From 5ec1569913d7fb6c725b76f8382d2a179fbe981f Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Fri, 26 Nov 2010 21:44:14 +0100
Subject: [PATCH] Clean RosImport class.
---
src/ros_import.cpp | 26 ++++++-----------
src/ros_import.hh | 72 +++++++---------------------------------------
src/ros_import.hxx | 65 +++++++++++++++++++++++++++++++++++++++++
3 files changed, 84 insertions(+), 79 deletions(-)
create mode 100644 src/ros_import.hxx
diff --git a/src/ros_import.cpp b/src/ros_import.cpp
index b89ef89..c24c5da 100644
--- a/src/ros_import.cpp
+++ b/src/ros_import.cpp
@@ -26,19 +26,6 @@ namespace dynamicgraph
free (arg0);
nh_ = ros::NodeHandle ("dynamic_graph");
-
- //ros::Publisher blob_pub = n.advertise<hueblob::Blob>("blob", 1000);
-
- // ros::Rate loop_rate(10);
-
- // while (ros::ok())
- // {
- // hueblob::Blob blob;
- // blob_pub.publish(blob);
-
- // ros::spinOnce();
- // loop_rate.sleep();
- // }
}
RosImport::~RosImport ()
@@ -54,13 +41,17 @@ namespace dynamicgraph
std::istringstream& cmdArgs,
std::ostream& os)
{
+ std::string type;
std::string signal;
std::string topic;
if (cmdLine == "help")
{
os << "RosImport: "<< std::endl
- << " - add <SIGNAL> <TOPIC>" << std::endl;
+ << " - add <TYPE> <SIGNAL> <TOPIC>" << std::endl
+ << " - rm <SIGNAL>" << std::endl
+ << " - clear" << std::endl
+ << " - list" << std::endl;
Entity::commandLine (cmdLine, cmdArgs, os);
}
else if (cmdLine == "add")
@@ -70,8 +61,8 @@ namespace dynamicgraph
}
else if (cmdLine == "rm")
{
- cmdArgs >> signal >> topic;
- rm (signal, topic);
+ cmdArgs >> signal;
+ rm (signal);
}
else if (cmdLine == "clear")
clear ();
@@ -86,8 +77,9 @@ namespace dynamicgraph
return CLASS_NAME;
}
- void RosImport::rm (const std::string& signal, const std::string& topic)
+ void RosImport::rm (const std::string& signal)
{
+ bindedSignal_.erase (signal);
}
void RosImport::list ()
diff --git a/src/ros_import.hh b/src/ros_import.hh
index da15ae0..75afcc3 100644
--- a/src/ros_import.hh
+++ b/src/ros_import.hh
@@ -9,34 +9,14 @@
# include <ros/ros.h>
-
-//FIXME: remove me.
-#include <std_msgs/Float64.h>
-
-template <typename SotType>
-class SotToRos;
-
-template <>
-struct SotToRos<double>
-{
- typedef double sot_t;
- typedef std_msgs::Float64 ros_t;
- typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
- typedef boost::function<sot_t& (sot_t&, int)> callback_t;
-};
-
namespace dynamicgraph
{
+ template <typename SotType>
+ class SotToRos;
+
template <typename D, typename S>
void converter (D& dst, const S& src);
- template <>
- void converter (SotToRos<double>::ros_t& dst,
- const SotToRos<double>::sot_t& src)
- {
- dst.data = src;
- }
-
class RosImport : public dynamicgraph::Entity
{
public:
@@ -56,57 +36,25 @@ namespace dynamicgraph
std::ostream& os);
- virtual const std::string& getClassName();
+ virtual const std::string& getClassName ();
private:
void add (const std::string& signal, const std::string& topic);
- void rm (const std::string& signal, const std::string& topic);
+ void rm (const std::string& signal);
void list ();
void clear ();
template <typename T>
- T& sendData (boost::shared_ptr<ros::Publisher> publisher, T& data, int time)
- {
- typename SotToRos<T>::ros_t result;
- converter (result, data);
- publisher->publish (result);
- return data;
- }
+ T& sendData (boost::shared_ptr<ros::Publisher> publisher,
+ T& data, int time);
template <typename T>
- void add (const std::string& signal, const std::string& topic)
- {
- typedef typename SotToRos<T>::sot_t sot_t;
- typedef typename SotToRos<T>::ros_t ros_t;
- typedef typename SotToRos<T>::signal_t signal_t;
- typedef typename SotToRos<T>::callback_t callback_t;
-
- // Initialize the bindedSignal object.
- bindedSignal_t bindedSignal;
-
- // Initialize the publisher.
- bindedSignal.second =
- boost::make_shared<ros::Publisher> (nh_.advertise<ros_t>(topic, 1));
-
- // Initialize the signal.
- boost::format signalName ("RosImport(%1%)::%2%");
- signalName % name % signal;
-
- callback_t signalCallback = boost::bind
- (&RosImport::sendData<sot_t>, this, bindedSignal.second, _1, _2);
-
- bindedSignal.first = boost::make_shared<signal_t>
- (signalCallback, sotNOSIGNAL, signalName.str ());
- signalRegistration (*bindedSignal.first);
-
- bindedSignal_.push_back(bindedSignal);
- }
-
+ void add (const std::string& signal, const std::string& topic);
ros::NodeHandle nh_;
-
- std::vector<bindedSignal_t> bindedSignal_;
+ std::map<std::string, bindedSignal_t> bindedSignal_;
};
} // end of namespace dynamicgraph.
+# include "ros_import.hxx"
#endif //! DYNAMIC_GRAPH_ROS_IMPORT_HH
diff --git a/src/ros_import.hxx b/src/ros_import.hxx
new file mode 100644
index 0000000..f49a270
--- /dev/null
+++ b/src/ros_import.hxx
@@ -0,0 +1,65 @@
+#ifndef DYNAMIC_GRAPH_ROS_IMPORT_HXX
+# define DYNAMIC_GRAPH_ROS_IMPORT_HXX
+# include <std_msgs/Float64.h>
+
+namespace dynamicgraph
+{
+ template <>
+ struct SotToRos<double>
+ {
+ typedef double sot_t;
+ typedef std_msgs::Float64 ros_t;
+ typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
+ typedef boost::function<sot_t& (sot_t&, int)> callback_t;
+ };
+
+ template <>
+ void converter (SotToRos<double>::ros_t& dst,
+ const SotToRos<double>::sot_t& src)
+ {
+ dst.data = src;
+ }
+
+ template <typename T>
+ T&
+ RosImport::sendData (boost::shared_ptr<ros::Publisher> publisher,
+ T& data, int time)
+ {
+ typename SotToRos<T>::ros_t result;
+ converter (result, data);
+ publisher->publish (result);
+ return data;
+ }
+
+ template <typename T>
+ void RosImport::add (const std::string& signal, const std::string& topic)
+ {
+ typedef typename SotToRos<T>::sot_t sot_t;
+ typedef typename SotToRos<T>::ros_t ros_t;
+ typedef typename SotToRos<T>::signal_t signal_t;
+ typedef typename SotToRos<T>::callback_t callback_t;
+
+ // Initialize the bindedSignal object.
+ bindedSignal_t bindedSignal;
+
+ // Initialize the publisher.
+ bindedSignal.second =
+ boost::make_shared<ros::Publisher> (nh_.advertise<ros_t>(topic, 1));
+
+ // Initialize the signal.
+ boost::format signalName ("RosImport(%1%)::%2%");
+ signalName % name % signal;
+
+ callback_t signalCallback = boost::bind
+ (&RosImport::sendData<sot_t>, this, bindedSignal.second, _1, _2);
+
+ bindedSignal.first = boost::make_shared<signal_t>
+ (signalCallback, sotNOSIGNAL, signalName.str ());
+ signalRegistration (*bindedSignal.first);
+
+ bindedSignal_[signal] = bindedSignal;
+ }
+
+} // end of namespace dynamicgraph.
+
+#endif //! DYNAMIC_GRAPH_ROS_IMPORT_HXX
--
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