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) 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 
99 void
100 RosJointThread::bb_interface_writer_removed(Interface *interface, Uuid instance_serial) noexcept
101 {
102  conditional_close(interface);
103 }
104 
105 void
106 RosJointThread::bb_interface_reader_removed(Interface *interface, Uuid instance_serial) noexcept
107 {
108  conditional_close(interface);
109 }
110 
111 void
112 RosJointThread::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 
134 void
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.