/usr/include/tf2_ros/message_filter.h is in libtf2-ros-dev 0.5.12-2.
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* Copyright (c) 2010, 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 the 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 Josh Faust */
#ifndef TF2_ROS_MESSAGE_FILTER_H
#define TF2_ROS_MESSAGE_FILTER_H
#include <tf2/buffer_core.h>
#include <string>
#include <list>
#include <vector>
#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>
#include <message_filters/connection.h>
#include <message_filters/simple_filter.h>
#include <ros/node_handle.h>
#include <ros/callback_queue_interface.h>
#include <ros/init.h>
#define TF2_ROS_MESSAGEFILTER_DEBUG(fmt, ...) \
ROS_DEBUG_NAMED("message_filter", std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), getTargetFramesString().c_str(), __VA_ARGS__)
#define TF2_ROS_MESSAGEFILTER_WARN(fmt, ...) \
ROS_WARN_NAMED("message_filter", std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), getTargetFramesString().c_str(), __VA_ARGS__)
namespace tf2_ros
{
namespace filter_failure_reasons
{
enum FilterFailureReason
{
/// The message buffer overflowed, and this message was pushed off the back of the queue, but the reason it was unable to be transformed is unknown.
Unknown,
/// The timestamp on the message is more than the cache length earlier than the newest data in the transform cache
OutTheBack,
/// The frame_id on the message is empty
EmptyFrameID,
};
}
typedef filter_failure_reasons::FilterFailureReason FilterFailureReason;
class MessageFilterBase
{
public:
typedef std::vector<std::string> V_string;
virtual ~MessageFilterBase(){}
virtual void clear() = 0;
virtual void setTargetFrame(const std::string& target_frame) = 0;
virtual void setTargetFrames(const V_string& target_frames) = 0;
virtual void setTolerance(const ros::Duration& tolerance) = 0;
};
/**
* \brief Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available
*
* The callbacks used in this class are of the same form as those used by roscpp's message callbacks.
*
* MessageFilter is templated on a message type.
*
* \section example_usage Example Usage
*
* If you want to hook a MessageFilter into a ROS topic:
\verbatim
message_filters::Subscriber<MessageType> sub(node_handle_, "topic", 10);
tf::MessageFilter<MessageType> tf_filter(sub, tf_listener_, "/map", 10);
tf_filter.registerCallback(&MyClass::myCallback, this);
\endverbatim
*/
template<class M>
class MessageFilter : public MessageFilterBase, public message_filters::SimpleFilter<M>
{
public:
typedef boost::shared_ptr<M const> MConstPtr;
typedef ros::MessageEvent<M const> MEvent;
typedef boost::function<void(const MConstPtr&, FilterFailureReason)> FailureCallback;
typedef boost::signals2::signal<void(const MConstPtr&, FilterFailureReason)> FailureSignal;
// If you hit this assert your message does not have a header, or does not have the HasHeader trait defined for it
// Actually, we need to check that the message has a header, or that it
// has the FrameId and Stamp traits. However I don't know how to do that
// so simply commenting out for now.
//ROS_STATIC_ASSERT(ros::message_traits::HasHeader<M>::value);
/**
* \brief Constructor
*
* \param tf The tf::Transformer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param nh The NodeHandle whose callback queue we should add callbacks to
*/
MessageFilter(tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, const ros::NodeHandle& nh)
: bc_(bc)
, queue_size_(queue_size)
, callback_queue_(nh.getCallbackQueue())
{
init();
setTargetFrame(target_frame);
}
/**
* \brief Constructor
*
* \param f The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
* \param tf The tf::Transformer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param nh The NodeHandle whose callback queue we should add callbacks to
*/
template<class F>
MessageFilter(F& f, tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, const ros::NodeHandle& nh)
: bc_(bc)
, queue_size_(queue_size)
, callback_queue_(nh.getCallbackQueue())
{
init();
setTargetFrame(target_frame);
connectInput(f);
}
/**
* \brief Constructor
*
* \param tf The tf::Transformer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param cbqueue The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either
* a) add() is called, which will generally be when the previous filter in the chain outputs a message, or
* b) tf2::BufferCore::setTransform() is called
*/
MessageFilter(tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, ros::CallbackQueueInterface* cbqueue)
: bc_(bc)
, queue_size_(queue_size)
, callback_queue_(cbqueue)
{
init();
setTargetFrame(target_frame);
}
/**
* \brief Constructor
*
* \param f The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
* \param tf The tf::Transformer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param cbqueue The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either
* a) add() is called, which will generally be when the previous filter in the chain outputs a message, or
* b) tf2::BufferCore::setTransform() is called
*/
template<class F>
MessageFilter(F& f, tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, ros::CallbackQueueInterface* cbqueue)
: bc_(bc)
, queue_size_(queue_size)
, callback_queue_(cbqueue)
{
init();
setTargetFrame(target_frame);
connectInput(f);
}
/**
* \brief Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.
*/
template<class F>
void connectInput(F& f)
{
message_connection_.disconnect();
message_connection_ = f.registerCallback(&MessageFilter::incomingMessage, this);
}
/**
* \brief Destructor
*/
~MessageFilter()
{
message_connection_.disconnect();
clear();
TF2_ROS_MESSAGEFILTER_DEBUG("Successful Transforms: %llu, Discarded due to age: %llu, Transform messages received: %llu, Messages received: %llu, Total dropped: %llu",
(long long unsigned int)successful_transform_count_,
(long long unsigned int)failed_out_the_back_count_, (long long unsigned int)transform_message_count_,
(long long unsigned int)incoming_message_count_, (long long unsigned int)dropped_message_count_);
}
/**
* \brief Set the frame you need to be able to transform to before getting a message callback
*/
void setTargetFrame(const std::string& target_frame)
{
V_string frames;
frames.push_back(target_frame);
setTargetFrames(frames);
}
/**
* \brief Set the frames you need to be able to transform to before getting a message callback
*/
void setTargetFrames(const V_string& target_frames)
{
boost::mutex::scoped_lock frames_lock(target_frames_mutex_);
target_frames_.resize(target_frames.size());
std::transform(target_frames.begin(), target_frames.end(), target_frames_.begin(), this->stripSlash);
expected_success_count_ = target_frames_.size() + (time_tolerance_.isZero() ? 0 : 1);
std::stringstream ss;
for (V_string::iterator it = target_frames_.begin(); it != target_frames_.end(); ++it)
{
ss << *it << " ";
}
target_frames_string_ = ss.str();
}
/**
* \brief Get the target frames as a string for debugging
*/
std::string getTargetFramesString()
{
boost::mutex::scoped_lock lock(target_frames_mutex_);
return target_frames_string_;
};
/**
* \brief Set the required tolerance for the notifier to return true
*/
void setTolerance(const ros::Duration& tolerance)
{
boost::mutex::scoped_lock lock(target_frames_mutex_);
time_tolerance_ = tolerance;
expected_success_count_ = target_frames_.size() + (time_tolerance_.isZero() ? 0 : 1);
}
/**
* \brief Clear any messages currently in the queue
*/
void clear()
{
boost::unique_lock< boost::shared_mutex > unique_lock(messages_mutex_);
TF2_ROS_MESSAGEFILTER_DEBUG("%s", "Cleared");
bc_.removeTransformableCallback(callback_handle_);
callback_handle_ = bc_.addTransformableCallback(boost::bind(&MessageFilter::transformable, this, _1, _2, _3, _4, _5));
messages_.clear();
message_count_ = 0;
warned_about_empty_frame_id_ = false;
}
void add(const MEvent& evt)
{
if (target_frames_.empty())
{
return;
}
namespace mt = ros::message_traits;
const MConstPtr& message = evt.getMessage();
std::string frame_id = stripSlash(mt::FrameId<M>::value(*message));
ros::Time stamp = mt::TimeStamp<M>::value(*message);
if (frame_id.empty())
{
messageDropped(evt, filter_failure_reasons::EmptyFrameID);
return;
}
// iterate through the target frames and add requests for each of them
MessageInfo info;
info.handles.reserve(expected_success_count_);
{
V_string target_frames_copy;
// Copy target_frames_ to avoid deadlock from #79
{
boost::mutex::scoped_lock frames_lock(target_frames_mutex_);
target_frames_copy = target_frames_;
}
V_string::iterator it = target_frames_copy.begin();
V_string::iterator end = target_frames_copy.end();
for (; it != end; ++it)
{
const std::string& target_frame = *it;
tf2::TransformableRequestHandle handle = bc_.addTransformableRequest(callback_handle_, target_frame, frame_id, stamp);
if (handle == 0xffffffffffffffffULL) // never transformable
{
messageDropped(evt, filter_failure_reasons::OutTheBack);
return;
}
else if (handle == 0)
{
++info.success_count;
}
else
{
info.handles.push_back(handle);
}
if (!time_tolerance_.isZero())
{
handle = bc_.addTransformableRequest(callback_handle_, target_frame, frame_id, stamp + time_tolerance_);
if (handle == 0xffffffffffffffffULL) // never transformable
{
messageDropped(evt, filter_failure_reasons::OutTheBack);
return;
}
else if (handle == 0)
{
++info.success_count;
}
else
{
info.handles.push_back(handle);
}
}
}
}
// We can transform already
if (info.success_count == expected_success_count_)
{
messageReady(evt);
}
else
{
// If this message is about to push us past our queue size, erase the oldest message
if (queue_size_ != 0 && message_count_ + 1 > queue_size_)
{
// While we're using the reference keep a shared lock on the messages.
boost::shared_lock< boost::shared_mutex > shared_lock(messages_mutex_);
++dropped_message_count_;
const MessageInfo& front = messages_.front();
TF2_ROS_MESSAGEFILTER_DEBUG("Removed oldest message because buffer is full, count now %d (frame_id=%s, stamp=%f)", message_count_,
(mt::FrameId<M>::value(*front.event.getMessage())).c_str(), mt::TimeStamp<M>::value(*front.event.getMessage()).toSec());
V_TransformableRequestHandle::const_iterator it = front.handles.begin();
V_TransformableRequestHandle::const_iterator end = front.handles.end();
for (; it != end; ++it)
{
bc_.cancelTransformableRequest(*it);
}
messageDropped(front.event, filter_failure_reasons::Unknown);
// Unlock the shared lock and get a unique lock. Upgradeable lock is used in transformable.
// There can only be one upgrade lock. It's important the cancelTransformableRequest not deadlock with transformable.
// They both require the transformable_requests_mutex_ in BufferCore.
shared_lock.unlock();
// There is a very slight race condition if an older message arrives in this gap.
boost::unique_lock< boost::shared_mutex > unique_lock(messages_mutex_);
messages_.pop_front();
--message_count_;
}
// Add the message to our list
info.event = evt;
// Lock access to the messages_ before modifying them.
boost::unique_lock< boost::shared_mutex > unique_lock(messages_mutex_);
messages_.push_back(info);
++message_count_;
}
TF2_ROS_MESSAGEFILTER_DEBUG("Added message in frame %s at time %.3f, count now %d", frame_id.c_str(), stamp.toSec(), message_count_);
++incoming_message_count_;
}
/**
* \brief Manually add a message into this filter.
* \note If the message (or any other messages in the queue) are immediately transformable this will immediately call through to the output callback, possibly
* multiple times
*/
void add(const MConstPtr& message)
{
boost::shared_ptr<std::map<std::string, std::string> > header(new std::map<std::string, std::string>);
(*header)["callerid"] = "unknown";
ros::WallTime n = ros::WallTime::now();
ros::Time t(n.sec, n.nsec);
add(MEvent(message, header, t));
}
/**
* \brief Register a callback to be called when a message is about to be dropped
* \param callback The callback to call
*/
message_filters::Connection registerFailureCallback(const FailureCallback& callback)
{
boost::mutex::scoped_lock lock(failure_signal_mutex_);
return message_filters::Connection(boost::bind(&MessageFilter::disconnectFailure, this, _1), failure_signal_.connect(callback));
}
virtual void setQueueSize( uint32_t new_queue_size )
{
queue_size_ = new_queue_size;
}
virtual uint32_t getQueueSize()
{
return queue_size_;
}
private:
void init()
{
message_count_ = 0;
successful_transform_count_ = 0;
failed_out_the_back_count_ = 0;
transform_message_count_ = 0;
incoming_message_count_ = 0;
dropped_message_count_ = 0;
time_tolerance_ = ros::Duration(0.0);
warned_about_empty_frame_id_ = false;
expected_success_count_ = 1;
callback_handle_ = bc_.addTransformableCallback(boost::bind(&MessageFilter::transformable, this, _1, _2, _3, _4, _5));
}
void transformable(tf2::TransformableRequestHandle request_handle, const std::string& target_frame, const std::string& source_frame,
ros::Time time, tf2::TransformableResult result)
{
namespace mt = ros::message_traits;
boost::upgrade_lock< boost::shared_mutex > lock(messages_mutex_);
// find the message this request is associated with
typename L_MessageInfo::iterator msg_it = messages_.begin();
typename L_MessageInfo::iterator msg_end = messages_.end();
for (; msg_it != msg_end; ++msg_it)
{
MessageInfo& info = *msg_it;
V_TransformableRequestHandle::const_iterator handle_it = std::find(info.handles.begin(), info.handles.end(), request_handle);
if (handle_it != info.handles.end())
{
// found msg_it
++info.success_count;
break;
}
}
if (msg_it == msg_end)
{
return;
}
const MessageInfo& info = *msg_it;
if (info.success_count < expected_success_count_)
{
return;
}
bool can_transform = true;
const MConstPtr& message = info.event.getMessage();
std::string frame_id = stripSlash(mt::FrameId<M>::value(*message));
ros::Time stamp = mt::TimeStamp<M>::value(*message);
if (result == tf2::TransformAvailable)
{
boost::mutex::scoped_lock frames_lock(target_frames_mutex_);
// make sure we can still perform all the necessary transforms
typename V_string::iterator it = target_frames_.begin();
typename V_string::iterator end = target_frames_.end();
for (; it != end; ++it)
{
const std::string& target = *it;
if (!bc_.canTransform(target, frame_id, stamp))
{
can_transform = false;
break;
}
if (!time_tolerance_.isZero())
{
if (!bc_.canTransform(target, frame_id, stamp + time_tolerance_))
{
can_transform = false;
break;
}
}
}
}
else
{
can_transform = false;
}
// We will be mutating messages now, require unique lock
boost::upgrade_to_unique_lock< boost::shared_mutex > uniqueLock(lock);
if (can_transform)
{
TF2_ROS_MESSAGEFILTER_DEBUG("Message ready in frame %s at time %.3f, count now %d", frame_id.c_str(), stamp.toSec(), message_count_ - 1);
++successful_transform_count_;
messageReady(info.event);
}
else
{
++dropped_message_count_;
TF2_ROS_MESSAGEFILTER_DEBUG("Discarding message in frame %s at time %.3f, count now %d", frame_id.c_str(), stamp.toSec(), message_count_ - 1);
messageDropped(info.event, filter_failure_reasons::Unknown);
}
messages_.erase(msg_it);
--message_count_;
}
/**
* \brief Callback that happens when we receive a message on the message topic
*/
void incomingMessage(const ros::MessageEvent<M const>& evt)
{
add(evt);
}
void checkFailures()
{
if (next_failure_warning_.isZero())
{
next_failure_warning_ = ros::WallTime::now() + ros::WallDuration(15);
}
if (ros::WallTime::now() >= next_failure_warning_)
{
if (incoming_message_count_ - message_count_ == 0)
{
return;
}
double dropped_pct = (double)dropped_message_count_ / (double)(incoming_message_count_ - message_count_);
if (dropped_pct > 0.95)
{
TF2_ROS_MESSAGEFILTER_WARN("Dropped %.2f%% of messages so far. Please turn the [%s.message_notifier] rosconsole logger to DEBUG for more information.", dropped_pct*100, ROSCONSOLE_DEFAULT_NAME);
next_failure_warning_ = ros::WallTime::now() + ros::WallDuration(60);
if ((double)failed_out_the_back_count_ / (double)dropped_message_count_ > 0.5)
{
TF2_ROS_MESSAGEFILTER_WARN(" The majority of dropped messages were due to messages growing older than the TF cache time. The last message's timestamp was: %f, and the last frame_id was: %s", last_out_the_back_stamp_.toSec(), last_out_the_back_frame_.c_str());
}
}
}
}
struct CBQueueCallback : public ros::CallbackInterface
{
CBQueueCallback(MessageFilter* filter, const MEvent& event, bool success, FilterFailureReason reason)
: event_(event)
, filter_(filter)
, reason_(reason)
, success_(success)
{}
virtual CallResult call()
{
if (success_)
{
filter_->signalMessage(event_);
}
else
{
filter_->signalFailure(event_, reason_);
}
return Success;
}
private:
MEvent event_;
MessageFilter* filter_;
FilterFailureReason reason_;
bool success_;
};
void messageDropped(const MEvent& evt, FilterFailureReason reason)
{
if (callback_queue_)
{
ros::CallbackInterfacePtr cb(new CBQueueCallback(this, evt, false, reason));
callback_queue_->addCallback(cb, (uint64_t)this);
}
else
{
signalFailure(evt, reason);
}
}
void messageReady(const MEvent& evt)
{
if (callback_queue_)
{
ros::CallbackInterfacePtr cb(new CBQueueCallback(this, evt, true, filter_failure_reasons::Unknown));
callback_queue_->addCallback(cb, (uint64_t)this);
}
else
{
this->signalMessage(evt);
}
}
void disconnectFailure(const message_filters::Connection& c)
{
boost::mutex::scoped_lock lock(failure_signal_mutex_);
c.getBoostConnection().disconnect();
}
void signalFailure(const MEvent& evt, FilterFailureReason reason)
{
boost::mutex::scoped_lock lock(failure_signal_mutex_);
failure_signal_(evt.getMessage(), reason);
}
static
std::string stripSlash(const std::string& in)
{
if ( !in.empty() && (in[0] == '/'))
{
std::string out = in;
out.erase(0, 1);
return out;
}
return in;
}
tf2::BufferCore& bc_; ///< The Transformer used to determine if transformation data is available
V_string target_frames_; ///< The frames we need to be able to transform to before a message is ready
std::string target_frames_string_;
boost::mutex target_frames_mutex_; ///< A mutex to protect access to the target_frames_ list and target_frames_string.
uint32_t queue_size_; ///< The maximum number of messages we queue up
tf2::TransformableCallbackHandle callback_handle_;
typedef std::vector<tf2::TransformableRequestHandle> V_TransformableRequestHandle;
struct MessageInfo
{
MessageInfo()
: success_count(0)
{}
MEvent event;
V_TransformableRequestHandle handles;
uint32_t success_count;
};
typedef std::list<MessageInfo> L_MessageInfo;
L_MessageInfo messages_;
uint32_t message_count_; ///< The number of messages in the list. Used because <container>.size() may have linear cost
boost::shared_mutex messages_mutex_; ///< The mutex used for locking message list operations
uint32_t expected_success_count_;
bool warned_about_empty_frame_id_;
uint64_t successful_transform_count_;
uint64_t failed_out_the_back_count_;
uint64_t transform_message_count_;
uint64_t incoming_message_count_;
uint64_t dropped_message_count_;
ros::Time last_out_the_back_stamp_;
std::string last_out_the_back_frame_;
ros::WallTime next_failure_warning_;
ros::Duration time_tolerance_; ///< Provide additional tolerance on time for messages which are stamped but can have associated duration
message_filters::Connection message_connection_;
FailureSignal failure_signal_;
boost::mutex failure_signal_mutex_;
ros::CallbackQueueInterface* callback_queue_;
};
} // namespace tf2
#endif
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