iLab Neuromorphic Robotics Toolkit  0.1
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TransformManagerModule.H
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1 /*! @file
2  @author Unknown
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 #ifndef INCLUDE_NRT_ROBOTICS_MODULES_TRANSFORMMANAGERMODULE_H
35 #define INCLUDE_NRT_ROBOTICS_MODULES_TRANSFORMMANAGERMODULE_H
36 
41 
42 #define NRT_DECLARE_MESSAGE_CALLBACK( PortName ) \
43  PortName::OutPtr onMessage(PortName::InPtr msg)
44 
45 #define NRT_IMPL_MESSAGE_CALLBACK( namespace_name, Class, PortName ) \
46 namespace_name::PortName::OutPtr \
47  namespace_name::Class::onMessage(PortName::InPtr msg)
48 
49 namespace nrt
50 {
51  namespace transformmanager
52  {
53  static const nrt::ParameterCategory ParamCateg( "TransformManager Options" );
54  NRT_DECLARE_PARAMETER(maxCacheSize, size_t, "number of transforms to store before discarding old transforms",
55  1000, ParamCateg);
56  NRT_DECLARE_PARAMETER(maxCacheTime, double, "amount of time (in seconds) to wait before discarding old transforms",
57  30.0, ParamCateg);
58 
59  NRT_DECLARE_MESSAGESUBSCRIBER_PORT( TransformUpdatePort, nrt::TransformMessage, void, "Incoming transforms to cache" );
60  NRT_DECLARE_MESSAGESUBSCRIBER_PORT( TransformLookupPort, nrt::TransformLookupMessage, nrt::TransformMessage, "Result of a transform lookup" );
61  }
62 
63  class TransformManagerModule : public nrt::Module,
64  public nrt::MessageSubscriber<transformmanager::TransformUpdatePort,
65  transformmanager::TransformLookupPort>,
66  nrt::Parameter<transformmanager::maxCacheSize, transformmanager::maxCacheTime>
67  {
68  public:
69  TransformManagerModule( std::string const & instanceName = "" );
70 
71  virtual void run();
72 
73  void onMessage(transformmanager::TransformUpdatePort::InPtr msg );
74 
75  NRT_DECLARE_MESSAGE_CALLBACK( transformmanager::TransformLookupPort );
76 
77  private:
78  TransformManager itsTransformManager;
79  };
80 }
81 
82 #endif // INCLUDE_NRT_ROBOTICS_MODULES_TRANSFORMMANAGERMODULE_H