virtual void RosTfThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 80 of file tf_thread.h.