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Fixing warnings in ros_bridge concerning data type conversion by using size_t instead of int
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‎include/ros_bridge.h‎

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#pragma once
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#include <iostream>
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#include <string>
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#include <thread>
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#include <functional>
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#include <unordered_map>
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#include <list>
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#include <queue>
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#include <chrono>
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#include <stdio.h>
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#include "types.h"
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#include "helper.h"
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#include "spinlock.h"
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#include "itransport_layer.h"
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#include "rapidjson/document.h"
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#include "rapidjson/writer.h"
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#include "rapidjson/stringbuffer.h"
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#include "messages/rosbridge_advertise_msg.h"
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#include "messages/rosbridge_advertise_service_msg.h"
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#include "messages/rosbridge_call_service_msg.h"
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#include "messages/rosbridge_msg.h"
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#include "messages/rosbridge_publish_msg.h"
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#include "messages/rosbridge_service_response_msg.h"
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#include "messages/rosbridge_subscribe_msg.h"
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#include "messages/rosbridge_unadvertise_msg.h"
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#include "messages/rosbridge_unadvertise_service_msg.h"
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#include "messages/rosbridge_unsubscribe_msg.h"
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using json = rapidjson::Document;
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namespace rosbridge2cpp {
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/**
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* The main rosbridge2cpp class that connects to the rosbridge server.
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* The library is inspired by [roslibjs](http://wiki.ros.org/roslibjs),
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* which is a feature-rich client-side implementation of the rosbridge protocol in java script.
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*/
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class ROSBridge {
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public:
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ROSBridge(ITransportLayer &transport) : transport_layer_(transport) {}
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ROSBridge(ITransportLayer &transport, bool bson_only_mode) : transport_layer_(transport), bson_only_mode_(bson_only_mode) {}
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~ROSBridge();
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// Init the underlying transport layer and everything thats required
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// to initialized in this class.
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bool Init(std::string ip_addr, int port);
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bool IsHealthy() const;
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// Send arbitrary string-data over the given TransportLayer
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bool SendMessage(std::string data);
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// Send json data over the transport layer,
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// by serializing it and using
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// ROSBridge::send_message(std::string data)
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bool SendMessage(json &data);
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bool SendMessage(ROSBridgeMsg &msg);
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bool QueueMessage(const std::string& topic_name, int queue_size, ROSBridgePublishMsg& msg);
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// Registration function for topic callbacks.
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// This method should ONLY be called by ROSTopic instances.
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// It will pass the received data to the registered std::function.
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//
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// Please note:
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// _If you register more than one callback for the
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// same topic, the old one get's overwritten_
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void RegisterTopicCallback(std::string topic_name, ROSCallbackHandle<FunVrROSPublishMsg>& callback_handle);
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// This method should ONLY be called by ROSTopic instances.
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// If you call this on your own, the housekeeping in ROSTopic
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// might fail which leads to missing unsubscribe messages etc.
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//
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// @return true, if the passed callback has been found and removed. false otherwise.
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bool UnregisterTopicCallback(std::string topic_name, const ROSCallbackHandle<FunVrROSPublishMsg>& callback_handle);
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// Register the callback for a service call.
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// This callback will be executed when we receive the response for a particular Service Request
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void RegisterServiceCallback(std::string service_call_id, FunVrROSServiceResponseMsg fun);
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// Register the callback that shall be executed,
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// whenever we receive a request for a service that
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// this ROSBridge has advertised via a ROSService.
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void RegisterServiceRequestCallback(std::string service_name, FunVrROSCallServiceMsgrROSServiceResponseMsgrAllocator fun);
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void RegisterServiceRequestCallback(std::string service_name, FunVrROSCallServiceMsgrROSServiceResponseMsg fun);
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// An ID Counter that will be used to generate increasing
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// IDs for service/topic etc. messages
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long id_counter = 0;
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// Returns true if the bson only mode is activated
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bool bson_only_mode() {
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return bson_only_mode_;
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}
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// Enable the BSON only mode.
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// All communications with the rosbridge server
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// will be in BSON, instead of JSON
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void enable_bson_mode() { bson_only_mode_ = true; }
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private:
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// Callback function for the used ITransportLayer.
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// It receives the received json that was contained
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// in the incoming ROSBridge packet
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//
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// @pre This method assumes a valid json variable
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void IncomingMessageCallback(json &data);
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void IncomingMessageCallback(bson_t &bson);
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// Handler Method for reply packet
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void HandleIncomingPublishMessage(ROSBridgePublishMsg &data);
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// Handler Method for reply packet
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void HandleIncomingServiceResponseMessage(ROSBridgeServiceResponseMsg &data);
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// Handler Method for reply packet
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void HandleIncomingServiceRequestMessage(ROSBridgeCallServiceMsg &data);
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int RunPublisherQueueThread();
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ITransportLayer &transport_layer_;
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std::unordered_map<std::string, std::list<ROSCallbackHandle<FunVrROSPublishMsg>>> registered_topic_callbacks_;
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std::unordered_map<std::string, FunVrROSServiceResponseMsg> registered_service_callbacks_;
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std::unordered_map<std::string, FunVrROSCallServiceMsgrROSServiceResponseMsgrAllocator> registered_service_request_callbacks_;
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std::unordered_map<std::string, FunVrROSCallServiceMsgrROSServiceResponseMsg> registered_service_request_callbacks_bson_;
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bool bson_only_mode_ = false;
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spinlock transport_layer_access_mutex_;
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spinlock change_topics_mutex_;
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std::thread publisher_queue_thread_;
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spinlock change_publisher_queues_mutex_;
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std::unordered_map<std::string, int> publisher_topics_; // points to index in publisher_queues_
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std::vector<std::queue<bson_t*>> publisher_queues_; // data to publish on the queue thread
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int current_publisher_queue_ = 0;
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bool run_publisher_queue_thread_ = true;
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std::chrono::system_clock::time_point LastDataSendTime; // watchdog for send thread. Socket sometimes blocks infinitely.
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};
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}
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#pragma once
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#include <iostream>
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#include <string>
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#include <thread>
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#include <functional>
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#include <unordered_map>
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#include <list>
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#include <queue>
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#include <chrono>
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#include <stdio.h>
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#include "types.h"
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#include "helper.h"
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#include "spinlock.h"
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#include "itransport_layer.h"
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#include "rapidjson/document.h"
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#include "rapidjson/writer.h"
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#include "rapidjson/stringbuffer.h"
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#include "messages/rosbridge_advertise_msg.h"
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#include "messages/rosbridge_advertise_service_msg.h"
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#include "messages/rosbridge_call_service_msg.h"
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#include "messages/rosbridge_msg.h"
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#include "messages/rosbridge_publish_msg.h"
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#include "messages/rosbridge_service_response_msg.h"
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#include "messages/rosbridge_subscribe_msg.h"
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#include "messages/rosbridge_unadvertise_msg.h"
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#include "messages/rosbridge_unadvertise_service_msg.h"
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#include "messages/rosbridge_unsubscribe_msg.h"
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using json = rapidjson::Document;
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namespace rosbridge2cpp {
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/**
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* The main rosbridge2cpp class that connects to the rosbridge server.
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* The library is inspired by [roslibjs](http://wiki.ros.org/roslibjs),
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* which is a feature-rich client-side implementation of the rosbridge protocol in java script.
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*/
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class ROSBridge {
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public:
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ROSBridge(ITransportLayer &transport) : transport_layer_(transport) {}
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ROSBridge(ITransportLayer &transport, bool bson_only_mode) : transport_layer_(transport), bson_only_mode_(bson_only_mode) {}
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~ROSBridge();
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// Init the underlying transport layer and everything thats required
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// to initialized in this class.
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bool Init(std::string ip_addr, int port);
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bool IsHealthy() const;
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// Send arbitrary string-data over the given TransportLayer
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bool SendMessage(std::string data);
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// Send json data over the transport layer,
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// by serializing it and using
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// ROSBridge::send_message(std::string data)
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bool SendMessage(json &data);
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bool SendMessage(ROSBridgeMsg &msg);
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bool QueueMessage(const std::string& topic_name, size_t queue_size, ROSBridgePublishMsg& msg);
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// Registration function for topic callbacks.
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// This method should ONLY be called by ROSTopic instances.
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// It will pass the received data to the registered std::function.
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//
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// Please note:
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// _If you register more than one callback for the
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// same topic, the old one get's overwritten_
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void RegisterTopicCallback(std::string topic_name, ROSCallbackHandle<FunVrROSPublishMsg>& callback_handle);
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// This method should ONLY be called by ROSTopic instances.
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// If you call this on your own, the housekeeping in ROSTopic
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// might fail which leads to missing unsubscribe messages etc.
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//
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// @return true, if the passed callback has been found and removed. false otherwise.
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bool UnregisterTopicCallback(std::string topic_name, const ROSCallbackHandle<FunVrROSPublishMsg>& callback_handle);
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// Register the callback for a service call.
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// This callback will be executed when we receive the response for a particular Service Request
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void RegisterServiceCallback(std::string service_call_id, FunVrROSServiceResponseMsg fun);
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// Register the callback that shall be executed,
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// whenever we receive a request for a service that
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// this ROSBridge has advertised via a ROSService.
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void RegisterServiceRequestCallback(std::string service_name, FunVrROSCallServiceMsgrROSServiceResponseMsgrAllocator fun);
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void RegisterServiceRequestCallback(std::string service_name, FunVrROSCallServiceMsgrROSServiceResponseMsg fun);
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// An ID Counter that will be used to generate increasing
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// IDs for service/topic etc. messages
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long id_counter = 0;
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// Returns true if the bson only mode is activated
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bool bson_only_mode() {
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return bson_only_mode_;
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}
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// Enable the BSON only mode.
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// All communications with the rosbridge server
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// will be in BSON, instead of JSON
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void enable_bson_mode() { bson_only_mode_ = true; }
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private:
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// Callback function for the used ITransportLayer.
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// It receives the received json that was contained
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// in the incoming ROSBridge packet
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//
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// @pre This method assumes a valid json variable
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void IncomingMessageCallback(json &data);
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void IncomingMessageCallback(bson_t &bson);
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// Handler Method for reply packet
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void HandleIncomingPublishMessage(ROSBridgePublishMsg &data);
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// Handler Method for reply packet
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void HandleIncomingServiceResponseMessage(ROSBridgeServiceResponseMsg &data);
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// Handler Method for reply packet
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void HandleIncomingServiceRequestMessage(ROSBridgeCallServiceMsg &data);
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int RunPublisherQueueThread();
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ITransportLayer &transport_layer_;
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std::unordered_map<std::string, std::list<ROSCallbackHandle<FunVrROSPublishMsg>>> registered_topic_callbacks_;
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std::unordered_map<std::string, FunVrROSServiceResponseMsg> registered_service_callbacks_;
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std::unordered_map<std::string, FunVrROSCallServiceMsgrROSServiceResponseMsgrAllocator> registered_service_request_callbacks_;
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std::unordered_map<std::string, FunVrROSCallServiceMsgrROSServiceResponseMsg> registered_service_request_callbacks_bson_;
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bool bson_only_mode_ = false;
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spinlock transport_layer_access_mutex_;
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spinlock change_topics_mutex_;
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std::thread publisher_queue_thread_;
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spinlock change_publisher_queues_mutex_;
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std::unordered_map<std::string, size_t> publisher_topics_; // points to index in publisher_queues_
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std::vector<std::queue<bson_t*>> publisher_queues_; // data to publish on the queue thread
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size_t current_publisher_queue_ = 0;
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bool run_publisher_queue_thread_ = true;
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std::chrono::system_clock::time_point LastDataSendTime; // watchdog for send thread. Socket sometimes blocks infinitely.
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};
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}

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