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roseus.cpp
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
// author: Kei Okada
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <math.h>
#include <time.h>
#include <pthread.h>
#include <setjmp.h>
#include <errno.h>
#include <list>
#include <vector>
#include <set>
#include <string>
#include <map>
#include <sstream>
#include <cstdio>
#include <boost/thread/mutex.hpp>
#include <boost/thread/condition.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/variant.hpp>
#include <boost/foreach.hpp>
#include <ros/init.h>
#include <ros/time.h>
#include <ros/rate.h>
#include <ros/master.h>
#include <ros/this_node.h>
#include <ros/node_handle.h>
#include <ros/service.h>
#include <ros/service_server_link.h>
#include <ros/service_manager.h>
#include <ros/connection.h>
#include <rospack/rospack.h>
#include <ros/param.h>
#include <ros/callback_queue.h>
// for eus.h
#define class eus_class
#define throw eus_throw
#define export eus_export
#define vector eus_vector
#define string eus_string
#include "eus.h"
extern "C" {
#ifdef ROSPACK_EXPORT
rospack::ROSPack rp;
#else
rospack::Rospack rp;
#endif
pointer ___roseus(register context *ctx, int n, pointer *argv, pointer env);
void register_roseus(){
char modname[] = "___roseus";
return add_module_initializer(modname, (pointer (*)())___roseus);}
/* get_string is originally defined in lisp/c/makes.c, but it is also defined in Python.so linked from rospack.so
to avoid confusion, we have to explictly re-define this method, specially for OSX */
byte *get_string(register pointer s){
if (isstring(s)) return(s->c.str.chars);
if (issymbol(s)) return(s->c.sym.pname->c.str.chars);
else error(E_NOSTRING); return NULL; }
}
#undef class
#undef throw
#undef export
#undef vector
#undef string
namespace ros {
namespace master {
std::string g_uri;
void init(const M_string& remappings);
}
namespace param {
void init(const M_string& remappings);
}
}
using namespace ros;
using namespace std;
#define isInstalledCheck \
if( ! ros::ok() ) { error(E_USER,"You must call (ros::roseus \"name\") before creating the first NodeHandle"); }
class RoseusStaticData
{
public:
RoseusStaticData() {}
~RoseusStaticData() {
}
boost::shared_ptr<ros::NodeHandle> node;
boost::shared_ptr<ros::Rate> rate;
map<string, boost::shared_ptr<Publisher> > mapAdvertised; ///< advertised topics
map<string, boost::shared_ptr<Subscriber> > mapSubscribed; ///< subscribed topics
map<string, boost::shared_ptr<ServiceServer> > mapServiced; ///< subscribed topics
map<string, Timer > mapTimered; ///< subscribed timers
map<string, boost::shared_ptr<NodeHandle> > mapHandle; ///< for grouping nodehandle
};
static RoseusStaticData s_staticdata;
static bool s_bInstalled = false;
#define s_node s_staticdata.node
#define s_rate s_staticdata.rate
#define s_mapAdvertised s_staticdata.mapAdvertised
#define s_mapSubscribed s_staticdata.mapSubscribed
#define s_mapServiced s_staticdata.mapServiced
#define s_mapTimered s_staticdata.mapTimered
#define s_mapHandle s_staticdata.mapHandle
pointer K_ROSEUS_MD5SUM,K_ROSEUS_DATATYPE,K_ROSEUS_DEFINITION,K_ROSEUS_CONNECTION_HEADER,K_ROSEUS_SERIALIZATION_LENGTH,K_ROSEUS_SERIALIZE,K_ROSEUS_DESERIALIZE,K_ROSEUS_INIT,K_ROSEUS_GET,K_ROSEUS_REQUEST,K_ROSEUS_RESPONSE,K_ROSEUS_GROUPNAME,K_ROSEUS_ONESHOT,K_ROSEUS_LAST_EXPECTED,K_ROSEUS_LAST_REAL,K_ROSEUS_CURRENT_EXPECTED,K_ROSEUS_CURRENT_REAL,K_ROSEUS_LAST_DURATION,K_ROSEUS_SEC,K_ROSEUS_NSEC,QANON,QNOOUT,QREPOVERSION,QROSDEBUG,QROSINFO,QROSWARN,QROSERROR,QROSFATAL;
extern pointer LAMCLOSURE;
/***********************************************************
* Message wrapper
************************************************************/
string getString(pointer message, pointer method) {
context *ctx = current_ctx;
pointer r, curclass;
if ((pointer)findmethod(ctx,method,classof(message),&curclass)!=NIL) {
r = csend(ctx,message,method,0);
} else if ((pointer)findmethod(ctx,K_ROSEUS_GET,classof(message),&curclass) != NIL ) {
r = csend(ctx,message,K_ROSEUS_GET,1,method);
} else {
r = NULL;
#ifdef x86_64
ROS_ERROR("could not find method %s for pointer %lx",
get_string(method), (long unsigned int)message);
#else
ROS_ERROR("could not find method %s for pointer %x",
get_string(method), (unsigned int)message);
#endif
}
if ( !isstring(r) ) {
pointer dest=(pointer)mkstream(ctx,K_OUT,makebuffer(64));
prinx(ctx,message,dest);
pointer str = makestring((char *)dest->c.stream.buffer->c.str.chars,
intval(dest->c.stream.count));
ROS_ERROR("send %s to %s returns nil", get_string(method), get_string(str));
}
ROS_ASSERT(isstring(r));
string ret = (char *)get_string(r);
return ret;
}
int getInteger(pointer message, pointer method) {
context *ctx = current_ctx;
pointer a,curclass;
vpush(message);
a = (pointer)findmethod(ctx,method,classof(message),&curclass);
if (a!=NIL) {
pointer r = csend(ctx,message,method,0);
vpop(); // message
return (ckintval(r));
} else {
#ifdef x86_64
ROS_ERROR("could not find method %s for pointer %lx",
get_string(method), (long unsigned int)message);
#else
ROS_ERROR("could not find method %s for pointer %x",
get_string(method), (unsigned int)message);
#endif
vpop(); // message
}
return 0;
}
class EuslispMessage
{
public:
pointer _message;
boost::shared_ptr<map<string, string> > _connection_header;
EuslispMessage(pointer message) : _message(message) {
}
EuslispMessage(const EuslispMessage &r) {
context *ctx = current_ctx;
if (ctx!=euscontexts[0])ROS_WARN("ctx is not correct %d\n",thr_self());
if ( isclass(r._message) ) {
//ROS_ASSERT(isclass(r._message));
vpush(r._message);
_message = makeobject(r._message);
vpush(_message);
csend(ctx,_message,K_ROSEUS_INIT,0);
vpop(); // _message
vpop(); // r._message
} else {
ROS_WARN("r._message must be class");prinx(ctx,r._message,ERROUT);flushstream(ERROUT);terpri(ERROUT);
_message = r._message;
}
}
virtual ~EuslispMessage() { }
virtual void replaceContents (pointer newMessage) {
_message = newMessage;
}
virtual const string __getDataType() const {
return getString(_message, K_ROSEUS_DATATYPE);
}
virtual const string __getMD5Sum() const {
return getString(_message, K_ROSEUS_MD5SUM);
}
virtual const string __getMessageDefinition() const {
return getString(_message, K_ROSEUS_DEFINITION);
}
virtual const string __getServiceDataType() const {
return getString(_message, K_ROSEUS_DATATYPE);
}
virtual const string __getServerMD5Sum() const {
return getString(_message, K_ROSEUS_MD5SUM);
}
uint32_t serializationLength() const {
context *ctx = current_ctx;
if (ctx!=euscontexts[0])ROS_WARN("ctx is not correct %d\n",thr_self());
pointer a,curclass;
a = (pointer)findmethod(ctx,K_ROSEUS_SERIALIZATION_LENGTH,classof(_message),&curclass);
ROS_ASSERT(a!=NIL);
return getInteger(_message, K_ROSEUS_SERIALIZATION_LENGTH);
}
virtual uint8_t *serialize(uint8_t *writePtr, uint32_t seqid) const
{
context *ctx = current_ctx;
if (ctx!=euscontexts[0])ROS_WARN("ctx is not correct %d\n",thr_self());
pointer a,curclass;
vpush(_message); // to avoid GC
uint32_t len = serializationLength();
vpop(); // pop _message
a = (pointer)findmethod(ctx,K_ROSEUS_SERIALIZE,classof(_message),&curclass);
ROS_ASSERT(a!=NIL);
pointer r = csend(ctx,_message,K_ROSEUS_SERIALIZE,0);
ROS_ASSERT(isstring(r));
memcpy(writePtr, get_string(r), len);
//ROS_INFO("serialize");
return writePtr + len;
}
virtual uint8_t *deserialize(uint8_t *readPtr, uint32_t sz)
{
context *ctx = current_ctx;
if (ctx!=euscontexts[0])ROS_WARN("ctx is not correct %d\n",thr_self());
pointer a,curclass;
if ( sz == 0 ) {
ROS_DEBUG("empty message!");
return readPtr;
}
vpush(_message);
a = (pointer)findmethod(ctx,K_ROSEUS_DESERIALIZE,classof(_message),&curclass);
ROS_ASSERT(a!=NIL);
pointer p = makestring((char *)readPtr, sz);
pointer r;
r = csend(ctx,_message,K_ROSEUS_DESERIALIZE,1,p);
ROS_ASSERT(r!=NIL);
//ROS_INFO("deserialize %d", __serialized_length);
vpop(); // pop _message
return readPtr + sz;
}
};
void StoreConnectionHeader(EuslispMessage *eus_msg) {
if ( eus_msg->_connection_header == NULL ||
eus_msg->_connection_header->size() == 0 ) {
return;
}
context *ctx = current_ctx;
// store conection headers
register pointer ret, header;
ret = cons(ctx, NIL, NIL);
header = ret;
vpush(ret);
for(map<string, string>::iterator it = eus_msg->_connection_header->begin(); it != eus_msg->_connection_header->end(); it++){
ccdr(ret) = cons(ctx,cons(ctx,makestring((char *)it->first.c_str(), it->first.length()),
makestring((char *)it->second.c_str(), it->second.length())),NIL);
ret = ccdr(ret);
}
/* (setslot obj class index newval) */
pointer slot_args[4] = {eus_msg->_message, classof(eus_msg->_message), K_ROSEUS_CONNECTION_HEADER, ccdr(header)};
SETSLOT(ctx, 4, slot_args);
vpop();
}
namespace ros{
namespace serialization{
template<> struct Serializer<EuslispMessage> {
template<typename Stream>
inline static void write(Stream& stream, boost::call_traits<EuslispMessage>::param_type t) {
t.serialize(stream.getData(), 0);
}
template<typename Stream>
inline static void read(Stream& stream, boost::call_traits<EuslispMessage>::reference t) {
t.deserialize(stream.getData(), stream.getLength());
}
inline static uint32_t serializedLength(boost::call_traits<EuslispMessage>::param_type t) {
return t.serializationLength();
}
};
}
}
/************************************************************
* Subscriptions
************************************************************/
class EuslispSubscriptionCallbackHelper : public ros::SubscriptionCallbackHelper {
public:
pointer _scb,_args;
EuslispMessage _msg;
EuslispSubscriptionCallbackHelper(pointer scb, pointer args,pointer tmpl) : _args(args), _msg(tmpl) {
context *ctx = current_ctx;
//ROS_WARN("func");prinx(ctx,scb,ERROUT);flushstream(ERROUT);terpri(ERROUT);
//ROS_WARN("argc");prinx(ctx,args,ERROUT);flushstream(ERROUT);terpri(ERROUT);
if (piscode(scb)) { // compiled code
_scb=scb;
} else if ((ccar(scb))==LAMCLOSURE) { // uncompiled code
if ( ccar(ccdr(scb)) != NIL ) { // function
_scb=ccar(ccdr(scb));
} else { // lambda function
_scb=scb;
}
} else {
ROS_ERROR("subscription callback function install error");
}
// avoid gc
pointer p=gensym(ctx);
setval(ctx,intern(ctx,(char*)(p->c.sym.pname->c.str.chars),strlen((char*)(p->c.sym.pname->c.str.chars)),lisppkg),cons(ctx,scb,args));
}
~EuslispSubscriptionCallbackHelper() {
ROS_ERROR("subscription gc");
}
virtual ros::VoidConstPtr deserialize(const ros::SubscriptionCallbackHelperDeserializeParams& param) {
#if DEBUG
cerr << __PRETTY_FUNCTION__ << endl;
cerr << "param.length = " << param.length << endl;
cerr << "param.buffer = " << (param.buffer + 4) << endl;
cerr << "c_header == " << param.connection_header << endl;
for(map<string, string>::iterator it = param.connection_header->begin(); it != param.connection_header->end(); it++){
cerr << " " << it->first << " : " << it->second << endl;
}
#endif
ros::VoidConstPtr ptr(new EuslispMessage(_msg));
EuslispMessage *eus_msg = (EuslispMessage *)(ptr.get());
eus_msg->deserialize(param.buffer, param.length);
eus_msg->_connection_header = param.connection_header;
return ptr;
}
virtual void call(ros::SubscriptionCallbackHelperCallParams& param) {
EuslispMessage* eus_msg = (EuslispMessage *)((void *)param.event.getConstMessage().get());
context *ctx = current_ctx;
pointer argp=_args;
int argc=0;
//ROS_WARN("func");prinx(ctx,_scb,ERROUT);flushstream(ERROUT);terpri(ERROUT);
//ROS_WARN("argc");prinx(ctx,argp,ERROUT);flushstream(ERROUT);terpri(ERROUT);
vpush(eus_msg->_message); // to avoid GC
if ( ! ( issymbol(_scb) || piscode(_scb) || ccar(_scb)==LAMCLOSURE ) ) {
ROS_ERROR("%s : can't find callback function", __PRETTY_FUNCTION__);
}
// store connection header
StoreConnectionHeader(eus_msg);
while(argp!=NIL){ ckpush(ccar(argp)); argp=ccdr(argp); argc++;}
vpush((pointer)(eus_msg->_message));argc++;
ufuncall(ctx,(ctx->callfp?ctx->callfp->form:NIL),_scb,(pointer)(ctx->vsp-argc),NULL,argc);
while(argc-->0)vpop();
vpop(); // remove eus_msg._message
}
virtual const std::type_info& getTypeInfo() {
return typeid(EuslispMessage);
}
virtual bool isConst(){
return true;
}
virtual bool hasHeader(){
return true;
}
};
/************************************************************
* ServiceCall
************************************************************/
class EuslispServiceCallbackHelper : public ros::ServiceCallbackHelper {
public:
pointer _scb, _args;
EuslispMessage _req, _res;
string md5, datatype, requestDataType, responseDataType,
requestMessageDefinition, responseMessageDefinition;
EuslispServiceCallbackHelper(pointer scb, pointer args, string smd5, string sdatatype, pointer reqclass, pointer resclass) : _args(args), _req(reqclass), _res(resclass), md5(smd5), datatype(sdatatype) {
context *ctx = current_ctx;
//ROS_WARN("func");prinx(ctx,scb,ERROUT);flushstream(ERROUT);terpri(ERROUT);
//ROS_WARN("argc");prinx(ctx,args,ERROUT);flushstream(ERROUT);terpri(ERROUT);
if (piscode(scb)) { // compiled code
_scb=scb;
} else if ((ccar(scb))==LAMCLOSURE) {
if ( ccar(ccdr(scb)) != NIL ) { // function
_scb=ccar(ccdr(scb));
} else { // lambda function
_scb=scb;
}
} else {
ROS_ERROR("service callback function install error");
}
// avoid gc
pointer p=gensym(ctx);
setval(ctx,intern(ctx,(char*)(p->c.sym.pname->c.str.chars),strlen((char*)(p->c.sym.pname->c.str.chars)),lisppkg),cons(ctx,scb,args));
requestDataType = _req.__getDataType();
responseDataType = _res.__getDataType();
requestMessageDefinition = _req.__getMessageDefinition();
responseMessageDefinition = _res.__getMessageDefinition();
}
~EuslispServiceCallbackHelper() { }
virtual boost::shared_ptr<EuslispMessage> createRequest() { return boost::shared_ptr<EuslispMessage>(new EuslispMessage(_req)); }
virtual boost::shared_ptr<EuslispMessage> createResponse() { return boost::shared_ptr<EuslispMessage>(new EuslispMessage(_res)); }
virtual std::string getMD5Sum() { return md5; }
virtual std::string getDataType() { return datatype; }
virtual std::string getRequestDataType() { return requestDataType; }
virtual std::string getResponseDataType() { return responseDataType; }
virtual std::string getRequestMessageDefinition() { return requestMessageDefinition; }
virtual std::string getResponseMessageDefinition() { return responseMessageDefinition; }
virtual bool call(ros::ServiceCallbackHelperCallParams& params) {
#if DEBUG
cerr << __PRETTY_FUNCTION__ << endl;
cerr << "param.length = " << params.request.num_bytes << endl;
cerr << "param.buffer = " << (params.request.message_start + 4) << endl;
cerr << "c_header == " << params.connection_header << endl;
for(map<string, string>::iterator it = params.connection_header->begin(); it != params.connection_header->end(); it++){
cerr << " " << it->first << " : " << it->second << endl;
}
#endif
context *ctx = current_ctx;
pointer r, argp=_args;
int argc=0;
vpush(_res._message); // _res._message
vpush(_req._message); // _res._message, _req._message
if ( ! ( issymbol(_scb) || piscode(_scb) || ccar(_scb)==LAMCLOSURE ) ) {
ROS_ERROR("%s : can't find callback function", __PRETTY_FUNCTION__);
}
// Deserialization
EuslispMessage eus_msg(_req);
vpush(eus_msg._message); // _res._message, _req._message, eus_msg._message
eus_msg.deserialize(params.request.message_start, params.request.num_bytes);
// store connection header
eus_msg._connection_header = params.connection_header;
StoreConnectionHeader(&eus_msg);
while(argp!=NIL){ ckpush(ccar(argp)); argp=ccdr(argp); argc++;}
vpush((pointer) eus_msg._message);argc++;
r = ufuncall(ctx, (ctx->callfp?ctx->callfp->form:NIL),
_scb, (pointer)(ctx->vsp-argc),
NULL, argc);
while(argc-->0)vpop();// _res._message, _req._message, eus_msg._message
vpush(r); // _res._message, _req._message, eus_msg._message, r,
// Serializaion
EuslispMessage eus_res(_res);
eus_res.replaceContents(r);
// check return value is valid
pointer ret_serialize_method, ret_class;
if (ispointer(r)) {
ret_serialize_method = (pointer)findmethod(ctx,K_ROSEUS_SERIALIZATION_LENGTH,classof(r),&ret_class); }
if (!ispointer(r) || ret_serialize_method == NIL) {
ROS_ERROR("you may not return valid value in service callback");
vpop(); // _res._message, _req._message, eus_msg._message, r
vpop(); // _res._message, _req._message, eus_msg._message
vpop(); // _res._message, _req._message,
vpop(); // _res._message
return false;
}
vpush(eus_res._message); // _res._message, _req._message, eus_msg._message, r, eus_res._message
uint32_t serialized_length = eus_res.serializationLength();
params.response.num_bytes = serialized_length + 5; // add 5 bytes of message header
params.response.buf.reset (new uint8_t[params.response.num_bytes]);
params.response.message_start = 0;
// SerializedResponseMessage
uint8_t *tmp = params.response.buf.get();
*tmp++ = 1; // 1 byte of success services flag, now always set true
*tmp++ = (uint8_t)((serialized_length >> 0) & 0xFF); // 4bytes of message length
*tmp++ = (uint8_t)((serialized_length >> 8) & 0xFF);
*tmp++ = (uint8_t)((serialized_length >> 16) & 0xFF);
*tmp++ = (uint8_t)((serialized_length >> 24) & 0xFF);
eus_res.serialize(tmp, 0);
// store connection header
eus_res._connection_header = params.connection_header;
StoreConnectionHeader(&eus_res);
#if DEBUG
cerr << "num bytes = " << params.response.num_bytes << endl;
ROS_INFO("message_start = %X",params.response.message_start);
ROS_INFO("message_ptr = %X",params.response.buf.get());
tmp = params.response.buf.get();
for(int i=0;i<params.response.num_bytes;i++){
ROS_INFO("%X", tmp[i]);
}
#endif
vpop(); // _res._message, _req._message, eus_msg._message, r, eus_res._message
vpop(); // _res._message, _req._message, eus_msg._message, r
vpop(); // _res._message, _req._message, eus_msg._message
vpop(); // _res._message, _req._message,
vpop(); // _res._message
return true;
}
};
void roseusSignalHandler(int sig)
{
// memoize for euslisp handler...
context *ctx=euscontexts[thr_self()];
ctx->intsig = sig;
}
/************************************************************
* EUSLISP functions
************************************************************/
pointer ROSEUS(register context *ctx,int n,pointer *argv)
{
char name[256] = "";
uint32_t options = 0;
int cargc = 0;
char *cargv[32];
if( s_bInstalled ) {
ROS_WARN("ROSEUS is already installed as %s", ros::this_node::getName().c_str());
return (T);
}
ckarg(3);
if (isstring(argv[0]))
strncpy(name,(char *)(argv[0]->c.str.chars),255);
else error(E_NOSTRING);
options = ckintval(argv[1]);
pointer p = argv[2];
if (islist(p)) {
while (1) {
if (!iscons(p)) break;
cargv[cargc]=(char *)((ccar(p))->c.str.chars);
cargc++;
p=ccdr(p);
}
} else error(E_NOSEQ);
// convert invalid node name charactors to _, we assume it is '-'
for (unsigned int i=0; i < strlen(name); i++)
if ( ! (isalpha(name[i]) || isdigit(name[i])) ) name[i] = '_';
K_ROSEUS_MD5SUM = defkeyword(ctx,"MD5SUM-");
K_ROSEUS_DATATYPE = defkeyword(ctx,"DATATYPE-");
K_ROSEUS_DEFINITION = defkeyword(ctx,"DEFINITION-");
K_ROSEUS_CONNECTION_HEADER = intern(ctx,"_CONNECTION-HEADER",18,findpkg(makestring("ROS",3)));
K_ROSEUS_SERIALIZATION_LENGTH = defkeyword(ctx,"SERIALIZATION-LENGTH");
K_ROSEUS_SERIALIZE = defkeyword(ctx,"SERIALIZE");
K_ROSEUS_DESERIALIZE = defkeyword(ctx,"DESERIALIZE");
K_ROSEUS_GET = defkeyword(ctx,"GET");
K_ROSEUS_INIT = defkeyword(ctx,"INIT");
K_ROSEUS_REQUEST = defkeyword(ctx,"REQUEST");
K_ROSEUS_RESPONSE = defkeyword(ctx,"RESPONSE");
K_ROSEUS_GROUPNAME = defkeyword(ctx,"GROUPNAME");
K_ROSEUS_ONESHOT = defkeyword(ctx,"ONESHOT");
K_ROSEUS_LAST_EXPECTED = defkeyword(ctx,"LAST-EXPECTED");
K_ROSEUS_LAST_REAL = defkeyword(ctx,"LAST-REAL");
K_ROSEUS_CURRENT_EXPECTED = defkeyword(ctx,"CURRENT-EXPECTED");
K_ROSEUS_CURRENT_REAL = defkeyword(ctx,"CURRENT-REAL");
K_ROSEUS_LAST_DURATION = defkeyword(ctx,"LAST-DURATION");
K_ROSEUS_SEC = defkeyword(ctx,"SEC");
K_ROSEUS_NSEC = defkeyword(ctx,"NSEC");
s_mapAdvertised.clear();
s_mapSubscribed.clear();
s_mapServiced.clear();
s_mapTimered.clear();
s_mapHandle.clear();
/*
set locale to none to let C RTL assume logging string can contain non-ascii characters.
Refer: https://logging.apache.org/log4cxx/latest_stable/faq.html
*/
setlocale(LC_ALL, "");
/*
force to flag ros::init_options::NoSigintHandler.
In fact, this code make no sence, because we steals
SIGINT handler by the following `signal'.
*/
options |= ros::init_options::NoSigintHandler;
/*
clear ros::master::g_uri which is defined in ros::master::init in __roseus.
this occurs if user set unix::setenv("ROS_MASTER_URI") between __roseus and
ROSEUS.
*/
if (!ros::master::g_uri.empty()) {
if ( ros::master::g_uri != getenv("ROS_MASTER_URI") ) {
ROS_WARN("ROS master uri will be changed!!, master uri %s, which is defineed previously is differ from current ROS_MASTE_URI(%s)", ros::master::g_uri.c_str(), getenv("ROS_MASTER_URI"));
ros::master::g_uri.clear();
}
}
try {
ros::init(cargc, cargv, name, options);
} catch (const ros::InvalidNameException &e) {
ROS_ERROR("%s",e.what());
error(E_MISMATCHARG);
return(NIL);
}
s_node.reset(new ros::NodeHandle());
s_rate.reset(new ros::Rate(50));
s_bInstalled = true;
// install signal handler for sigint. DO NOT call unix:signal after
// ros::roseus
signal(SIGINT, roseusSignalHandler);
return (T);
}
pointer ROSEUS_CREATE_NODEHANDLE(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
string groupname;
string ns;
ckarg2(1, 2);
// ;; arguments ;;
// groupname [ namespace ]
if (isstring(argv[0])) groupname.assign((char *)get_string(argv[0]));
else error(E_NOSTRING);
if ( n > 1 ) {
if(isstring(argv[1])) ns.assign((char *)get_string(argv[1]));
else error(E_NOSTRING);
}
if( s_mapHandle.find(groupname) != s_mapHandle.end() ) {
ROS_DEBUG("groupname %s is already used", groupname.c_str());
return (NIL);
}
boost::shared_ptr<NodeHandle> hd;
if ( n > 1 ) {
hd = boost::shared_ptr<NodeHandle> (new NodeHandle(ns));
s_mapHandle[groupname] = hd;
} else {
hd = boost::shared_ptr<NodeHandle>(new NodeHandle());
s_mapHandle[groupname] = hd;
}
//add callbackqueue to hd
hd->setCallbackQueue( new CallbackQueue() );
return (T);
}
pointer ROSEUS_SPIN(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
while (ctx->intsig==0 && ros::ok()) {
ros::spinOnce();
s_rate->sleep();
}
return (NIL);
}
pointer ROSEUS_SPINONCE(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
ckarg2(0, 1);
// ;; arguments ;;
// [ groupname ]
if ( n > 0 ) {
string groupname;
if (isstring(argv[0])) groupname.assign((char *)get_string(argv[0]));
else error(E_NOSTRING);
map<string, boost::shared_ptr<NodeHandle > >::iterator it = s_mapHandle.find(groupname);
if( it == s_mapHandle.end() ) {
ROS_ERROR("Groupname %s is missing", groupname.c_str());
return (T);
}
boost::shared_ptr<NodeHandle > hdl = (it->second);
// spin this nodehandle
((CallbackQueue *)hdl->getCallbackQueue())->callAvailable();
return (NIL);
} else {
ros::spinOnce();
return (NIL);
}
}
pointer ROSEUS_TIME_NOW(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
pointer timevec;
ros::Time t = ros::Time::now();
timevec=makevector(C_INTVECTOR,2);
vpush(timevec);
timevec->c.ivec.iv[0]=t.sec;
timevec->c.ivec.iv[1]=t.nsec;
vpop();
return (timevec);
}
pointer ROSEUS_RATE(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
numunion nu;
ckarg(1);
float timeout=ckfltval(argv[0]);
s_rate.reset(new ros::Rate(timeout));
return(T);
}
pointer ROSEUS_SLEEP(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
s_rate->sleep();
return (T);
}
pointer ROSEUS_DURATION_SLEEP(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
numunion nu;
ckarg(1);
float sleep=ckfltval(argv[0]);
ros::Duration(sleep).sleep();
return(T);
}
pointer ROSEUS_OK(register context *ctx,int n,pointer *argv)
{
if (ros::ok()) {
return (T);
} else {
return (NIL);
}
}
#define def_rosconsole_formatter(funcname, rosfuncname) \
pointer funcname(register context *ctx,int n,pointer *argv) \
{ pointer *argv2,msg; \
int argc2; \
argc2 = n+1; \
argv2 = (pointer *)malloc(sizeof(pointer)*argc2); \
argv2[0] = NIL; \
for(int i=0;i<n;i++) argv2[i+1]=argv[i] ; \
msg = XFORMAT(ctx, argc2, argv2); \
rosfuncname("%s", msg->c.str.chars); \
free(argv2); \
return (T); \
}
def_rosconsole_formatter(ROSEUS_ROSDEBUG, ROS_DEBUG)
def_rosconsole_formatter(ROSEUS_ROSINFO, ROS_INFO)
def_rosconsole_formatter(ROSEUS_ROSWARN, ROS_WARN)
def_rosconsole_formatter(ROSEUS_ROSERROR, ROS_ERROR)
def_rosconsole_formatter(ROSEUS_ROSFATAL, ROS_FATAL)
pointer ROSEUS_EXIT(register context *ctx,int n,pointer *argv)
{
ROS_INFO("%s", __PRETTY_FUNCTION__);
if( s_bInstalled ) {
ROS_INFO("exiting roseus %ld", (n==0)?n:ckintval(argv[0]));
s_mapAdvertised.clear();
s_mapSubscribed.clear();
s_mapServiced.clear();
s_mapTimered.clear();
s_mapHandle.clear();
ros::shutdown();
}
if (n==0) _exit(0);
else _exit(ckintval(argv[0]));
}
/************************************************************
* ROSEUS Publisher/Subscriber
************************************************************/
pointer ROSEUS_SUBSCRIBE(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
string topicname;
pointer message, fncallback, args;
int queuesize = 1;
NodeHandle *lnode = s_node.get();
// ;; arguments ;;
// topicname message_type callbackfunc args0 ... argsN [ queuesize ] [ :groupname groupname ]
if (isstring(argv[0])) topicname = ros::names::resolve((char *)get_string(argv[0]));
else error(E_NOSTRING);
if (n > 1 && issymbol(argv[n-2]) && isstring(argv[n-1])) {
if (argv[n-2] == K_ROSEUS_GROUPNAME) {
string groupname;
groupname.assign((char *)get_string(argv[n-1]));
map<string, boost::shared_ptr<NodeHandle > >::iterator it = s_mapHandle.find(groupname);
if( it != s_mapHandle.end() ) {
ROS_DEBUG("subscribe with groupname=%s", groupname.c_str());
lnode = (it->second).get();
} else {
ROS_ERROR("Groupname %s is missing. Topic %s is not subscribed. Call (ros::create-nodehandle \"%s\") first.",
groupname.c_str(), topicname.c_str(), groupname.c_str());
return (NIL);
}
n -= 2;
}
}
if (isint(argv[n-1])) {queuesize = ckintval(argv[n-1]);n--;}
ROS_DEBUG("subscribe %s queuesize=%d", topicname.c_str(), queuesize);
// TODO:need error checking
message = argv[1];
fncallback = argv[2];
args=NIL;
for (int i=n-1;i>=3;i--) args=cons(ctx,argv[i],args);
EuslispMessage msg(message);
boost::shared_ptr<SubscriptionCallbackHelper> *callback =
(new boost::shared_ptr<SubscriptionCallbackHelper>
(new EuslispSubscriptionCallbackHelper(fncallback, args, message)));
SubscribeOptions so(topicname, queuesize, msg.__getMD5Sum(), msg.__getDataType());
so.helper = *callback;
Subscriber subscriber = lnode->subscribe(so);
boost::shared_ptr<Subscriber> sub = boost::shared_ptr<Subscriber>(new Subscriber(subscriber));
if ( !!sub ) {
s_mapSubscribed[topicname] = sub;
} else {
ROS_ERROR("s_mapSubscribed");
}
return (T);
}
pointer ROSEUS_UNSUBSCRIBE(register context *ctx,int n,pointer *argv)
{
string topicname;
ckarg(1);
if (isstring(argv[0])) topicname = ros::names::resolve((char *)get_string(argv[0]));
else error(E_NOSTRING);
bool bSuccess = s_mapSubscribed.erase(topicname)>0;
return (bSuccess?T:NIL);
}
pointer ROSEUS_GETNUMPUBLISHERS(register context *ctx,int n,pointer *argv)
{
string topicname;
int ret;
ckarg(1);
if (isstring(argv[0])) topicname = ros::names::resolve((char *)get_string(argv[0]));
else error(E_NOSTRING);
bool bSuccess = false;
map<string, boost::shared_ptr<Subscriber> >::iterator it = s_mapSubscribed.find(topicname);
if( it != s_mapSubscribed.end() ) {
boost::shared_ptr<Subscriber> subscriber = (it->second);
ret = subscriber->getNumPublishers();
bSuccess = true;
}
if ( ! bSuccess ) {
ROS_ERROR("attempted to getNumPublishers to topic %s, which was not " \
"previously subscribed. call (ros::subscribe \"%s\") first.",
topicname.c_str(), topicname.c_str());
}
return (bSuccess?(makeint(ret)):NIL);
}
pointer ROSEUS_GETTOPICSUBSCRIBER(register context *ctx,int n,pointer *argv)
{
string topicname;
string ret;
ckarg(1);
if (isstring(argv[0])) topicname = ros::names::resolve((char *)get_string(argv[0]));
else error(E_NOSTRING);
bool bSuccess = false;
map<string, boost::shared_ptr<Subscriber> >::iterator it = s_mapSubscribed.find(topicname);
if( it != s_mapSubscribed.end() ) {
boost::shared_ptr<Subscriber> subscriber = (it->second);
ret = subscriber->getTopic();
bSuccess = true;
}
return (bSuccess?(makestring((char *)ret.c_str(), ret.length())):NIL);
}
pointer ROSEUS_ADVERTISE(register context *ctx,int n,pointer *argv)
{
isInstalledCheck;
string topicname;
pointer message;
int queuesize = 1;
bool latch = false;
ckarg2(2,4);
if (isstring(argv[0])) topicname = ros::names::resolve((char *)get_string(argv[0]));
else error(E_NOSTRING);
message = argv[1];
if ( n > 2 ) {
queuesize = ckintval(argv[2]);
}
if ( n > 3 ) {
latch = (argv[3]!=NIL ? true : false);
}
ROS_DEBUG("advertise %s %d %d", topicname.c_str(), queuesize, latch);
if( s_mapAdvertised.find(topicname) != s_mapAdvertised.end() ) {
ROS_WARN("topic %s already advertised", topicname.c_str());
return (NIL);
}
EuslispMessage msg(message);
AdvertiseOptions ao(topicname, queuesize, msg.__getMD5Sum(), msg.__getDataType(), msg.__getMessageDefinition());
ao.latch = latch;
Publisher publisher = s_node->advertise(ao);
boost::shared_ptr<Publisher> pub = boost::shared_ptr<Publisher>(new Publisher(publisher));
if ( !!pub ) {
s_mapAdvertised[topicname] = pub;
} else {
ROS_ERROR("s_mapAdvertised");
}
return (T);
}
pointer ROSEUS_UNADVERTISE(register context *ctx,int n,pointer *argv)
{
string topicname;
ckarg(1);
if (isstring(argv[0])) topicname = ros::names::resolve((char *)get_string(argv[0]));
else error(E_NOSTRING);
bool bSuccess = s_mapAdvertised.erase(topicname)>0;
return (bSuccess?T:NIL);
}