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
27using 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
48void
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
65void
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
76void
77RosJointThread::bb_interface_created(const char *type, const char *id) noexcept
78{
79 if (strncmp(type, "JointInterface", INTERFACE_TYPE_SIZE_) != 0)
80 return;
81 JointInterface *interface;
82 try {
83 interface = blackboard->open_for_reading<JointInterface>(id);
84 } catch (Exception &e) {
85 logger->log_warn(name(), "Failed to open %s:%s: %s", type, id, e.what());
86 return;
87 }
88 try {
89 bbil_add_data_interface(interface);
90 blackboard->update_listener(this);
91 ifs_.push_back(interface);
92 } catch (Exception &e) {
93 blackboard->close(interface);
94 logger->log_warn(name(), "Failed to register for %s:%s: %s", type, id, e.what());
95 return;
96 }
97}
98
99void
100RosJointThread::bb_interface_writer_removed(Interface *interface, Uuid instance_serial) noexcept
101{
102 conditional_close(interface);
103}
104
105void
106RosJointThread::bb_interface_reader_removed(Interface *interface, Uuid instance_serial) noexcept
107{
108 conditional_close(interface);
109}
110
111void
112RosJointThread::conditional_close(Interface *interface) noexcept
113{
114 // Verify it's a JointInterface
115 JointInterface *jiface = dynamic_cast<JointInterface *>(interface);
116 if (!jiface)
117 return;
118
119 std::list<JointInterface *>::iterator it;
120 for (it = ifs_.begin(); it != ifs_.end(); ++it) {
121 if (*interface == **it) {
122 if (!interface->has_writer() && (interface->num_readers() == 1)) {
123 // It's only us
124 bbil_remove_data_interface(*it);
125 blackboard->update_listener(this);
126 blackboard->close(*it);
127 ifs_.erase(it);
128 break;
129 }
130 }
131 }
132}
133
134void
136{
137 JointInterface *jiface = dynamic_cast<JointInterface *>(interface);
138 if (!jiface)
139 return;
140 jiface->read();
141 sensor_msgs::JointState joint_state;
142 // std::string names[] = { "testJoint" };
143 joint_state.name.push_back(jiface->id());
144 joint_state.position.push_back(jiface->position());
145 joint_state.velocity.push_back(jiface->velocity());
146 ros_pub_.publish(joint_state);
147}
virtual void bb_interface_created(const char *type, const char *id) noexcept
BlackBoard interface created notification.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, fawkes::Uuid instance_serial) noexcept
A writing instance has been closed for a watched interface.
virtual void bb_interface_data_refreshed(fawkes::Interface *interface) noexcept
BlackBoard data refreshed notification.
virtual void bb_interface_reader_removed(fawkes::Interface *interface, fawkes::Uuid instance_serial) noexcept
A reading instance has been closed for a watched interface.
virtual ~RosJointThread()
Destructor.
RosJointThread()
Constructor.
BlackBoard * blackboard
This is the BlackBoard instance you can use to interact with the BlackBoard.
Definition: blackboard.h:44
BlackBoard interface listener.
void bbil_add_data_interface(Interface *interface)
Add an interface to the data modification watch list.
void bbio_add_observed_create(const char *type_pattern, const char *id_pattern="*") noexcept
Add interface creation type to watch list.
virtual void unregister_observer(BlackBoardInterfaceObserver *observer)
Unregister BB interface observer.
Definition: blackboard.cpp:240
virtual void update_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Update BB event listener.
Definition: blackboard.cpp:197
virtual void register_observer(BlackBoardInterfaceObserver *observer)
Register BB interface observer.
Definition: blackboard.cpp:225
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
Definition: blackboard.cpp:212
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.
virtual void register_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Register BB event listener.
Definition: blackboard.cpp:185
virtual void close(Interface *interface)=0
Close interface.
Base class for exceptions in Fawkes.
Definition: exception.h:36
virtual const char * what() const noexcept
Get primary string.
Definition: exception.cpp:639
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
const char * id() const
Get identifier of interface.
Definition: interface.cpp:661
void read()
Read from BlackBoard into local copy.
Definition: interface.cpp:479
JointInterface Fawkes BlackBoard Interface.
float position() const
Get position value.
float velocity() const
Get velocity value.
virtual void log_warn(const char *component, const char *format,...)
Log warning message.
Definition: multi.cpp:216
LockPtr< ros::NodeHandle > rosnode
Central ROS node handle.
Definition: ros.h:47
Thread class encapsulation of pthreads.
Definition: thread.h:46
A convenience class for universally unique identifiers (UUIDs).
Definition: uuid.h:29
Fawkes library namespace.