reduce ros dependencies

sarthou · Jun 24, 2024 · 7a249ec · 7a249ec
1 parent ad3412e
commit 7a249ec
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Showing 13 changed files with 228 additions and 266 deletions.
diff --git a/include/mementar/API/mementar/ActionsPublisher.h b/include/mementar/API/mementar/ActionsPublisher.h
@@ -18,11 +18,20 @@ namespace mementar {
     void insertEnd(const std::string& name, time_t end_stamp = time(nullptr));
     void insertEnd(const std::string& name, compat::mem_ros::Time end_stamp = compat::mem_ros::Node::get().currentTime());
 
+    /// @brief Register a callback function to get notifications from the feeder.
+    /// @param callback is the callback function taking a string.
+    void registerFeederNotificationCallback(const std::function<void(const std::string&)>& callback) { feeder_notification_callback_ = callback; }
+
   private:
+    std::function<void(const std::string&)> feeder_notification_callback_;
+
     compat::mem_ros::Publisher<compat::MementarAction> pub_;
+    compat::mem_ros::Subscriber<std_msgs_compat::String> feeder_notif_sub_;
 
     void publish(const std::string& name, time_t start_stamp, time_t end_stamp);
     void publish(const std::string& name, compat::mem_ros::Time start_stamp, compat::mem_ros::Time end_stamp);
+
+    void feederNotificationCallback(const compat::mem_ros::MessageWrapper<std_msgs_compat::String>& msg);
   };
 
 } // namespace mementar

diff --git a/include/mementar/API/mementar/ActionsSubscriber.h b/include/mementar/API/mementar/ActionsSubscriber.h
@@ -15,10 +15,7 @@ namespace mementar {
   {
   public:
     ActionsSubscriber(const std::function<void(const std::string&)>& callback,
-                      const std::string& name = "",
-                      bool spin_thread = true);
-    ActionsSubscriber(const std::function<void(const std::string&)>& callback,
-                      bool spin_thread);
+                      const std::string& name = "");
 
     bool subscribeToStart(const std::string& name, size_t count = -1);
     bool subscribeToEnd(const std::string& name, size_t count = -1);

diff --git a/include/mementar/API/mementar/OccasionsPublisher.h b/include/mementar/API/mementar/OccasionsPublisher.h
@@ -14,12 +14,23 @@ namespace mementar {
   public:
     OccasionsPublisher(const std::string& name = "");
 
-    void insert(const Fact& fact, time_t stamp = time(nullptr));
+    void insert(const Fact& fact, mementar::compat::mem_ros::Time stamp = compat::mem_ros::Node::get().currentTime());
+    void insert(const Fact& fact, time_t end_stamp);
+
+    /// @brief Register a callback function to get notifications from the feeder.
+    /// @param callback is the callback function taking a string.
+    void registerFeederNotificationCallback(const std::function<void(const std::string&)>& callback) { feeder_notification_callback_ = callback; }
 
   private:
+    std::function<void(const std::string&)> feeder_notification_callback_;
+
     compat::mem_ros::Publisher<compat::StampedString> pub_;
+    compat::mem_ros::Subscriber<std_msgs_compat::String> feeder_notif_sub_;
+
+    void publish(const std::string& str, mementar::compat::mem_ros::Time stamp = compat::mem_ros::Node::get().currentTime());
+    void publish(const std::string& str, time_t end_stamp);
 
-    void publish(const std::string& str, time_t stamp = time(nullptr));
+    void feederNotificationCallback(const compat::mem_ros::MessageWrapper<std_msgs_compat::String>& msg);
   };
 
 } // namespace mementar

diff --git a/include/mementar/API/mementar/OccasionsSubscriber.h b/include/mementar/API/mementar/OccasionsSubscriber.h
@@ -14,8 +14,7 @@ namespace mementar {
   class OccasionsSubscriber
   {
   public:
-    OccasionsSubscriber(const std::function<void(const Fact&)>& callback, const std::string& name = "", bool spin_thread = true);
-    OccasionsSubscriber(const std::function<void(const Fact&)>& callback, bool spin_thread);
+    OccasionsSubscriber(const std::function<void(const Fact&)>& callback, const std::string& name = "");
     ~OccasionsSubscriber();
 
     bool subscribe(const Fact& pattern, size_t count = -1);

diff --git a/include/mementar/RosInterface.h b/include/mementar/RosInterface.h
@@ -62,7 +62,6 @@ namespace mementar {
     void ontoStampedKnowledgeCallback(const compat::mem_ros::MessageWrapper<ontologenius::compat::OntologeniusStampedString>& msg);
     void ontoExplanationKnowledgeCallback(const compat::mem_ros::MessageWrapper<ontologenius::compat::OntologeniusExplanation>& msg);
 
-    // todo: do not return bool
     bool managerInstanceHandle(compat::mem_ros::ServiceWrapper<compat::MementarService::Request>& req,
                                compat::mem_ros::ServiceWrapper<compat::MementarService::Response>& res);
 

diff --git a/include/mementar/compat/ros.h b/include/mementar/compat/ros.h
@@ -80,8 +80,6 @@ namespace mementar::compat {
   template<typename T, typename Response_ = typename T::Response>
   inline auto makeResponse() { return Response_(); }
 
-  // todo: RequestType, ResponseType
-
 #elif MEME_ROS_VERSION == 2
   using namespace ::mementar::msg;
   using namespace ::mementar::srv;
@@ -253,8 +251,6 @@ namespace mementar::compat {
       {
         auto& node = Node::get();
 
-        printf("[Publisher '%s'] Create\n", topic_name.c_str());
-
 #if MEME_ROS_VERSION == 1
         handle_ = node.handle_.advertise<T>(topic_name, queue_size);
 #elif MEME_ROS_VERSION == 2
@@ -265,8 +261,6 @@ namespace mementar::compat {
 
       void publish(const T& message)
       {
-        printf("[Publisher '%s'] Create\n", name_.c_str());
-
 #if MEME_ROS_VERSION == 1
         handle_.publish(message);
 #elif MEME_ROS_VERSION == 2
@@ -302,8 +296,6 @@ namespace mementar::compat {
       {
         auto& node = Node::get();
 
-        printf("[Subscriber '%s'] Create\n", topic_name.c_str());
-
 #if MEME_ROS_VERSION == 1
         handle_ = node.handle_.subscribe(topic_name, queue_size, callback, ptr);
 #elif MEME_ROS_VERSION == 2
@@ -331,8 +323,6 @@ namespace mementar::compat {
       {
         auto& node = Node::get();
 
-        printf("[Service '%s'] Create\n", service_name.c_str());
-
 #if MEME_ROS_VERSION == 1
         handle_ = node.handle_.advertiseService(service_name, callback);
 #elif MEME_ROS_VERSION == 2
@@ -352,8 +342,6 @@ namespace mementar::compat {
       {
         auto& node = Node::get();
 
-        printf("[Service '%s'] Create\n", service_name.c_str());
-
 #if MEME_ROS_VERSION == 1
         handle_ = node.handle_.advertiseService(service_name, callback, ptr);
 #elif MEME_ROS_VERSION == 2
@@ -388,8 +376,6 @@ namespace mementar::compat {
       {
         auto& node = Node::get();
 
-        printf("[Client '%s'] Create\n", service_name.c_str());
-
 #if MEME_ROS_VERSION == 1
         handle_ = node.handle_.serviceClient<T>(service_name, true);
 #elif MEME_ROS_VERSION == 2
@@ -399,8 +385,6 @@ namespace mementar::compat {
 
       RosStatus_e call(const mementar::compat::RequestType<T>& req, mementar::compat::ResponseType<T>& res)
       {
-        printf("[Client '%s'] Call\n", name_.c_str());
-
         using namespace std::chrono_literals;
         auto status = RosStatus_e::ros_status_failure;
 
@@ -442,7 +426,6 @@ namespace mementar::compat {
 
       bool wait(double timeout)
       {
-        printf("[Client '%s'] Wait\n", name_.c_str());
 #if MEME_ROS_VERSION == 1
         return handle_.waitForExistence(ros::Duration(timeout));
 #elif MEME_ROS_VERSION == 2

diff --git a/include/mementar/graphical/mementarGUI/mementargui.h b/include/mementar/graphical/mementarGUI/mementargui.h
@@ -8,7 +8,7 @@
 
 #include "include/mementar/graphical/mementarGUI/CallBackTimer.h"
 #include "include/mementar/graphical/mementarGUI/QCheckBoxExtended.h"
-#include "mementar/API/mementar/TimelineManipulator.h"
+#include "mementar/API/mementar/TimelinesManipulator.h"
 #include "mementar/compat/ros.h"
 
 namespace Ui { // NOLINT
@@ -30,11 +30,10 @@ class MementarGUI : public QMainWindow
 private:
   Ui::MementarGUI* ui_;
 
-  mementar::TimelineManipulator meme_;
+  mementar::TimelinesManipulator timelines_;
+  mementar::TimelineManipulator* timeline_;
+  bool multi_usage_;
 
-  std::map<std::string, std::unique_ptr<mementar::compat::mem_ros::Publisher<mementar::compat::StampedString>>> facts_publishers_;
-  std::map<std::string, std::unique_ptr<mementar::compat::mem_ros::Publisher<mementar::compat::MementarAction>>> actions_publishers_;
-  std::map<std::string, std::unique_ptr<mementar::compat::mem_ros::Subscriber<std_msgs_compat::String>>> feeder_notifications_subs_;
   std::string feeder_notifications_;
 
   int time_source_;
@@ -74,15 +73,17 @@ public slots:
   void timesourceChangedSlot(int index);
   void currentTimeEditingFinishedSlot();
 
-  void feederCallback(const std_msgs_compat::String& msg);
+  void feederCallback(const std::string& msg);
   void feederAddSlot();
   void feederDelSlot();
   void feederCommitSlot();
   void feederCheckoutSlot();
-  void createPublisher(const std::string& instance_ns);
+
+  bool updateTimelinePtr();
 
 signals:
-  void feederSetHtmlSignal(QString);
+  void feederSetHtmlSignal(QString t1);
+  void feederScrollSignal(QString t1);
   void setTimeSignal(QString);
 };
 

diff --git a/src/API/mementar/ActionsPublisher.cpp b/src/API/mementar/ActionsPublisher.cpp
@@ -7,7 +7,10 @@
 
 namespace mementar {
 
-  ActionsPublisher::ActionsPublisher(const std::string& name) : pub_(name.empty() ? "mementar/insert_action" : "mementar/insert_action/" + name, 1000) {}
+  ActionsPublisher::ActionsPublisher(const std::string& name) : feeder_notification_callback_([](auto& msg) { (void)msg; }),
+                                                                pub_(name.empty() ? "mementar/insert_action" : "mementar/insert_action/" + name, 1000),
+                                                                feeder_notif_sub_(name.empty() ? "mementar/feeder_notifications" : "mementar/feeder_notifications/" + name, 1000, &ActionsPublisher::feederNotificationCallback, this)
+  {}
 
   void ActionsPublisher::insert(const std::string& name, time_t start_stamp, time_t end_stamp)
   {
@@ -49,4 +52,9 @@ namespace mementar {
     pub_.publish(msg);
   }
 
+  void ActionsPublisher::feederNotificationCallback(const compat::mem_ros::MessageWrapper<std_msgs_compat::String>& msg)
+  {
+    feeder_notification_callback_(msg->data);
+  }
+
 } // namespace mementar
diff --git a/src/API/mementar/ActionsSubscriber.cpp b/src/API/mementar/ActionsSubscriber.cpp
@@ -10,15 +10,8 @@
 namespace mementar {
 
   ActionsSubscriber::ActionsSubscriber(const std::function<void(const std::string&)>& callback,
-                                       const std::string& name,
-                                       bool spin_thread)
-    : OccasionsSubscriber([this](const Fact& fact) { this->privateCallback(fact); }, name, spin_thread),
-      callback_(callback)
-  {}
-
-  ActionsSubscriber::ActionsSubscriber(const std::function<void(const std::string&)>& callback,
-                                       bool spin_thread)
-    : OccasionsSubscriber([this](const Fact& fact) { this->privateCallback(fact); }, spin_thread),
+                                       const std::string& name)
+    : OccasionsSubscriber([this](const Fact& fact) { this->privateCallback(fact); }, name),
       callback_(callback)
   {}
 

diff --git a/src/API/mementar/OccasionsPublisher.cpp b/src/API/mementar/OccasionsPublisher.cpp
@@ -4,23 +4,46 @@
 #include <string>
 
 #include "mementar/API/mementar/Fact.h"
+#include "mementar/compat/ros.h"
 
 namespace mementar {
 
-  OccasionsPublisher::OccasionsPublisher(const std::string& name)
-    : pub_((name.empty()) ? "mementar/insert_fact_stamped" : "mementar/insert_fact_stamped/" + name, 1000) {}
+  OccasionsPublisher::OccasionsPublisher(const std::string& name) : feeder_notification_callback_([](auto& msg) { (void)msg; }),
+                                                                    pub_((name.empty()) ? "mementar/insert_fact_stamped" : "mementar/insert_fact_stamped/" + name, 1000),
+                                                                    feeder_notif_sub_(name.empty() ? "mementar/feeder_notifications" : "mementar/feeder_notifications/" + name, 1000, &OccasionsPublisher::feederNotificationCallback, this)
+  {}
+
+  void OccasionsPublisher::insert(const Fact& fact, compat::mem_ros::Time stamp)
+  {
+    publish(fact(), stamp);
+  }
 
   void OccasionsPublisher::insert(const Fact& fact, time_t stamp)
   {
     publish(fact(), stamp);
   }
 
+  void OccasionsPublisher::publish(const std::string& str, compat::mem_ros::Time stamp)
+  {
+    compat::StampedString msg;
+    msg.data = str;
+    msg.stamp.seconds = stamp.seconds();
+    msg.stamp.nanoseconds = stamp.nanoseconds();
+    pub_.publish(msg);
+  }
+
   void OccasionsPublisher::publish(const std::string& str, time_t stamp)
   {
     compat::StampedString msg;
     msg.data = str;
     msg.stamp.seconds = stamp;
+    msg.stamp.nanoseconds = 0;
     pub_.publish(msg);
   }
 
+  void OccasionsPublisher::feederNotificationCallback(const compat::mem_ros::MessageWrapper<std_msgs_compat::String>& msg)
+  {
+    feeder_notification_callback_(msg->data);
+  }
+
 } // namespace mementar
diff --git a/src/API/mementar/OccasionsSubscriber.cpp b/src/API/mementar/OccasionsSubscriber.cpp
@@ -10,35 +10,16 @@
 
 namespace mementar {
 
-  OccasionsSubscriber::OccasionsSubscriber(const std::function<void(const Fact&)>& callback, const std::string& name, bool spin_thread)
+  OccasionsSubscriber::OccasionsSubscriber(const std::function<void(const Fact&)>& callback, const std::string& name)
     : sub_(name.empty() ? "mementar/occasions" : "mementar/occasions/" + name, 1000, &OccasionsSubscriber::occasionCallback, this),
       client_subscribe_(name.empty() ? "mementar/subscribe" : "mementar/subscribe/" + name),
       client_cancel_(name.empty() ? "mementar/unsubscribe" : "mementar/unsubscribe/" + name),
       callback_(callback)
-  {
-    (void)spin_thread;
-
-    /*if (spin_thread) {
-        need_to_terminate_ = false;
-        spin_thread_ = std::thread(std::bind(&OccasionsSubscriber::spinThread, this));
-    } else {
-        spin_thread_ = {};
-    }*/
-  }
-
-  OccasionsSubscriber::OccasionsSubscriber(const std::function<void(const Fact&)>& callback, bool spin_thread)
-    : OccasionsSubscriber(callback, "", spin_thread) {}
+  {}
 
   OccasionsSubscriber::~OccasionsSubscriber()
   {
     cancel();
-    // todo
-    // sub_.shutdown();
-    /*if (spin_thread_) {
-        need_to_terminate_ = true;
-        spin_thread_->join();
-        delete spin_thread_;
-    }*/
   }
 
   bool OccasionsSubscriber::subscribe(const Fact& pattern, size_t count)

diff --git a/src/RosInterface.cpp b/src/RosInterface.cpp
@@ -115,15 +115,12 @@ namespace mementar {
     std::thread occasions_thread(&OccasionsManager::run, &occasions_);
     std::thread feed_thread(&RosInterface::feedThread, this);
 
-    // ROS_DEBUG("%s mementar ready", name_.c_str());
-
-    while(compat::mem_ros::Node::ok() && isRunning())
-    {
-      // todo
-      // ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
-    }
+    if(name_.empty() == false)
+      Display::info("Mementar " + name_ + " is ready");
+    else
+      Display::info("Mementar is ready");
 
-    occasions_.stop();
+    // occasions_.stop(); // todo verify
     occasions_thread.join();
     feed_thread.join();
   }