Added ROS support

README.md

@@ -27,6 +27,7 @@ sudo apt-get install build-essential cmake libboost-all-dev libprotoc-dev protob
 This was tested with Ubuntu 12.04.5 LTS (Precise Pangolin) and
 14.04.1 LTS (Trusty Tahr).
 
+
 ## Compiling
 
 To compile, use:
@@ -41,6 +42,7 @@ lib/libroah_rsbb_msgs.a
 lib/libprotobuf_comm.a
 ```
 
+
 ## Using roah_rsbb.h
 
 This C++ header file provides a small decorator on top of
@@ -50,3 +52,12 @@ provide a pooling interface for the last messages of the allowed
 types received on each channel as well as a specific signal for each
 one. Be careful with synchronization, the callbacks will be called
 from different threads.
+
+
+## Using ros_roah_rsbb.h
+
+The classes `RosPublicChannel` and `RosPrivateChannel` provide
+a way to use `PublicChannel` and `PrivateChannel` with error output
+done by ROS. Include this file only if your project uses ROS.
+If your project uses some other framework, you can use this file
+as a base to adapt to your framework.

include/ros_roah_rsbb.h

@@ -0,0 +1,108 @@
+/*
+ * Copyright 2014 Instituto de Sistemas e Robotica, Instituto Superior Tecnico
+ *
+ * This file is part of RoAH RSBB Comm.
+ *
+ * RoAH RSBB Comm is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RoAH RSBB Comm is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with RoAH RSBB Comm.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __ROS_ROAH_RSBB_H__
+#define __ROS_ROAH_RSBB_H__
+
+#include <string>
+
+#include <ros/console.h>
+#include <ros/param.h>
+
+#include "roah_rsbb.h"
+
+
+
+namespace roah_rsbb
+{
+  class RosErrorHandler
+  {
+    public:
+      RosErrorHandler (std::string const& name,
+                       protobuf_comm::ProtobufBroadcastPeer& channel) :
+        name_ (name)
+      {
+        channel.signal_recv_error().connect (boost::bind (&RosErrorHandler::recv_error, this, _1, _2));
+        channel.signal_send_error().connect (boost::bind (&RosErrorHandler::send_error, this, _1));
+      }
+
+      void
+      unknown_msg (boost::asio::ip::udp::endpoint& endpoint,
+                   uint16_t comp_id,
+                   uint16_t msg_type,
+                   std::shared_ptr<google::protobuf::Message> msg)
+      {
+        ROS_ERROR_STREAM ("On channel " << name_
+                          << ": Unknown message from " << endpoint.address().to_string()
+                          << ":" << endpoint.port()
+                          << ", COMP_ID " << comp_id
+                          << ", MSG_TYPE " << msg_type
+                          << ", of type " << typeid (*msg).name());
+      }
+
+    private:
+      std::string name_;
+
+      void
+      recv_error (boost::asio::ip::udp::endpoint& endpoint,
+                  std::string msg)
+      {
+        ROS_ERROR_STREAM ("On channel " << name_
+                          << ": Receive error from " << endpoint.address().to_string()
+                          << ":" << endpoint.port()
+                          << ": " << msg);
+      }
+
+      void
+      send_error (std::string msg)
+      {
+        ROS_ERROR_STREAM ("On channel " << name_
+                          << ": Send error: " << msg);
+      }
+  };
+
+  typedef PublicChannel<RosErrorHandler> RosPublicChannel;
+  typedef PrivateChannel<RosErrorHandler> RosPrivateChannel;
+}
+
+
+
+template<typename T> inline void
+param_direct (std::string const& name,
+              T const& def_value,
+              T& var)
+{
+  if (! ros::param::getCached (name, var)) {
+    var = def_value;
+    ros::param::set (name, var);
+  }
+}
+
+
+
+template<typename T> inline T
+param_direct (std::string const& name,
+              T const& def_value)
+{
+  T tmp;
+  param_direct<T> (name, def_value, tmp);
+  return tmp;
+}
+
+#endif