caperren/osurc_mars_rover_2017_2018
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Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

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Chris Pham
2018-02-27 22:35:40 -08:00
parent 1a220a0de3 230f64f4a3
commit e054dc9aae
181 changed files with 35082 additions and 49992 deletions
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11
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software/design_reference/Canadian team's awesome rover diagram - THANKS CANADA!!.png
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0
software/environment_reference/UDEV Rules/99-rover-cameras.rules → software/environment/rover/UDEV_rules/99-rover-cameras.rules
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software/environment_reference/UDEV Rules/99-rover-usb-serial.rules → software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
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software/environment_reference/UDEV Rules/install_rules.sh → software/environment/rover/UDEV_rules/install_rules.sh
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software/environment_reference/ZED Settings/SN2129.conf → software/environment/rover/ZED_settings/SN2129.conf
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7
software/firmware/iris/iris.ino
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@@ -46,7 +46,7 @@ uint8_t message_count = 0;
uint8_t failSafe;
uint16_t lostFrames = 0;
uint16_t telem_24v_scalar = 37989;
uint16_t telem_24v_scalar = 37500;
////////// Class Instantiations //////////
SBUS x8r(SBUS_HARDWARE_PORT);
@@ -57,7 +57,7 @@ void setup() {
x8r.begin();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(2000000);
slave.begin(115200);
Serial.begin(9600);
}
@@ -104,8 +104,7 @@ void poll_sbus(){
}
void poll_sensors(){
uint16_t v24 = telem_24v_scalar * (analogRead(HARDWARE::TELEM_24V) / 8192.0);
Serial.println(v24);
modbus_data[MODBUS_REGISTERS::VOLTAGE_24] = telem_24v_scalar * (analogRead(HARDWARE::TELEM_24V) / 8192.0);
}

50
software/ground_station/Framework/DriveSystems/RoverDriveSender.py
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@@ -1,50 +0,0 @@
import sys
from PyQt5 import QtWidgets, QtCore, QtGui, uic
import signal
import rospy
import time
from cv_bridge import CvBridge, CvBridgeError
import cv2
import qimage2ndarray
import numpy as np
from geometry_msgs.msg import Twist
from sensor_msgs.msg import CompressedImage
#from sensor_msgs.msg import Image, CompressedImage
class DriveTest(QtCore.QThread):
publish_message_signal = QtCore.pyqtSignal()
def __init__(self):
super(DriveTest, self).__init__()
self.not_abort = True
self.message = None
self.publisher = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
rospy.init_node("test")
def run(self):
# TODO: Thread starting message here
while self.not_abort:
self.message = Twist()
self.message.linear.x = 1.0
self.message.angular.z = 1.0
self.publisher.publish(self.message)
self.msleep(100)
# TODO: Thread ending message here
def __publish_message(self):
pass
def setup_start_and_kill_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.not_abort = False

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50
software/ground_station_setup.sh Executable file
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@@ -0,0 +1,50 @@
#!/usr/bin/env bash
# As a point of reference, the environment layout should be as follows
# /home/$user/Github/Rover_2017_2018 for the OSURC github repo
# /home/$user/catkin_workspace for the user's catkin catkin_workspace
# By keeping this consistent across all development machines, it will make it
# easier to keep track of things
# Which folders should be symbolically_linked?
folders_to_link=(
ground_station
rover_control
nimbro_topic_transport
rover_main
)
# Print heading
echo "Setting up ROS packages for ground_station."
# Get the catkin_workspace directory
catkin_workspace_dir="catkin_workspace"
catkin_workspace_path="$HOME/$catkin_workspace_dir"
catkin_src_path="$catkin_workspace_path/src"
# Get the rover software directory
github_rover_repo_dir="Github/Rover_2017_2018"
github_rover_packages_path="$HOME/$github_rover_repo_dir/software/ros_packages"
# Remove existing symbolic links if necessary
symlinked_folders=$(find $catkin_src_path -maxdepth 1 -type l)
if [ -z $symlinked_folders ]; then
echo "No symlinks to remove from catkin_workspace. Skipping."
else
echo "Removing existing symlinks in catkin_workspace."
rm $symlinked_folders
fi
# Make the new symbolic link connections
echo "Making new symlinks."
for folder in ${folders_to_link[@]}; do
ln -s "$github_rover_packages_path/$folder" "$catkin_src_path/."
echo "Adding symlink for $folder."
done
# catkin_make so the new pacakges are available and re-source bash
cd "$catkin_workspace_path"
catkin_make
source ~/.bashrc
exit 0

0
software/code_reference/QT/DualScreenTest/Resources/UI/RoverGui.ui → software/reference/code_reference/QT/DualScreenTest/Resources/UI/RoverGui.ui
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0
software/code_reference/QT/DualScreenTest/Resources/UI/RoverGui2.ui → software/reference/code_reference/QT/DualScreenTest/Resources/UI/RoverGui2.ui
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0
software/code_reference/QT/DualScreenTest/main.py → software/reference/code_reference/QT/DualScreenTest/main.py
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0
software/rover/Readme.md → software/ros_packages/Readme.md
View File

10
software/rover/launcher/CMakeLists.txt → software/ros_packages/ground_station/CMakeLists.txt
View File

@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
project(launcher)
project(ground_station)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
@@ -102,7 +102,7 @@ find_package(catkin REQUIRED COMPONENTS
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES launcher
# LIBRARIES ground_station
# CATKIN_DEPENDS rospy
# DEPENDS system_lib
)
@@ -120,7 +120,7 @@ include_directories(
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/launcher.cpp
# src/${PROJECT_NAME}/ground_station.cpp
# )
## Add cmake target dependencies of the library
@@ -131,7 +131,7 @@ include_directories(
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/launcher_node.cpp)
# add_executable(${PROJECT_NAME}_node src/ground_station_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
@@ -188,7 +188,7 @@ include_directories(
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_launcher.cpp)
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ground_station.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

6
software/rover/launcher/package.xml → software/ros_packages/ground_station/package.xml
View File

@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="2">
<name>launcher</name>
<name>ground_station</name>
<version>0.0.0</version>
<description>The launcher package</description>
<description>The ground_station package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -19,7 +19,7 @@
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/launcher</url> -->
<!-- <url type="website">http://wiki.ros.org/ground_station</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->

17
software/ros_packages/ground_station/scripts/ground_station_launch.sh Executable file
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@@ -0,0 +1,17 @@
#!/usr/bin/env bash
current_folder_name="scripts"
current_folder_name_length=`expr length $current_folder_name`
launch_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
launch_dir_length=`expr length $launch_dir`
launch_dir_length_without_current_folder=$(($launch_dir_length-$current_folder_name_length))
script_launch_path="${launch_dir:0:$launch_dir_length_without_current_folder}/src"
cd $script_launch_path
sleep 5
export DISPLAY=:0
python ground_station.py

187
software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py Normal file
View File

@@ -0,0 +1,187 @@
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
from inputs import devices, GamePad
from time import time
import rospy
from rover_control.msg import DriveCommandMessage
#####################################
# Global Variables
#####################################
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DRIVE_COMMAND_HERTZ = 15
#####################################
# Controller Class Definition
#####################################
class LogitechJoystick(QtCore.QThread):
def __init__(self):
super(LogitechJoystick, self).__init__()
# ########## Thread Flags ##########
self.run_thread_flag = True
self.setup_controller_flag = True
self.data_acquisition_and_broadcast_flag = True
self.controller_acquired = False
# ########## Class Variables ##########
self.gamepad = None # type: GamePad
self.controller_states = {
"left_stick_x_axis": 0,
"y_axis": 512,
"left_stick_center_pressed": 0,
"right_stick_x_axis": 0,
"right_stick_y_axis": 0,
"right_stick_center_pressed": 0,
"left_trigger_z_axis": 0,
"left_bumper_pressed": 0,
"z_axis": 128,
"right_bumper_pressed": 0,
"dpad_x": 0,
"dpad_y": 0,
"select_pressed": 0,
"start_pressed": 0,
"home_pressed": 0,
"a_pressed": 0,
"b_pressed": 0,
"x_pressed": 0,
"y_pressed": 0
}
self.raw_mapping_to_class_mapping = {
"ABS_X": "left_stick_x_axis",
"ABS_Y": "y_axis",
"BTN_THUMBL": "left_stick_center_pressed",
"ABS_RX": "right_stick_x_axis",
"ABS_RY": "right_stick_y_axis",
"BTN_THUMBR": "right_stick_center_pressed",
"ABS_Z": "left_trigger_z_axis",
"BTN_TL": "left_bumper_pressed",
"ABS_RZ": "z_axis",
"BTN_TR": "right_bumper_pressed",
"ABS_HAT0X": "dpad_x",
"ABS_HAT0Y": "dpad_y",
"BTN_SELECT": "select_pressed",
"BTN_START": "start_pressed",
"BTN_MODE": "home_pressed",
"BTN_SOUTH": "a_pressed",
"BTN_EAST": "b_pressed",
"BTN_NORTH": "x_pressed",
"BTN_WEST": "y_pressed"
}
self.ready = False
self.start()
def run(self):
while self.run_thread_flag:
if self.setup_controller_flag:
self.controller_acquired = self.__setup_controller()
self.setup_controller_flag = False
if self.data_acquisition_and_broadcast_flag:
self.__get_controller_data()
def __setup_controller(self):
for device in devices.gamepads:
print device
if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device
return True
return False
def __get_controller_data(self):
if self.controller_acquired:
events = self.gamepad.read()
for event in events:
if event.code in self.raw_mapping_to_class_mapping:
self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state
self.ready = True
# print "Logitech: %s" % self.controller_states
#####################################
# Controller Class Definition
#####################################
class RoverDriveSender(QtCore.QThread):
def __init__(self, shared_objects):
super(RoverDriveSender, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.right_screen = self.shared_objects["screens"]["right_screen"]
self.primary_video_display_label = self.right_screen.primary_video_label # type:QtWidgets.QLabel
self.secondary_video_display_label = self.right_screen.secondary_video_label # type:QtWidgets.QLabel
self.tertiary_video_display_label = self.right_screen.tertiary_video_label # type:QtWidgets.QLabel
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
# ########## Thread Flags ##########
self.run_thread_flag = True
self.joystick = LogitechJoystick()
# ########## Class Variables ##########
# Publishers
self.drive_command_publisher = rospy.Publisher(DEFAULT_DRIVE_COMMAND_TOPIC, DriveCommandMessage, queue_size=1)
self.wait_time = 1 / DRIVE_COMMAND_HERTZ
def run(self):
while self.run_thread_flag:
start_time = time()
self.__update_and_publish()
time_diff = time() - start_time
self.msleep(max(self.wait_time - time_diff, 0))
def connect_signals_and_slots(self):
pass
def __update_and_publish(self):
drive_message = DriveCommandMessage()
drive_message.drive_twist.linear.x = -(self.joystick.controller_states["y_axis"] - 512) / 1024.0
drive_message.drive_twist.angular.z = -(self.joystick.controller_states["z_axis"] - 128) / 255.0
self.drive_command_publisher.publish(drive_message)
# print self.joystick.controller_states["y_axis"], self.joystick.controller_states["z_axis"]
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

0
software/ground_station/Framework/DriveSystems/__init__.py → software/ros_packages/ground_station/src/Framework/DriveSystems/__init__.py
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0
software/ground_station/Framework/LoggingSystems/Logger.py → software/ros_packages/ground_station/src/Framework/LoggingSystems/Logger.py
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0
software/ground_station/Framework/LoggingSystems/__init__.py → software/ros_packages/ground_station/src/Framework/LoggingSystems/__init__.py
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0
software/ground_station/Framework/MapSystems/RoverMap.py → software/ros_packages/ground_station/src/Framework/MapSystems/RoverMap.py
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1
software/ground_station/Framework/MapSystems/RoverMapCoordinator.py → software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
View File

@@ -101,5 +101,4 @@ class RoverMapCoordinator(QtCore.QThread):
kill_signal.connect(self.on_kill_threads_requested_slot)
def pixmap_ready__slot(self):
self.logger.info("Made it")
self.mapping_label.setPixmap(self.map_pixmap)

0
software/ground_station/Framework/MapSystems/RoverMapHelper.py → software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapHelper.py
View File

0
software/ground_station/Framework/MapSystems/__init__.py → software/ros_packages/ground_station/src/Framework/MapSystems/__init__.py
View File

0
software/ground_station/Framework/MapSystems/signing.py → software/ros_packages/ground_station/src/Framework/MapSystems/signing.py
View File

0
software/ground_station/Framework/StartupSystems/ROSMasterChecker.py → software/ros_packages/ground_station/src/Framework/StartupSystems/ROSMasterChecker.py
View File

0
software/ground_station/Framework/StartupSystems/__init__.py → software/ros_packages/ground_station/src/Framework/StartupSystems/__init__.py
View File

2
software/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py → software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
View File

@@ -127,6 +127,8 @@ class RoverVideoCoordinator(QtCore.QThread):
for topics_group in topics:
main_topic = topics_group[0]
if "heartbeat" in main_topic:
continue
camera_name = main_topic.split("/")[2]
names.append(camera_name)

6
software/ground_station/Framework/VideoSystems/RoverVideoReceiver.py → software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py
View File

@@ -93,7 +93,7 @@ class RoverVideoReceiver(QtCore.QThread):
# Initial class setup to make text images and get camera resolutions
self.__create_camera_name_opencv_images()
self.__get_camera_available_resolutions()
self.__setup_reconfigure_clients()
#self.__setup_reconfigure_clients()
def run(self):
self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name)
@@ -127,6 +127,8 @@ class RoverVideoReceiver(QtCore.QThread):
for topics_group in topics:
main_topic = topics_group[0]
if "heartbeat" in main_topic:
continue
camera_name = main_topic.split("/")[3]
resolution_options.append(camera_name)
@@ -155,7 +157,7 @@ class RoverVideoReceiver(QtCore.QThread):
self.__update_camera_subscription_and_settings()
if self.new_frame and self.current_camera_settings["resolution"]:
self.__perform_quality_check_and_adjust()
# self.__perform_quality_check_and_adjust()
opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")

0
software/ground_station/Framework/VideoSystems/RoverVideoReceiverOld.py → software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiverOld.py
View File

0
software/ground_station/Framework/VideoSystems/__init__.py → software/ros_packages/ground_station/src/Framework/VideoSystems/__init__.py
View File

0
software/ground_station/Framework/__init__.py → software/ros_packages/ground_station/src/Framework/__init__.py
View File

0
software/ground_station/Readme.md → software/ros_packages/ground_station/src/Readme.md
View File

0
software/ground_station/Resources/Ui/left_screen.ui → software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
View File

3
software/ground_station/Resources/Ui/right_screen.ui → software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
View File

@@ -120,6 +120,9 @@
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>

5
software/ground_station/RoverGroundStation.py → software/ros_packages/ground_station/src/ground_station.py Executable file → Normal file
View File

@@ -1,4 +1,3 @@
#!/usr/bin/env python
#####################################
# Imports
#####################################
@@ -17,6 +16,7 @@ import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
import Framework.LoggingSystems.Logger as Logger
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
import Framework.DriveSystems.RoverDriveSender as RoverDriveSender
#####################################
# Global Variables
@@ -99,12 +99,13 @@ class GroundStation(QtCore.QObject):
# ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
self.__add_thread("Rover Drive Sender", RoverDriveSender.RoverDriveSender(self.shared_objects))
self.connect_signals_and_slots_signal.emit()
self.__connect_signals_to_slots()
self.start_threads_signal.emit()
compass_image = PIL.Image.open("Resources/Images/compass.png").resize((300, 300)) # PIL.Image
self.shared_objects["right_screen"].compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
self.shared_objects["screens"]["right_screen"].compass_label.setPixmap(QtGui.QPixmap.fromImage(ImageQt(compass_image)))
def ___ros_master_running(self):
checker = ROSMasterChecker.ROSMasterChecker()

201
software/ros_packages/nimbro_topic_transport/CMakeLists.txt Normal file
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@@ -0,0 +1,201 @@
cmake_minimum_required(VERSION 2.8)
project(nimbro_topic_transport)
find_package(catkin REQUIRED COMPONENTS
roscpp
topic_tools
rostest
message_generation
)
add_message_files(FILES
CompressedMsg.msg
ReceiverStats.msg
SenderStats.msg
TopicBandwidth.msg
)
generate_messages(DEPENDENCIES
std_msgs
)
catkin_package()
include_directories(${catkin_INCLUDE_DIRS})
# Some optional components of the NimbRo software framework
find_package(plot_msgs)
if(plot_msgs_FOUND)
include_directories(${plot_msgs_INCLUDE_DIRS})
add_definitions(-DWITH_PLOTTING=1)
endif()
find_package(config_server)
if(config_server_FOUND)
include_directories(${config_server_INCLUDE_DIRS})
add_definitions(-DWITH_CONFIG_SERVER=1)
endif()
find_package(catch_ros)
# If OpenFEC is available, we can enable FEC for the UDP sender
set(DEFAULT_OPENFEC_PATH /opt/openfec_v1.4.2)
set(OPENFEC_PATH "" CACHE PATH "Path to OpenFEC (optional)")
if(NOT OPENFEC_PATH AND IS_DIRECTORY ${DEFAULT_OPENFEC_PATH})
set(OPENFEC_PATH ${DEFAULT_OPENFEC_PATH})
endif()
if(OPENFEC_PATH)
include_directories(${OPENFEC_PATH}/src/lib_common)
set(OPENFEC_LIBRARY ${OPENFEC_PATH}/bin/Release/libopenfec.so)
add_definitions(-DWITH_OPENFEC=1)
message(STATUS "Found and using OpenFEC at: ${OPENFEC_PATH}")
else()
set(OPENFEC_LIBRARY "")
endif()
find_library(BZ2_LIBRARY bz2 REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11")
add_executable(udp_sender
src/udp/topic_sender.cpp
src/udp/udp_sender.cpp
src/topic_info.cpp
)
add_dependencies(udp_sender
${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(udp_sender
${catkin_LIBRARIES}
${BZ2_LIBRARY}
${OPENFEC_LIBRARY}
${config_server_LIBRARIES}
)
add_executable(udp_receiver
src/udp/udp_receiver.cpp
src/udp/topic_receiver.cpp
src/topic_info.cpp
)
add_dependencies(udp_receiver
${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(udp_receiver
${catkin_LIBRARIES}
${BZ2_LIBRARY}
${OPENFEC_LIBRARY}
)
add_executable(tcp_sender
src/tcp/tcp_sender.cpp
src/topic_info.cpp
)
add_dependencies(tcp_sender
${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(tcp_sender
${catkin_LIBRARIES}
${BZ2_LIBRARY}
${config_server_LIBRARIES}
)
add_executable(tcp_receiver
src/tcp/tcp_receiver.cpp
src/topic_info.cpp
)
add_dependencies(tcp_receiver
${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(tcp_receiver
${catkin_LIBRARIES}
${BZ2_LIBRARY}
)
# Tools
add_executable(action_proxy
src/action_proxy.cpp
src/topic_info.cpp
)
target_link_libraries(action_proxy
${catkin_LIBRARIES}
)
# GUI
find_package(Qt4 REQUIRED)
include(${QT_USE_FILE})
qt4_wrap_cpp(MOC_SRCS
src/gui/topic_gui.h
src/gui/dot_widget.h
)
qt4_wrap_cpp(BAND_MOC_SRCS
src/gui/bandwidth_gui.h
src/gui/contrib/qcustomplot/qcustomplot.h
)
add_library(topic_gui
${MOC_SRCS}
src/gui/topic_gui.cpp
src/gui/dot_widget.cpp
)
add_library(bandwidth_gui
${BAND_MOC_SRCS}
src/gui/bandwidth_gui.cpp
src/gui/contrib/qcustomplot/qcustomplot.cpp
)
add_dependencies(topic_gui
${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(topic_gui
${QT_LIBRARIES}
)
add_dependencies(bandwidth_gui
${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(bandwidth_gui
${QT_LIBRARIES}
yaml-cpp
)
# Tests
if(catch_ros_FOUND)
include_directories(${catch_ros_INCLUDE_DIRS})
catch_add_rostest_node(test_comm
test/test_comm.cpp
)
target_link_libraries(test_comm
${catkin_LIBRARIES}
)
add_rostest(test/topic_transport.test ARGS protocol:=udp)
add_rostest(test/topic_transport.test ARGS protocol:=tcp)
if(OPENFEC_PATH)
add_rostest(test/topic_transport.test ARGS protocol:=udp fec:=true)
endif()
catch_add_rostest_node(test_bidirectional
test/test_bidirectional.cpp
)
target_link_libraries(test_bidirectional
${catkin_LIBRARIES}
)
add_rostest(test/bidirectional.test ARGS allow_bidirectional:=true)
add_rostest(test/bidirectional.test ARGS allow_bidirectional:=false)
endif()
#install
install(TARGETS udp_receiver tcp_receiver udp_sender tcp_sender
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

71
software/ros_packages/nimbro_topic_transport/README.md Normal file
View File

@@ -0,0 +1,71 @@
nimbro_topic_transport
======================
This package includes nodes for transmitting ROS topic messages over a network
connection. For an overview over the available parameters, see
`doc/configuration.md`.
For a quick getting-started guide see `doc/getting_started.md`.
The remainder of this document introduces the features of the topic transport
and explains the choices you have in detail.
The fundamental choice you have is whether you want to use the TCP or the UDP
protocol.
UDP
---
The UDP protocol is the right choice for most ROS topics. It is especially
suited for lossy and/or delayed connections, where TCP has problems. Note
however, that with our UDP protocol there is no guarantee that a message
arrives.
Typical message types transmitted using the UDP protocol are camera images,
joystick commands, TF snapshots (see tf_throttle). In short, everything where
retransmitting missed packets does not make sense, because you have newer data
available already.
For example launch files, see the launch directory.
TCP
---
The TCP protocol is more useful for topics where you need a transmission
guarantee. For example, it makes sense to transmit 3D laser scans via this
method, because re-transmission of dropped packets is still faster than
waiting for the next scan.
For example launch files, see the launch directory.
Visualization & diagnosis
-------------------------
The nimbro_topic_transport package provides GUI plugins for the `rqt` GUI:
- "nimbro_network/Topic Transport" shows a dot graph of all network connections
- "nimbro_network/Topic Bandwidth" shows detailed bandwidth usage for a
single connection.
Note that it may be necessary to transmit the topics `/network/sender_stats` and
`/network/receiver_stats` over the network to get the full amount of
information.
Relay mode
----------
The UDP transport supports a special "relay" mode that was used in the DARPA
Robotics Challenge. Basically, it saturates a given target bitrate, repeating
messages if necessary. In the DRC, the high bandwidth link was switched on for
very short times (1 second). By saturating the available bandwidth, we made
sure that we got the maximum amount of data across in that window.
Forward error correction (FEC)
------------------------------
The UDP transport can do forward error correction if [OpenFEC][1] is available.
A short guide on how to install and configure the system is available
in `doc/FEC.md`.
[1]: http://openfec.org/

15
software/ros_packages/nimbro_topic_transport/bandwidth_plugin.xml Normal file
View File

@@ -0,0 +1,15 @@
<library path="lib/libbandwidth_gui">
<class name="BandwidthGui" type="nimbro_topic_transport::BandwidthGui" base_class_type="rqt_gui_cpp::Plugin">
<description>
Display bandwidth information for transferred topics
</description>
<qtgui>
<group>
<label>nimbro_network</label>
</group>
<label>Topic Bandwidth</label>
<statustip>Diagnostic information</statustip>
</qtgui>
</class>
</library>

18
software/ros_packages/nimbro_topic_transport/doc/FEC.md Normal file
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@@ -0,0 +1,18 @@
Forward Error Correction
========================
This is a short guide on how to get FEC running. If you want to use FEC,
you have to download [OpenFEC][OpenFEC] and compile it. Assuming you already
have compiled `nimbro_topic_transport` at least once, you can then inform
it about your OpenFEC installation:
```
cd my_catkin_workspace/build/nimbro_topic_transport
cmake -DOPENFEC_PATH=/path/to/openfec .
make
```
Afterwards, you can use the `fec` parameter on sender & receiver side as
described in `configuration.md`.
[OpenFEC]: http://openfec.org/

74
software/ros_packages/nimbro_topic_transport/doc/configuration.md Normal file
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@@ -0,0 +1,74 @@
Configuration
=============
`nimbro_topic_transport` is configured through ROS parameters.
Receiver parameters
-------------------
`tcp_receiver` and `udp_receiver` accept the following parameters:
Required:
- `port` (int): UDP/TCP port to bind to (required)
Optional:
- `drop_repeated_msgs` (bool): If a message with the same sequence number
arrives twice, drop it. Needed in conjunction with the relay mode.
(UDP only, default true)
- `fec` (bool): Enable Forward Error correction (UDP only, default false)
- `keep_compressed` (bool): Do not uncompress compressed topics, instead
publish them as the type `nimbro_topic_transport/CompressedMsg`
(default false)
- `label` (string): Display a label in the visualization GUIs
- `topic_prefix` (string): prepend topic_prefix before advertised topic names
- `warn_drop_incomplete` (bool): Display a warning every time an incomplete
packet is dropped (UDP only, default true)
Sender parameters
-----------------
`tcp_sender` and `udp_sender` accept the following parameters:
Required:
- `destination_addr` (string): Hostname or IP address of the destination
machine (required)
- `destination_port` (int): Port number to connect to (required)
- `source_port` (int): Source port to bind to. If not specified, the port is
chosen by the OS (TODO: true for udp_sender!)
- `topics` (list): List of topics to be transmitted (see below)
Optional:
- `fec` (float): If non-zero, this is the proportion of repair packets sent for
Forward Error Correction (0.5 -> Send 50% more data). This needs support for
FEC compiled in, see README.md (default 0.0)
- `label` (string): Display a label in the visualization GUIs
- `relay_mode` (bool): Enable relay mode, see README.md
(UDP only, default false)
- `relay_target_bitrate` (float): Target bitrate for relay mode (UDP only)
- `relay_control_rate` (float): Check if new packets can be sent in relay mode
at this rate (UDP only)
- `ignored_publishers` (list of string): Names of nodes whose messages should be
ignored if received by this sender. This should be used on both senders when
messages are to be sent to a topic both ways (always specify the name of the
receiver belonging to the other sender). See `launch/bidirectional_topics.launch`
for an example setup (TCP only)
Topic configuration
-------------------
Configuration of topics to be transmitted is done on the parameter server of
the sender's side. See the example launch files for the usual setup.
Here is a list of parameters that are available per topic. The only mandatory
parameter is `name`.
- `name`: Name of the topic to be sent over.
- `rate`: Rate limit on messages / sec (floating point). Messages over the
rate limit are silently dropped on the sender side. The default is 0.0
(no rate limit).
Note: Limiting only works well for lower rates (<20 Hz).
(UDP only)
- `resend`: If the sender does not get a message 1.0/`rate` after the last one,
it will re-send the last received one. (UDP only)
- `compress`: If true, compress the data on the wire with bz2.

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Getting started
===============
We assume that we have two machines, machineA and machineB. Both will be running
roscores, and we will transport some topics from machineA to machineB.
On machineA:
```bash
roslaunch nimbro_topic_transport udp_sender.launch target:=machineB
rostopic pub -r 1.0 /my_first_topic std_msgs/String "Hello World"
```
Instead of using the host name `machineB`, you can also use an IP address.
On machineB:
```bash
roslaunch nimbro_topic_transport udp_receiver.launch
rostopic echo /my_first_topic
```
You should see the `Hello World` messages arriving.
For customization, you should copy the launch files into your own package.

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<launch>
<arg name="target" default="localhost" />
<arg name="allow_bidirectional" default="true" />
<!-- The TCP sender node -->
<node name="tcp_sender_machine1" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<!-- Load the list of topics from a YAML file -->
<rosparam command="load" file="$(find nimbro_topic_transport)/launch/topics_machine1.yaml" />
<!-- If bidirectional traffic over a topic is expected, fill this parameter.
See details in bidirectional_topics.launch -->
<rosparam param="ignored_publishers" if="$(arg allow_bidirectional)">["/tcp_receiver_machine1"]</rosparam>
<rosparam param="ignored_publishers" unless="$(arg allow_bidirectional)">[]</rosparam>
</node>
<node name="tcp_receiver_machine1" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17002" />
<!-- Remap topics so that sender & receiver do not clash if run on the
same machine. This is not necessary in a typical setup :-)
-->
<remap from="/recv/my_first_topic" to="/my_first_topic" />
</node>
</launch>

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<launch>
<arg name="target" default="localhost" />
<arg name="allow_bidirectional" default="true" />
<!-- The TCP sender node -->
<node name="tcp_sender_machine2" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<!-- Load the list of topics from a YAML file -->
<rosparam command="load" file="$(find nimbro_topic_transport)/launch/topics_machine2.yaml" />
<!-- If bidirectional traffic over a topic is expected, fill this parameter.
See details in bidirectional_topics.launch -->
<rosparam param="ignored_publishers" if="$(arg allow_bidirectional)">["/tcp_receiver_machine2"]</rosparam>
<rosparam param="ignored_publishers" unless="$(arg allow_bidirectional)">[]</rosparam>
</node>
<node name="tcp_receiver_machine2" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17001" />
<!-- Remap topics so that sender & receiver do not clash if run on the
same machine. This is not necessary in a typical setup :-)
-->
<remap from="/my_first_topic" to="/recv/my_first_topic" />
</node>
</launch>

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<launch>
<arg name="allow_bidirectional" default="true" />
<!--
If you set up transports for a topic in both directions, don't forget to
provide the `ignored_publishers` parameter to both senders. Otherwise,
nimbro_network would enter an infinite republishing loop. You can test it
by playing with the `allow_bidirectional` argument and publishing to one
of the topics.
The `ignored_publishers` sender parameter is a list of node-names of
all receivers receiving any of the topics this publisher publishes.
-->
<include file="$(find nimbro_topic_transport)/launch/bidirectional_machine1.launch">
<arg name="allow_bidirectional" value="$(arg allow_bidirectional)" />
</include>
<include file="$(find nimbro_topic_transport)/launch/bidirectional_machine2.launch">
<arg name="allow_bidirectional" value="$(arg allow_bidirectional)" />
</include>
</launch>

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topics:
- name: "/cameras/camera_undercarriage/image_1280x720/compressed"
compress: false # enable bz2 compression
rate: 30.0 # rate limit at 1Hz

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topics:
- name: "/cameras/camera_chassis/image_640x360/compressed"
compress: false # enable bz2 compression
rate: 30.0 # rate limit at 1Hz
- name: "/cameras/camera_undercarriage/image_640x360/compressed"
compress: false # enable bz2 compression
rate: 30.0 # rate limit at 1Hz
- name: "/cameras/main_navigation/image_640x360/compressed"
compress: false # enable bz2 compression
rate: 30.0 # rate limit at 1Hz

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topics:
- name: "/cameras/main_navigation/image_1280x720/compressed"
compress: false # enable bz2 compression
rate: 30.0 # rate limit at 1Hz

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<launch>
<node name="tcp_receiver" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17001" />
<!-- Remap topics so that sender & receiver do not clash if run on the
same machine. This is not necessary in a typical setup :-)
-->
<remap from="/my_first_topic" to="/recv/my_first_topic" />
<remap from="/my_second_topic" to="/recv/my_second_topic" />
</node>
</launch>

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<launch>
<arg name="target" default="localhost" />
<!-- The UDP sender node -->
<node name="tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<!-- Load the list of topics from a YAML file -->
<rosparam command="load" file="$(find nimbro_topic_transport)/launch/topics.yaml" />
</node>
</launch>

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topics:
- name: "/drive/motoroneandtwo"
compress: true # enable bz2 compression
rate: 20.0 # rate limit at 1Hz
- name: "/my_second_topic"

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topics:
- name: "/my_first_topic"

2
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topics:
- name: "/recv/my_first_topic"

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<launch>
<!--<node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">-->
<!--<param name="port" value="17001" />-->
<!--</node>-->
<!--<node name="udp_receiver2" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">-->
<!--<param name="port" value="17002" />-->
<!--</node>-->
<!--<node name="udp_receiver3" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">-->
<!--<param name="port" value="17003" />-->
<!--</node>-->
<node name="udp_receiver4" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17004" />
</node>
<node name="udp_receiver5" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17005" />
</node>
<node name="udp_receiver6" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17006" />
</node>
<node name="udp_receiver7" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17007" />
</node>
<node name="udp_receiver8" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17008" />
</node>
<node name="udp_receiver9" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17009" />
</node>
</launch>

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<launch>
<arg name="target" default="192.168.1.15" />
<!-- The UDP sender node -->
<node name="udp_sender4" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<!-- Load the list of topics from a YAML file -->
<rosparam param="topics">
[{name: "/cameras/camera_chassis/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<!-- The UDP sender node -->
<node name="udp_sender5" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<!-- Load the list of topics from a YAML file -->
<rosparam param="topics">
[{name: "/cameras/camera_undercarriage/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<!-- The UDP sender node -->
<node name="udp_sender6" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<!-- Load the list of topics from a YAML file -->
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<!-- The UDP sender node -->
<node name="udp_sender7" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" />
<!-- Load the list of topics from a YAML file -->
<rosparam param="topics">
[{name: "/cameras/camera_chassis/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<!-- The UDP sender node -->
<node name="udp_sender8" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<!-- Load the list of topics from a YAML file -->
<rosparam param="topics">
[{name: "/cameras/camera_undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
<!-- The UDP sender node -->
<node name="udp_sender9" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17009" />
<!-- Load the list of topics from a YAML file -->
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
</rosparam>
</node>
</launch>

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<launch>
<node name="udp_receiver_drive" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17020" />
</node>
</launch>

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<launch>
<arg name="target" default="192.168.1.10" />
<!-- The UDP sender node -->
<node name="udp_sender4" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<!-- Load the list of topics from a YAML file -->
<rosparam param="topics">
[{name: "/command_control/groundstation_drive", compress: true, rate: 15.0}]
</rosparam>
</node>
</launch>

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<launch>
<!--
This launch file runs a udp_receiver node, which receives topics
over the network on port 17001 and publishes them on the local roscore.
See udp_sender.launch for the sender part.
-->
<node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<!-- The port to receive packets on -->
<param name="port" value="17001" />
<!-- Remap topics so that sender & receiver do not clash if run on the
same machine. This is not necessary in a typical setup :-)
-->
<remap from="/my_first_topic" to="/recv/my_first_topic" />
<remap from="/my_second_topic" to="/recv/my_second_topic" />
</node>
</launch>

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<launch>
<!--
This launch file runs a udp_sender node, which sends topics from the local
roscore over the network on port 17001.
By default, this launch file sends topics to your local machine for
testing purposes. If you want to send to another machine, use
roslaunch nimbro_topic_transport udp_sender.launch target:=other_host
where other_host can be a host name or IP address.
See udp_receiver.launch for the receiving part.
-->
<arg name="target" default="localhost" />
<!-- The UDP sender node -->
<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<!-- Load the list of topics from a YAML file -->
<rosparam command="load" file="$(find nimbro_topic_transport)/launch/topics.yaml" />
</node>
</launch>

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# Topic type (e.g. 'std_msgs/String')
string type
# Topic md5 sum
uint32[4] md5
uint8[] data

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Header header
# Node name
string node
# Protocol ("TCP" or "UDP")
string protocol
# Connection label
string label
# Local hostname
string host
# Remote hostname (if resolvable, otherwise IP)
string remote
# Port
uint16 local_port
# Port
uint16 remote_port
# is Forward Error Correction enabled?
bool fec
# Bandwidth in bit/s
float32 bandwidth
# Drop rate (estimated, percentage of missing packets in a fixed time interval)
float32 drop_rate

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Header header
# Node name
string node
# Protocol ("TCP" or "UDP")
string protocol
# Connection label
string label
# Local hostname
string host
# Destination address
string destination
# Destination port
uint16 destination_port
# Source port
uint16 source_port
# Is Forward Error Correction enabled?
bool fec
# Bandwidth in bit/s
float32 bandwidth
# Topic specific bandwidth
TopicBandwidth[] topics

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# Topic name
string name
# Bandwidth
float32 bandwidth

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<launch>
<!--
This launch file runs a udp_sender node, which sends topics from the local
roscore over the network on port 17001.
By default, this launch file sends topics to your local machine for
testing purposes. If you want to send to another machine, use
roslaunch nimbro_topic_transport udp_sender.launch target:=other_host
where other_host can be a host name or IP address.
See udp_receiver.launch for the receiving part.
-->
<arg name="target" default="192.168.1.10" />
<!-- The UDP sender node -->
<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<!-- The destination host name or IP address -->
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<!-- Load the list of topics from a YAML file -->
<rosparam command="load" file="$(find nimbro_topic_transport)/launch/topics.yaml" />
</node>
</launch>

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<package format="2">
<name>nimbro_topic_transport</name>
<version>1.0.0</version>
<description>Contains nodes for TCP/UDP communication between ROS masters</description>
<maintainer email="max.schwarz@uni-bonn.de">Max Schwarz</maintainer>
<license>GPLv2</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>topic_tools</depend>
<build_depend>message_generation</build_depend>
<!-- This is not a hard dependency, the package compiles without plot_msgs. -->
<depend>plot_msgs</depend>
<!-- This is not a hard dependency, the package compiles without config_server. -->
<depend>config_server</depend>
<!-- This is not a hard dependency, the package compiles without catch_ros -->
<depend>catch_ros</depend>
<depend>rqt_gui</depend>
<export>
<rqt_gui plugin="${prefix}/rqt_plugin.xml" />
<rqt_gui plugin="${prefix}/bandwidth_plugin.xml" />
</export>
</package>

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<library path="lib/libtopic_gui">
<class name="topic_gui" type="nimbro_topic_transport::TopicGUI" base_class_type="rqt_gui_cpp::Plugin">
<description>
Display diagnostic information about the topic transport
</description>
<qtgui>
<group>
<label>nimbro_network</label>
</group>
<label>Topic Transport</label>
<statustip>Diagnostic information</statustip>
</qtgui>
</class>
</library>

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// Proxy node for action topics
// actionlib expects that all action topics are handled by a single node
// -- so republish / resubscribe them from here.
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatusArray.h>
#include <topic_tools/shape_shifter.h>
#include "topic_info.h"
ros::Subscriber m_sub_goal;
ros::Publisher m_pub_goal;
void handleGoal(const topic_tools::ShapeShifter::ConstPtr& goal)
{
m_pub_goal.publish(goal);
}
ros::Subscriber m_sub_cancel;
ros::Publisher m_pub_cancel;
void handleCancel(const actionlib_msgs::GoalID& id)
{
m_pub_cancel.publish(id);
}
ros::Subscriber m_sub_result;
ros::Publisher m_pub_result;
void handleResult(const topic_tools::ShapeShifter::ConstPtr& result)
{
m_pub_result.publish(result);
}
ros::Subscriber m_sub_status;
ros::Publisher m_pub_status;
void handleStatus(const actionlib_msgs::GoalStatusArray& status)
{
m_pub_status.publish(status);
}
ros::Subscriber m_sub_feedback;
ros::Publisher m_pub_feedback;
void handleFeedback(const topic_tools::ShapeShifter::ConstPtr& fb)
{
m_pub_feedback.publish(fb);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "action_proxy");
ros::NodeHandle nh("~");
std::string type;
if(!nh.getParam("type", type))
{
ROS_FATAL("need type parameter");
return 1;
}
std::string input;
if(!nh.getParam("input", input))
{
ROS_FATAL("need input parameter");
return 1;
}
std::string output;
if(!nh.getParam("output", output))
{
ROS_FATAL("need output parameter");
return 1;
}
{
ros::AdvertiseOptions ops;
ops.topic = input + "/goal";
ops.datatype = type + "ActionGoal";
ops.md5sum = nimbro_topic_transport::topic_info::getMd5Sum(ops.datatype);
m_pub_goal = nh.advertise(ops);
ros::SubscribeOptions subops;
subops.init<topic_tools::ShapeShifter>(output + "/goal", 10, boost::bind(&handleGoal, _1));
subops.datatype = type + "ActionGoal";
subops.md5sum = nimbro_topic_transport::topic_info::getMd5Sum(subops.datatype);
m_sub_goal = nh.subscribe(subops);
}
{
m_pub_cancel = nh.advertise<actionlib_msgs::GoalID>(input + "/cancel", 1);
m_sub_cancel = nh.subscribe(output + "/cancel", 10, &handleCancel);
}
{
ros::AdvertiseOptions ops;
ops.topic = output + "/result";
ops.datatype = type + "ActionResult";
ops.md5sum = nimbro_topic_transport::topic_info::getMd5Sum(ops.datatype);
m_pub_result = nh.advertise(ops);
ros::SubscribeOptions subops;
subops.init<topic_tools::ShapeShifter>(input + "/result", 10, boost::bind(&handleResult, _1));
subops.datatype = type + "ActionResult";
subops.md5sum = nimbro_topic_transport::topic_info::getMd5Sum(subops.datatype);
m_sub_result = nh.subscribe(subops);
}
{
ros::AdvertiseOptions ops;
ops.topic = output + "/feedback";
ops.datatype = type + "ActionFeedback";
ops.md5sum = nimbro_topic_transport::topic_info::getMd5Sum(ops.datatype);
m_pub_feedback = nh.advertise(ops);
ros::SubscribeOptions subops;
subops.init<topic_tools::ShapeShifter>(input + "/feedback", 10, boost::bind(&handleFeedback, _1));
subops.datatype = type + "ActionFeedback";
subops.md5sum = nimbro_topic_transport::topic_info::getMd5Sum(subops.datatype);
m_sub_feedback = nh.subscribe(subops);
}
{
m_pub_status = nh.advertise<actionlib_msgs::GoalStatusArray>(output + "/status", 10);
m_sub_status = nh.subscribe(input + "/status", 10, &handleStatus);
}
ros::spin();
return 0;
}

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// Bandwidth display for transferred topics
// Author: Sebastian Schüller
#include "bandwidth_gui.h"
#include "contrib/qcustomplot/qcustomplot.h"
#include <pluginlib/class_list_macros.h>
#include <ros/node_handle.h>
#include <yaml-cpp/yaml.h>
#include <algorithm>
#include <QLayout>
#include <QComboBox>
#include <QPushButton>
#include <QTextEdit>
#include <QMessageBox>
Q_DECLARE_METATYPE(nimbro_topic_transport::SenderStatsConstPtr)
static const int WINDOW_SIZE = 64;
static const int BRUSH_VALUE = 180;
static const int BRUSH_SATURATION = 150;
static const std::string DEFAULT_GROUPS =
"cameras: [\"/camera_center/h264\", \"/camera_left/h264\", \"/camera_right/h264\"]\n"
"hand_cameras: [\"/camera_left_hand/h264\", \"/camera_right_hand/h264\"]\n"
"network_stats: [\"/network/sender_stats\", \"/network/receiver_stats\"]\n";
inline double bpsToKbps(double bps)
{
return bps/1000.0;
}
inline double bpsToMbps(double bps)
{
return bpsToKbps(bps)/1000.0;
}
namespace nimbro_topic_transport
{
BandwidthGui::BandwidthGui()
: m_maxBandwidth(0)
, m_hue(175)
{}
BandwidthGui::~BandwidthGui()
{}
void BandwidthGui::initPlugin(qt_gui_cpp::PluginContext& ctx)
{
m_plot = new QCustomPlot();
m_plot->legend->setVisible(true);
m_plot->legend->setIconBorderPen(Qt::NoPen);
m_plot->yAxis->setLabel("Kb/s");
QWidget* wrapper = new QWidget();
m_connectionBox = new QComboBox(wrapper);
QPushButton* groupBtn = new QPushButton("Group Settings", wrapper);
QGridLayout* gl = new QGridLayout(wrapper);
gl->addWidget(m_plot, 0, 0, 1, 2);
gl->addWidget(m_connectionBox, 1, 0);
gl->addWidget(groupBtn, 1, 1);
wrapper->setLayout(gl);
wrapper->setWindowTitle("Bandwidth");
ctx.addWidget(wrapper);
connect(
m_plot, SIGNAL(legendClick(QCPLegend *, QCPAbstractLegendItem *, QMouseEvent *)),
this, SLOT(handleClickedLegend(QCPLegend*, QCPAbstractLegendItem*, QMouseEvent*))
);
connect(
m_connectionBox, SIGNAL(currentIndexChanged(int)),
this, SLOT(clearPlot())
);
connect(
groupBtn, SIGNAL(pressed()),
this, SLOT(updateGroupInfo())
);
qRegisterMetaType<nimbro_topic_transport::SenderStatsConstPtr>();
connect(
this, SIGNAL(senderStatsReceived(nimbro_topic_transport::SenderStatsConstPtr)),
this, SLOT(handleSenderStats(nimbro_topic_transport::SenderStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_senderStats = getPrivateNodeHandle().subscribe(
"/network/sender_stats", 1, &BandwidthGui::senderStatsReceived, this
);
m_plot->xAxis->setTickLabelType(QCPAxis::ltDateTime);
m_plot->xAxis->setDateTimeFormat("hh:mm:ss");
m_plot->xAxis->setAutoTickStep(true);
m_plot->yAxis->setRangeLower(0);
QCPLayoutGrid* subLayout = new QCPLayoutGrid();
QCPLayoutElement* dummy = new QCPLayoutElement();
m_plot->plotLayout()->addElement(0, 1, subLayout);
subLayout->addElement(0, 0, m_plot->legend);
subLayout->addElement(1, 0, dummy);
subLayout->setRowStretchFactor(0, 0.01);
m_plot->plotLayout()->setColumnStretchFactor(1, 0.01);
connect(
m_plot->xAxis, SIGNAL(rangeChanged(QCPRange)),
m_plot->xAxis2, SLOT(setRange(QCPRange))
);
connect(
m_plot->yAxis, SIGNAL(rangeChanged(QCPRange)),
m_plot->yAxis2, SLOT(setRange(QCPRange))
);
connect(
&m_plotTimer, SIGNAL(timeout()),
this, SLOT(updatePlot())
);
m_plotTimer.start(0);
}
void BandwidthGui::shutdownPlugin()
{
m_sub_senderStats.shutdown();
}
void BandwidthGui::clearPlot()
{
m_maxBandwidth = 0;
m_bandwidths.clear();
m_plot->clearGraphs();
}
void BandwidthGui::handleSenderStats(const nimbro_topic_transport::SenderStatsConstPtr& msg)
{
// Update connection info
std::stringstream ss;
ss << "[" << msg->protocol << "] ";
ss << msg->host << ":" << msg->source_port << " -> ";
ss << msg->destination << ":" << msg->destination_port;
QString connection = QString::fromStdString(ss.str());
if(m_connectionBox->findText(connection) == -1)
m_connectionBox->addItem(connection);
if(connection != m_connectionBox->currentText())
return;
for(auto& gv : m_bandwidths)
gv.second.value = 0.0;
for(const auto& topic : msg->topics)
{
//Look up if topic is in group
std::string name = topic.name;
for(const auto& group : m_groupMap)
{
const auto& members = group.second;
if(std::find(members.begin(), members.end(), name) != members.end())
{
name = group.first;
break;
}
}
if(m_bandwidths.find(name) == m_bandwidths.end())
{
// Add and configure new graph to plot
auto graph = m_plot->addGraph();
graph->setName(QString::fromStdString(name));
graph->setPen(QPen(QColor::fromHsv(0,110,150)));
graph->setBrush(QBrush(QColor::fromHsv(m_hue, BRUSH_SATURATION, BRUSH_VALUE)));
m_hue = (m_hue + 137) % 360;
m_bandwidths[name].graph = graph;
m_bandwidths[name].last_timestamp = std::numeric_limits<double>::max();
}
m_bandwidths[name].value += bpsToKbps(topic.bandwidth);
m_bandwidths[name].timestamp = msg->header.stamp.toSec();
}
}
void BandwidthGui::updateGroupInfo()
{
QString temp;
GroupDialog dial; //ToDo find correct parent
dial.setText(m_grpYamlString);
int result = dial.exec();
if (result != QDialog::Accepted)
return;
temp = dial.text();
if (m_grpYamlString == temp)
return;
GroupMap groupMap;
if(!groupFromYaml(temp.toStdString(), &groupMap))
{
QMessageBox::warning(m_plot->parentWidget(), "Warning!", "Malformed YAML");
return;
}
m_grpYamlString = temp;
clearPlot();
m_groupMap = groupMap;
return;
}
bool BandwidthGui::groupFromYaml(const std::string& yaml, GroupMap* groupMap)
{
YAML::Node grpInfo = YAML::Load(yaml);
if (grpInfo.IsNull())
{
return true;
}
if (grpInfo.Type() != YAML::NodeType::Map)
{
return false;
}
for (const auto& pair : grpInfo)
{
if(pair.first.Type() != YAML::NodeType::Scalar)
{
return false;
}
std::string key = pair.first.as<std::string>();
for (const auto& element : pair.second)
{
if(element.Type() != YAML::NodeType::Scalar)
{
return false;
}
(*groupMap)[key].push_back(element.as<std::string>());
}
}
return true;
}
void BandwidthGui::updatePlot()
{
double plotValue = 0;
QCPGraph* prevGraph = nullptr;
for(auto& bw : m_bandwidths)
{
auto& gv = bw.second;
plotValue += gv.value;
if(prevGraph)
gv.graph->setChannelFillGraph(prevGraph);
prevGraph = gv.graph;
gv.graph->addData(gv.timestamp, plotValue);
m_maxBandwidth = std::max(m_maxBandwidth, plotValue);
m_plot->yAxis->setRangeUpper(m_maxBandwidth + (m_maxBandwidth/50.0));
gv.graph->removeDataBefore(5*WINDOW_SIZE);
gv.last_timestamp = gv.timestamp;
}
m_plot->xAxis->setRange(ros::Time::now().toSec() + 0.25, WINDOW_SIZE, Qt::AlignRight);
m_plot->replot();
}
void BandwidthGui::handleClickedLegend(QCPLegend *legend, QCPAbstractLegendItem *item, QMouseEvent *event)
{
QCPPlottableLegendItem* graphItem = dynamic_cast<QCPPlottableLegendItem*>(item);
if(!graphItem)
return;
auto color = graphItem->plottable()->brush().color();
auto hue = color.hue() + 180 % 360;
auto sat = color.saturation();
auto val = color.value();
if(sat == BRUSH_SATURATION)
{
sat = 255;
val = 255;
}
else
{
sat = BRUSH_SATURATION;
val = BRUSH_VALUE;
}
color.setHsv(hue, sat, val);
graphItem->plottable()->setBrush(QBrush(color));
}
void BandwidthGui::saveSettings(qt_gui_cpp::Settings& pluginSettings, qt_gui_cpp::Settings& instanceSettings) const
{
instanceSettings.setValue("connection", m_connectionBox->currentText());
instanceSettings.setValue("groups", m_grpYamlString);
}
void BandwidthGui::restoreSettings(const qt_gui_cpp::Settings& pluginSettings, const qt_gui_cpp::Settings& instanceSettings)
{
if(instanceSettings.contains("connection"))
m_connectionBox->addItem(instanceSettings.value("connection").toString());
if(instanceSettings.contains("groups"))
{
m_grpYamlString = instanceSettings.value("groups").toString();
GroupMap groupMap;
if(m_grpYamlString.isEmpty())
m_grpYamlString = QString::fromStdString(DEFAULT_GROUPS);
if(!groupFromYaml(m_grpYamlString.toStdString(), &groupMap))
{
m_grpYamlString = "";
return;
}
m_groupMap = groupMap;
}
}
////// Group Dialog
GroupDialog::GroupDialog()
: m_tEdit(new QTextEdit(this))
{
QPushButton* okBtn = new QPushButton("Accept", this);
QPushButton* cancelBtn = new QPushButton("Cancel", this);
QGridLayout* gl = new QGridLayout(this);
gl->addWidget(m_tEdit, 0, 0, 1, 2);
gl->addWidget(cancelBtn, 1, 0);
gl->addWidget(okBtn, 1, 1);
this->setLayout(gl);
connect(
okBtn, SIGNAL(pressed()),
this, SLOT(accept())
);
connect(
cancelBtn, SIGNAL(pressed()),
this, SLOT(reject())
);
}
void GroupDialog::setText(QString text)
{
m_tEdit->setPlainText(text);
}
QString GroupDialog::text()
{
return m_tEdit->toPlainText();
}
}
PLUGINLIB_EXPORT_CLASS(nimbro_topic_transport::BandwidthGui, rqt_gui_cpp::Plugin)

93
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// Bandwidth display for transferred topics
// Author: Sebastian Schüller
#ifndef BANDWIDTH_GUI
#define BANDWIDTH_GUI
#include <rqt_gui_cpp/plugin.h>
#include <ros/subscriber.h>
#include <nimbro_topic_transport/SenderStats.h>
#include <map>
#include <QTimer>
#include <QDialog>
class QCustomPlot;
class QCPGraph;
class QCPLegend;
class QCPAbstractLegendItem;
class QMouseEvent;
class QComboBox;
class QTextEdit;
typedef std::map<std::string, std::vector<std::string> > GroupMap;
namespace nimbro_topic_transport
{
class BandwidthGui : public rqt_gui_cpp::Plugin
{
Q_OBJECT
public:
BandwidthGui();
virtual ~BandwidthGui();
virtual void initPlugin(qt_gui_cpp::PluginContext & ) override;
virtual void shutdownPlugin() override;
virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const override;
virtual void restoreSettings(const qt_gui_cpp::Settings& pluginSettings, const qt_gui_cpp::Settings& instanceSettings) override;
Q_SIGNALS:
// Bounce SenderStats msg from ros thread to GUI thread
void senderStatsReceived(const nimbro_topic_transport::SenderStatsConstPtr& msg);
private Q_SLOTS:
void handleSenderStats(const nimbro_topic_transport::SenderStatsConstPtr& msg);
void updateGroupInfo();
void updatePlot();
void clearPlot();
void handleClickedLegend(QCPLegend *legend, QCPAbstractLegendItem *item, QMouseEvent *event);
private:
struct GraphValue
{
float value; // bandwidth value
double timestamp; // in seconds since epoch
double last_timestamp; // in seconds, timestamp of last point
QCPGraph* graph;
};
bool groupFromYaml(const std::string& yaml, GroupMap* map);
QCustomPlot* m_plot;
QComboBox* m_connectionBox;
QTimer m_plotTimer;
ros::Subscriber m_sub_senderStats;
std::map<std::string, GraphValue> m_bandwidths;
double m_maxBandwidth;
int m_hue;
std::vector<std::string> m_connections;
QString m_grpYamlString;
GroupMap m_groupMap;
};
// Text Dialog to change Group Settings
class GroupDialog : public QDialog
{
Q_OBJECT
public:
GroupDialog();
void setText(QString text);
QString text();
private:
QTextEdit* m_tEdit;
};
}
#endif

674
software/ros_packages/nimbro_topic_transport/src/gui/contrib/qcustomplot/GPL.txt Normal file
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GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
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#### Version 1.3.1 released on 25.04.15 ####
Bugfixes:
- Fixed bug that prevented automatic axis rescaling when some graphs/curves had only NaN data points
- Improved QCPItemBracket selection boundaries, especially bsCurly and bsCalligraphic
- Fixed bug of axis rect and colorscale background shifted downward by one logical pixel (visible in scaled png and pdf export)
- Replot upon mouse release is now only performed if a selection change has actually happened (improves responsivity on particularly complex plots)
- Fixed bug that allowed scatter-only graphs to be selected by clicking the non-existent line between scatters
- Fixed crash when trying to select a scatter-only QCPGraph whose only points in the visible key range are at identical key coordinates and vertically off-screen, with adaptive sampling enabled
- Fixed pdf export of QCPColorMap with enabled interpolation (didn't appear interpolated in pdf)
- Reduced QCPColorMap jitter of internal cell boundaries for small sized maps when viewed with high zoom, by applying oversampling factors dependant on map size
- Fixed bug of QCPColorMap::fill() not causing the buffered internal image map to be updated, and thus the change didn't become visible immediately
- Axis labels with size set in pixels (setPixelSize) instead of points now correctly calculate the exponent's font size if beautifully typeset powers are enabled
- Fixed QCPColorMap appearing at the wrong position for logarithmic axes and color map spanning larger ranges
Other:
- Pdf export used to embed entire QCPColorMaps, potentially leading to large files. Now only the visible portion of the map is embedded in the pdf
- Many documentation fixes and extensions, style modernization
- Reduced documentation file size (and thus full package size) by automatically reducing image palettes during package build
- Fixed MSVC warning message (at warning level 4) due to temporary QLists in some foreach statements
#### Version 1.3.0 released on 27.12.14 ####
Added features:
- New plottable class QCPFinancial allows display of candlestick/ohlc data
- New class QCPBarsGroup allows horizontal grouping of multiple QCPBars plottables
- Added QCPBars feature allowing non-zero base values (see property QCPBars::setBaseValue)
- Added QCPBars width type, for more flexible bar widths (see property QCPBars::setWidthType)
- New QCPCurve optimization algorithm, fixes bug which caused line flicker at deep zoom into curve segment
- Item positions can now have different position types and anchors for their x and y coordinates (QCPItemPosition::setTypeX/Y, setParentAnchorX/Y)
- QCPGraph and QCPCurve can now display gaps in their lines, when inserting quiet NaNs as values (std::numeric_limits<double>::quiet_NaN())
- QCPAxis now supports placing the tick labels inside the axis rect, for particularly space saving plots (QCPAxis::setTickLabelSide)
Added features after beta:
- Made code compatible with QT_NO_CAST_FROM_ASCII, QT_NO_CAST_TO_ASCII
- Added compatibility with QT_NO_KEYWORDS after sending code files through a simple reg-ex script
- Added possibility to inject own QCPAxis(-subclasses) via second, optional QCPAxisRect::addAxis parameter
- Added parameter to QCPItemPixmap::setScaled to specify transformation mode
Bugfixes:
- Fixed bug in QCPCurve rendering of very zoomed-in curves (via new optimization algorithm)
- Fixed conflict with MSVC-specific keyword "interface" in text-document-integration example
- Fixed QCPScatterStyle bug ignoring the specified pen in the custom scatter shape constructor
- Fixed bug (possible crash) during QCustomPlot teardown, when a QCPLegend that has no parent layout (i.e. was removed from layout manually) gets deleted
Bugfixes after beta:
- Fixed bug of QCPColorMap/QCPColorGradient colors being off by one color sampling step (only noticeable in special cases)
- Fixed bug of QCPGraph adaptive sampling on vertical key axis, causing staggered look
- Fixed low (float) precision in QCPCurve optimization algorithm, by not using QVector2D anymore
Other:
- Qt 5.3 and Qt 5.4 compatibility
#### Version 1.2.1 released on 07.04.14 ####
Bugfixes:
- Fixed regression which garbled date-time tick labels on axes, if setTickLabelType is ltDateTime and setNumberFormat contains the "b" option
#### Version 1.2.0 released on 14.03.14 ####
Added features:
- Adaptive Sampling for QCPGraph greatly improves performance for high data densities (see QCPGraph::setAdaptiveSampling)
- QCPColorMap plottable with QCPColorScale layout element allows plotting of 2D color maps
- QCustomPlot::savePdf now has additional optional parameters pdfCreator and pdfTitle to set according PDF metadata fields
- QCustomPlot::replot now allows specifying whether the widget update is immediate (repaint) or queued (update)
- QCPRange operators +, -, *, / with double operand for range shifting and scaling, and ==, != for range comparison
- Layers now have a visibility property (QCPLayer::setVisible)
- static functions QCPAxis::opposite and QCPAxis::orientation now offer more convenience when handling axis types
- added notification signals for selectability change (selectableChanged) on all objects that have a selected/selectable property
- added notification signal for QCPAxis scaleType property
- added notification signal QCPLayerable::layerChanged
Bugfixes:
- Fixed assert halt, when QCPAxis auto tick labels not disabled but nevertheless a custom non-number tick label ending in "e" given
- Fixed painting glitches when QCustomPlot resized inside a QMdiArea or under certain conditions inside a QLayout
- If changing QCPAxis::scaleType and thus causing range sanitizing and a range modification, rangeChanged wouldn't be emitted
- Fixed documentation bug that caused indentation to be lost in code examples
Bugfixes after beta:
- Fixed bug that caused crash if clicked-on legend item is removed in mousePressEvent.
- On some systems, font size defaults to -1, which used to cause a debug output in QCPAxisPainterPrivate::TickLabelDataQCP. Now it's checked before setting values based on the default font size.
- When using multiple axes on one side, setting one to invisible didn't properly compress the freed space.
- Fixed bug that allowed selection of plottables when clicking in the bottom or top margin of a QCPAxisRect (outside the inner rect)
Other:
- In method QCPAbstractPlottable::getKeyRange/getValueRange, renamed parameter "validRange" to "foundRange", to better reflect its meaning (and contrast it from QCPRange::validRange)
- QCPAxis low-level axis painting methods exported to QCPAxisPainterPrivate
#### Version 1.1.1 released on 09.12.13 ####
Bugfixes:
- Fixed bug causing legends blocking input events from reaching underlying axis rect even if legend is invisible
- Added missing Q_PROPERTY for QCPAxis::setDateTimeSpec
- Fixed behaviour of QCPAxisRect::setupFullAxesBox (now transfers more properties from bottom/left to top/right axes and sets visibility of bottom/left axes to true)
- Made sure PDF export doesn't default to grayscale output on some systems
Other:
- Plotting hint QCP::phForceRepaint is now enabled on all systems (and not only on windows) by default
- Documentation improvements
#### Version 1.1.0 released on 04.11.13 ####
Added features:
- Added QCPRange::expand and QCPRange::expanded
- Added QCPAxis::rescale to rescale axis to all associated plottables
- Added QCPAxis::setDateTimeSpec/dateTimeSpec to allow axis labels either in UTC or local time
- QCPAxis now additionally emits a rangeChanged signal overload that provides the old range as second parameter
Bugfixes:
- Fixed QCustomPlot::rescaleAxes not rescaling properly if first plottable has an empty range
- QCPGraph::rescaleAxes/rescaleKeyAxis/rescaleValueAxis are no longer virtual (never were in base class, was a mistake)
- Fixed bugs in QCPAxis::items and QCPAxisRect::items not properly returning associated items and potentially stalling
Other:
- Internal change from QWeakPointer to QPointer, thus got rid of deprecated Qt functionality
- Qt5.1 and Qt5.2 (beta1) compatibility
- Release packages now extract to single subdirectory and don't place multiple files in current working directory
#### Version 1.0.1 released on 05.09.13 ####
Bugfixes:
- using define flag QCUSTOMPLOT_CHECK_DATA caused debug output when data was correct, instead of invalid (fixed QCP::isInvalidData)
- documentation images are now properly shown when viewed with Qt Assistant
- fixed various documentation mistakes
Other:
- Adapted documentation style sheet to better match Qt5 documentation
#### Version 1.0.0 released on 01.08.13 ####
Quick Summary:
- Layout system for multiple axis rects in one plot
- Multiple axes per side
- Qt5 compatibility
- More flexible and consistent scatter configuration with QCPScatterStyle
- Various interface cleanups/refactoring
- Pixmap-cached axis labels for improved replot performance
Changes that break backward compatibility:
- QCustomPlot::axisRect() changed meaning due to the extensive changes to how axes and axis rects are handled
it now returns a pointer to a QCPAxisRect and takes an integer index as parameter.
- QCPAxis constructor changed to now take QCPAxisRect* as parent
- setAutoMargin, setMarginLeft/Right/Top/Bottom removed due to the axis rect changes (see QCPAxisRect::setMargins/setAutoMargins)
- setAxisRect removed due to the axis rect changes
- setAxisBackground(-Scaled/-ScaledMode) now moved to QCPAxisRect as setBackground(-Scaled/ScaledMode) (access via QCustomPlot::axisRects())
- QCPLegend now is a QCPLayoutElement
- QCPAbstractPlottable::drawLegendIcon parameter "rect" changed from QRect to QRectF
- QCPAbstractLegendItem::draw second parameter removed (position/size now handled via QCPLayoutElement base class)
- removed QCPLegend::setMargin/setMarginLeft/Right/Top/Bottom (now inherits the capability from QCPLayoutElement::setMargins)
- removed QCPLegend::setMinimumSize (now inherits the capability from QCPLayoutElement::setMinimumSize)
- removed enum QCPLegend::PositionStyle, QCPLegend::positionStyle/setPositionStyle/position/setPosition (replaced by capabilities of QCPLayoutInset)
- QCPLegend transformed to work with new layout system (almost everything changed)
- removed entire title interface: QCustomPlot::setTitle/setTitleFont/setTitleColor/setTitleSelected/setTitleSelectedFont/setTitleSelectedColor and
the QCustomPlot::iSelectTitle interaction flag (all functionality is now given by the layout element "QCPPlotTitle" which can be added to the plot layout)
- selectTest functions now take two additional parameters: bool onlySelectable and QVariant *details=0
- selectTest functions now ignores visibility of objects and (if parameter onlySelectable is true) does not anymore ignore selectability of the object
- moved QCustomPlot::Interaction/Interactions to QCP namespace as QCP::Interaction/Interactions
- moved QCustomPlot::setupFullAxesBox() to QCPAxisRect::setupFullAxesBox. Now also accepts parameter to decide whether to connect opposite axis ranges
- moved range dragging/zooming interface from QCustomPlot to QCPAxisRect (setRangeDrag, setRangeZoom, setRangeDragAxes, setRangeZoomAxes,...)
- rangeDrag/Zoom is now set to Qt::Horizontal|Qt::Vertical instead of 0 by default, on the other hand, iRangeDrag/Zoom is unset in interactions by
default (this makes enabling dragging/zooming easier by just adding the interaction flags)
- QCPScatterStyle takes over everything related to handling scatters in all plottables
- removed setScatterPen/Size on QCPGraph and QCPCurve, removed setOutlierPen/Size on QCPStatisticalBox (now handled via QCPScatterStyle)
- modified setScatterStyle on QCPGraph and QCPCurve, and setOutlierStyle on QCPStatisticalBox, to take QCPScatterStyle
- axis grid and subgrid are now reachable via the QCPGrid *QCPAxis::grid() method. (e.g. instead of xAxis->setGrid(true), write xAxis->grid()->setVisible(true))
Added features:
- Axis tick labels are now pixmap-cached, thus increasing replot performance (in usual setups by about 24%). See plotting hint phCacheLabels which is set by default
- Advanced layout system, including the classes QCPLayoutElement, QCPLayout, QCPLayoutGrid, QCPLayoutInset, QCPAxisRect
- QCustomPlot::axisRects() returns all the axis rects in the QCustomPlot.
- QCustomPlot::plotLayout() returns the top level layout (initially a QCPLayoutGrid with one QCPAxisRect inside)
- QCPAxis now may have an offset to the axis rect (setOffset)
- Multiple axes per QCPAxisRect side are now supported (see QCPAxisRect::addAxis)
- QCustomPlot::toPixmap renders the plot into a pixmap and returns it
- When setting tick label rotation to +90 or -90 degrees on a vertical axis, the labels are now centered vertically on the tick height
(This allows space saving vertical tick labels by having the text direction parallel to the axis)
- Substantially increased replot performance when using very large manual tick vectors (> 10000 ticks) via QCPAxis::setTickVector
- QCPAxis and QCPAxisRect now allow easy access to all plottables(), graphs() and items() that are associated with them
- Added QCustomPlot::hasItem method for consistency with plottable interface, hasPlottable
- Added QCPAxisRect::setMinimumMargins as replacement for hardcoded minimum axis margin (15 px) when auto margin is enabled
- Added Flags type QCPAxis::AxisTypes (from QCPAxis::AxisType), used in QCPAxisRect interface
- Automatic margin calculation can now be enabled/disabled on a per-side basis, see QCPAxisRect::setAutoMargins
- QCPAxisRect margins of multiple axis rects can be coupled via QCPMarginGroup
- Added new default layers "background" and "legend" (QCPAxisRect draws its background on the "background" layer, QCPLegend is on the "legend" layer by default)
- Custom scatter style via QCP::ssCustom and respective setCustomScatter functions that take a QPainterPath
- Filled scatters via QCPScatterStyle::setBrush
Added features after beta:
- Added QCustomPlot::toPainter method, to allow rendering with existing painter
- QCPItemEllipse now provides a center anchor
Bugfixes:
- Fixed compile error on ARM
- Wrong legend icons were displayed if using pixmaps for scatters that are smaller than the legend icon rect
- Fixed clipping inaccuracy for rotated tick labels (were hidden too early, because the non-rotated bounding box was used)
- Fixed bug that caused wrong clipping of axis ticks and subticks when the ticks were given manually by QCPAxis::setTickVector
- Fixed Qt5 crash when dragging graph out of view (iterator out of bounds in QCPGraph::getVisibleDataBounds)
- Fixed QCPItemText not scaling properly when using scaled raster export
Bugfixes after beta:
- Fixed bug that clipped the rightmost pixel column of tick labels when caching activated (only visible on windows for superscript exponents)
- Restored compatibility to Qt4.6
- Restored support for -no-RTTI compilation
- Empty manual tick labels are handled more gracefully (no QPainter qDebug messages anymore)
- Fixed type ambiguity in QCPLineEnding::draw causing compile error on ARM
- Fixed bug of grid layouts not propagating the minimum size from their child elements to the parent layout correctly
- Fixed bug of child elements (e.g. axis rects) of inset layouts not properly receiving mouse events
Other:
- Opened up non-amalgamated project structure to public via git repository
#### Version released on 09.06.12 ####
Quick Summary:
- Items (arrows, text,...)
- Layers (easier control over rendering order)
- New antialiasing system (Each objects controls own antialiasing with setAntialiased)
- Performance Improvements
- improved pixel-precise drawing
- easier shared library creation/usage
Changes that (might) break backward compatibility:
- enum QCPGraph::ScatterSymbol was moved to QCP namespace (now QCP::ScatterSymbol).
This replace should fix your code: "QCPGraph::ss" -> "QCP::ss"
- enum QCustomPlot::AntialiasedElement and flag QCustomPlot::AntialiasedElements was moved to QCP namespace
This replace should fix your code: "QCustomPlot::ae" -> "QCP::ae"
- the meaning of QCustomPlot::setAntialiasedElements has changed slightly: It is now an override to force elements to be antialiased. If you want to force
elements to not be drawn antialiased, use the new setNotAntialiasedElements. If an element is mentioned in neither of those functions, it now controls
its antialiasing itself via its "setAntialiased" function(s). (e.g. QCPAxis::setAntialiased(bool), QCPAbstractPlottable::setAntialiased(bool),
QCPAbstractPlottable::setAntialiasedScatters(bool), etc.)
- QCPAxis::setTickVector and QCPAxis::setTickVectorLabels no longer take a pointer but a const reference of the respective QVector as parameter.
(handing over a pointer didn't give any noticeable performance benefits but was inconsistent with the rest of the interface)
- Equally QCPAxis::tickVector and QCPAxis::tickVectorLabels don't return by pointer but by value now
- QCustomPlot::savePngScaled was removed, its purpose is now included as optional parameter "scale" of savePng.
- If you have derived from QCPAbstractPlottable: all selectTest functions now consistently take the argument "const QPointF &pos" which is the test point in pixel coordinates.
(the argument there was "double key, double value" in plot coordinates, before).
- QCPAbstractPlottable, QCPAxis and QCPLegend now inherit from QCPLayerable
- If you have derived from QCPAbstractPlottable: the draw method signature has changed from "draw (..) const" to "draw (..)", i.e. the method
is not const anymore. This allows the draw function of your plottable to perform buffering/caching operations, if necessary.
Added features:
- Item system: QCPAbstractItem, QCPItemAnchor, QCPItemPosition, QCPLineEnding. Allows placing of lines, arrows, text, pixmaps etc.
- New Items: QCPItemStraightLine, QCPItemLine, QCPItemCurve, QCPItemEllipse, QCPItemRect, QCPItemPixmap, QCPItemText, QCPItemBracket, QCPItemTracer
- QCustomPlot::addItem/itemCount/item/removeItem/selectedItems
- signals QCustomPlot::itemClicked/itemDoubleClicked
- the QCustomPlot interactions property now includes iSelectItems (for selection of QCPAbstractItem)
- QCPLineEnding. Represents the different styles a line/curve can end (e.g. different arrows, circle, square, bar, etc.), see e.g. QCPItemCurve::setHead
- Layer system: QCPLayerable, QCPLayer. Allows more sophisticated control over drawing order and a kind of grouping.
- QCPAbstractPlottable, QCPAbstractItem, QCPAxis, QCPGrid, QCPLegend are layerables and derive from QCPLayerable
- QCustomPlot::addLayer/moveLayer/removeLayer/setCurrentLayer/layer/currentLayer/layerCount
- Initially there are three layers: "grid", "main", and "axes". The "main" layer is initially empty and set as current layer, so new plottables/items are put there.
- QCustomPlot::viewport now makes the previously inaccessible viewport rect read-only-accessible (needed that for item-interface)
- PNG export now allows transparent background by calling QCustomPlot::setColor(Qt::transparent) before savePng
- QCPStatisticalBox outlier symbols may now be all scatter symbols, not only hardcoded circles.
- perfect precision of scatter symbol/error bar drawing and clipping in both antialiased and non-antialiased mode, by introducing QCPPainter
that works around some QPainter bugs/inconveniences. Further, more complex symbols like ssCrossSquare used to look crooked, now they look good.
- new antialiasing control system: Each drawing element now has its own "setAntialiased" function to control whether it is drawn antialiased.
- QCustomPlot::setAntialiasedElements and QCustomPlot::setNotAntialiasedElements can be used to override the individual settings.
- Subclasses of QCPAbstractPlottable can now use the convenience functions like applyFillAntialiasingHint or applyScattersAntialiasingHint to
easily make their drawing code comply with the overall antialiasing system.
- QCustomPlot::setNoAntialiasingOnDrag allows greatly improved performance and responsiveness by temporarily disabling all antialiasing while
the user is dragging axis ranges
- QCPGraph can now show scatter symbols at data points and hide its line (see QCPGraph::setScatterStyle, setScatterSize, setScatterPixmap, setLineStyle)
- Grid drawing code was sourced out from QCPAxis to QCPGrid. QCPGrid is mainly an internal class and every QCPAxis owns one. The grid interface still
works through QCPAxis and hasn't changed. The separation allows the grid to be drawn on a different layer as the axes, such that e.g. a graph can
be above the grid but below the axes.
- QCustomPlot::hasPlottable(plottable), returns whether the QCustomPlot contains the plottable
- QCustomPlot::setPlottingHint/setPlottingHints, plotting hints control details about the plotting quality/speed
- export to jpg and bmp added (QCustomPlot::saveJpg/saveBmp), as well as control over compression quality for png and jpg
- multi-select-modifier may now be specified with QCustomPlot::setMultiSelectModifier and is not fixed to Ctrl anymore
Bugfixes:
- fixed QCustomPlot ignores replot after it had size (0,0) even if size becomes valid again
- on Windows, a repaint used to be delayed during dragging/zooming of a complex plot, until the drag operation was done.
This was fixed, i.e. repaints are forced after a replot() call. See QCP::phForceRepaint and setPlottingHints.
- when using the raster paintengine and exporting to scaled PNG, pen widths are now scaled correctly (QPainter bug workaround via QCPPainter)
- PDF export now respects QCustomPlot background color (QCustomPlot::setColor), also Qt::transparent
- fixed a bug on QCPBars and QCPStatisticalBox where auto-rescaling of axis would fail when all data is very small (< 1e-11)
- fixed mouse event propagation bug that prevented range dragging from working on KDE (GNU/Linux)
- fixed a compiler warning on 64-bit systems due to pointer cast to int instead of quintptr in a qDebug output
Other:
- Added support for easier shared library creation (including examples for compiling and using QCustomPlot as shared library)
- QCustomPlot now has the Qt::WA_OpaquePaintEvent widget attribute (gives slightly improved performance).
- QCP::aeGraphs (enum QCP::AntialiasedElement, previously QCustomPlot::aeGraphs) has been marked deprecated since version 02.02.12 and
was now removed. Use QCP::aePlottables instead.
- optional performance-quality-tradeoff for solid graph lines (see QCustomPlot::setPlottingHints).
- marked data classes and QCPRange as Q_MOVABLE_TYPE
- replaced usage of own macro FUNCNAME with Qt macro Q_FUNC_INFO
- QCustomPlot now returns a minimum size hint of 50*50
#### Version released on 31.03.12 ####
Changes that (might) break backward compatibility:
- QCPAbstractLegendItem now inherits from QObject
- mousePress, mouseMove and mouseRelease signals are now emitted before and not after any QCustomPlot processing (range dragging, selecting, etc.)
Added features:
- Interaction system: now allows selecting of objects like plottables, axes, legend and plot title, see QCustomPlot::setInteractions documentation
- Interaction system for plottables:
- setSelectable, setSelected, setSelectedPen, setSelectedBrush, selectTest on QCPAbstractPlottable and all derived plottables
- setSelectionTolerance on QCustomPlot
- selectedPlottables and selectedGraphs on QCustomPlot (returns the list of currently selected plottables/graphs)
- Interaction system for axes:
- setSelectable, setSelected, setSelectedBasePen, setSelectedTickPen, setSelectedSubTickPen, setSelectedLabelFont, setSelectedTickLabelFont,
setSelectedLabelColor, setSelectedTickLabelColor, selectTest on QCPAxis
- selectedAxes on QCustomPlot (returns a list of the axes that currently have selected parts)
- Interaction system for legend:
- setSelectable, setSelected, setSelectedBorderPen, setSelectedIconBorderPen, setSelectedBrush, setSelectedFont, setSelectedTextColor, selectedItems on QCPLegend
- setSelectedFont, setSelectedTextColor, setSelectable, setSelected on QCPAbstractLegendItem
- selectedLegends on QCustomPlot
- Interaction system for title:
- setSelectedTitleFont, setSelectedTitleColor, setTitleSelected on QCustomPlot
- new signals in accordance with the interaction system:
- selectionChangedByUser on QCustomPlot
- selectionChanged on QCPAbstractPlottable
- selectionChanged on QCPAxis
- selectionChanged on QCPLegend and QCPAbstractLegendItem
- plottableClick, legendClick, axisClick, titleClick, plottableDoubleClick, legendDoubleClick, axisDoubleClick, titleDoubleClick on QCustomPlot
- QCustomPlot::deselectAll (deselects everything, i.e. axes and plottables)
- QCPAbstractPlottable::pixelsToCoords (inverse function to the already existing coordsToPixels function)
- QCPRange::contains(double value)
- QCPAxis::setLabelColor and setTickLabelColor
- QCustomPlot::setTitleColor
- QCustomPlot now emits beforeReplot and afterReplot signals. Note that it is safe to make two customPlots mutually call eachothers replot functions
in one of these slots, it will not cause an infinite loop. (usefull for synchronizing axes ranges between two customPlots, because setRange alone doesn't replot)
- If the Qt version is 4.7 or greater, the tick label strings in date-time-mode now support sub-second accuracy (e.g. with format like "hh:mm:ss.zzz").
Bugfixes:
- tick labels/margins should no longer oscillate by one pixel when dragging range or replotting repeatedly while changing e.g. data. This
was caused by a bug in Qt's QFontMetrics::boundingRect function when the font has an integer point size (probably some rounding problem).
The fix hence consists of creating a temporary font (only for bounding-box calculation) which is 0.05pt larger and thus avoiding the
jittering rounding outcome.
- tick label, axis label and plot title colors used to be undefined. This was fixed by providing explicit color properties.
Other:
- fixed some glitches in the documentation
- QCustomPlot::replot and QCustomPlot::rescaleAxes are now slots
#### Version released on 02.02.12 ####
Changes that break backward compatibility:
- renamed all secondary classes from QCustomPlot[...] to QCP[...]:
QCustomPlotAxis -> QCPAxis
QCustomPlotGraph -> QCPGraph
QCustomPlotRange -> QCPRange
QCustomPlotData -> QCPData
QCustomPlotDataMap -> QCPDataMap
QCustomPlotLegend -> QCPLegend
QCustomPlotDataMapIterator -> QCPDataMapIterator
QCustomPlotDataMutableMapIterator -> QCPDataMutableMapIterator
A simple search and replace on all code files should make your code run again, e.g. consider the regex "QCustomPlot(?=[AGRDL])" -> "QCP".
Make sure not to just replace "QCustomPlot" with "QCP" because the main class QCustomPlot hasn't changed to QCP.
This change was necessary because class names became unhandy, pardon my bad naming decision in the beginning.
- QCPAxis::tickLength() and QCPAxis::subTickLength() now each split into two functions for inward and outward ticks (tickLengthIn/tickLengthOut).
- QCPLegend now uses QCPAbstractLegendItem to carry item data (before, the legend was passed QCPGraphs directly)
- QCustomPlot::addGraph() now doesn't return the index of the created graph anymore, but a pointer to the created QCPGraph.
- QCustomPlot::setAutoAddGraphToLegend is replaced by setAutoAddPlottableToLegend
Added features:
- Reversed axis range with QCPAxis::setRangeReversed(bool)
- Tick labels are now only drawn if not clipped by the viewport (widget border) on the sides (e.g. left and right on a horizontal axis).
- Zerolines. Like grid lines only with a separate pen (QCPAxis::setZeroLinePen), at tick position zero.
- Outward ticks. QCPAxis::setTickLength/setSubTickLength now accepts two arguments for inward and outward tick length. This doesn't break
backward compatibility because the second argument (outward) has default value zero and thereby a call with one argument hasn't changed its meaning.
- QCPGraph now inherits from QCPAbstractPlottable
- QCustomPlot::addPlottable/plottable/removePlottable/clearPlottables added to interface with the new QCPAbstractPlottable-based system. The simpler interface
which only acts on QCPGraphs (addGraph, graph, removeGraph, etc.) was adapted internally and is kept for backward compatibility and ease of use.
- QCPLegend items for plottables (e.g. graphs) can automatically wrap their texts to fit the widths, see QCPLegend::setMinimumSize and QCPPlottableLegendItem::setTextWrap.
- QCustomPlot::rescaleAxes. Adapts axis ranges to show all plottables/graphs, by calling QCPAbstractPlottable::rescaleAxes on all plottables in the plot.
- QCPCurve. For plotting of parametric curves.
- QCPBars. For plotting of bar charts.
- QCPStatisticalBox. For statistical box plots.
Bugfixes:
- Fixed QCustomPlot::removeGraph(int) not being able to remove graph index 0
- made QCustomPlot::replot() abort painting when painter initialization fails (e.g. because width/height of QCustomPlot is zero)
- The distance of the axis label from the axis ignored the tick label padding, this could have caused overlapping axis labels and tick labels
- fixed memory leak in QCustomPlot (dtor didn't delete legend)
- fixed bug that prevented QCPAxis::setRangeLower/Upper from setting the value to exactly 0.
Other:
- Changed default error bar handle size (QCustomPlotGraph::setErrorBarSize) from 4 to 6.
- Removed QCustomPlotDataFetcher. Was deprecated and not used class.
- Extended documentation, especially class descriptions.
#### Version released on 15.01.12 ####
Changes that (might) break backward compatibility:
- QCustomPlotGraph now inherits from QObject
Added features:
- Added axis background pixmap (QCustomPlot::setAxisBackground, setAxisBackgroundScaled, setAxisBackgroundScaledMode)
- Added width and height parameter on PDF export function QCustomPlot::savePdf(). This now allows PDF export to
have arbitrary dimensions, independent of the current geometry of the QCustomPlot.
- Added overload of QCustomPlot::removeGraph that takes QCustomPlotGraph* as parameter, instead the index of the graph
- Added all enums to the Qt meta system via Q_ENUMS(). The enums can now be transformed
to QString values easily with the Qt meta system, which makes saving state e.g. as XML
significantly nicer.
- added typedef QMapIterator<double,QCustomPlotData> QCustomPlotDataMapIterator
and typedef QMutableMapIterator<double,QCustomPlotData> QCustomPlotDataMutableMapIterator
for improved information hiding, when using iterators outside QCustomPlot code
Bugfixes:
- Fixed savePngScaled. Axis/label drawing functions used to reset the painter transform
and thereby break savePngScaled. Now they buffer the current transform and restore it afterwards.
- Fixed some glitches in the doxygen comments (affects documentation only)
Other:
- Changed the default tickLabelPadding of top axis from 3 to 6 pixels. Looks better.
- Changed the default QCustomPlot::setAntialiasedElements setting: Graph fills are now antialiased
by default. That's a bit slower, but makes fill borders look better.
#### Version released on 19.11.11 ####
Changes that break backward compatibility:
- QCustomPlotAxis: tickFont and setTickFont renamed to tickLabelFont and setTickLabelFont (for naming consistency)
Other:
- QCustomPlotAxis: Added rotated tick labels, see setTickLabelRotation

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// Display a .dot graph
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "dot_widget.h"
#include <unistd.h>
#include <fcntl.h>
#include <stdexcept>
#include <sys/wait.h>
#include <QPainter>
static ssize_t runDot(const std::string& dot, int width, int height, uint8_t* pngOut, size_t pngOutSize)
{
int inputPipe[2];
int outputPipe[2];
if(pipe(inputPipe) != 0 || pipe(outputPipe) != 0)
throw std::runtime_error("Could not create pipe");
int pid = fork();
if(pid == 0)
{
// Child
close(inputPipe[1]);
close(outputPipe[0]);
dup2(inputPipe[0], STDIN_FILENO);
dup2(outputPipe[1], STDOUT_FILENO);
char sizeBuf[256];
int dpi = 400;
snprintf(sizeBuf, sizeof(sizeBuf), "-Gsize=%f,%f", ((float)width)/dpi, ((float)height)/dpi);
if(execlp("dot", "dot", "-Tpng", sizeBuf, "-Gdpi=400", "/dev/stdin", (char*)NULL) != 0)
{
perror("execlp() failed");
throw std::runtime_error("Could not execute dot");
exit(1);
}
// Cannot reach this
return -1;
}
else
{
// Parent
close(inputPipe[0]);
close(outputPipe[1]);
size_t written = 0;
size_t len = dot.length();
while(written != len)
{
int ret = write(inputPipe[1], dot.c_str() + written, len - written);
if(ret <= 0)
perror("Could not write");
written += ret;
}
close(inputPipe[1]);
size_t readBytes = 0;
while(1)
{
if(pngOutSize == readBytes)
{
throw std::runtime_error("png buffer is to small");
}
int ret = read(outputPipe[0], pngOut + readBytes, pngOutSize - readBytes);
if(ret == 0)
break;
else if(ret < 0)
{
perror("Could not read");
throw std::runtime_error("Could not read");
}
readBytes += ret;
}
close(outputPipe[0]);
int status;
waitpid(pid, &status, 0);
if(status != 0)
fprintf(stderr, "dot exited with error status %d\n", status);
return readBytes;
}
}
namespace nimbro_topic_transport
{
DotWidget::DotWidget()
: m_pngBuf(1024 * 1024)
{
}
DotWidget::~DotWidget()
{
}
void DotWidget::paintEvent(QPaintEvent*)
{
QPainter painter(this);
painter.fillRect(rect(), Qt::white);
painter.setRenderHint(QPainter::SmoothPixmapTransform);
float scale_x = ((float)width()) / m_pixmap.width();
float scale_y = ((float)height()) / m_pixmap.height();
if(scale_x > scale_y)
{
int newWidth = scale_y * m_pixmap.width();
QRect pixmapRect((width() - newWidth)/2, 0, newWidth, height());
painter.drawPixmap(pixmapRect, m_pixmap);
}
else
{
int newHeight = scale_x * m_pixmap.height();
QRect pixmapRect(0, (height() - newHeight)/2, width(), newHeight);
painter.drawPixmap(pixmapRect, m_pixmap);
}
}
void DotWidget::updateGraph(const std::string& dot)
{
ssize_t pngSize = runDot(dot, width(), height(), m_pngBuf.data(), m_pngBuf.size());
m_pixmap.loadFromData(m_pngBuf.data(), pngSize, "png");
update();
}
}

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// Display a .dot graph
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef DOT_WIDGET_H
#define DOT_WIDGET_H
#include <QWidget>
namespace nimbro_topic_transport
{
class DotWidget : public QWidget
{
Q_OBJECT
public:
DotWidget();
virtual ~DotWidget();
void updateGraph(const std::string& dot);
virtual void paintEvent(QPaintEvent *) override;
private:
QPixmap m_pixmap;
std::vector<uint8_t> m_pngBuf;
};
}
#endif

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// Diagnostic GUI for nimbro_topic_transport
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "topic_gui.h"
#include <QMetaType>
#include <ros/node_handle.h>
#include <set>
#include <pluginlib/class_list_macros.h>
#include <sstream>
Q_DECLARE_METATYPE(nimbro_topic_transport::SenderStatsConstPtr)
Q_DECLARE_METATYPE(nimbro_topic_transport::ReceiverStatsConstPtr)
namespace nimbro_topic_transport
{
TopicGUI::TopicGUI()
{
}
TopicGUI::~TopicGUI()
{
}
void TopicGUI::initPlugin(qt_gui_cpp::PluginContext& ctx)
{
m_w = new DotWidget;
ctx.addWidget(m_w);
qRegisterMetaType<nimbro_topic_transport::SenderStatsConstPtr>();
qRegisterMetaType<nimbro_topic_transport::ReceiverStatsConstPtr>();
connect(
this, SIGNAL(senderStatsReceived(nimbro_topic_transport::SenderStatsConstPtr)),
this, SLOT(handleSenderStats(nimbro_topic_transport::SenderStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_senderStats = getPrivateNodeHandle().subscribe(
"/network/sender_stats", 1, &TopicGUI::senderStatsReceived, this
);
connect(
this, SIGNAL(receiverStatsReceived(nimbro_topic_transport::ReceiverStatsConstPtr)),
this, SLOT(handleReceiverStats(nimbro_topic_transport::ReceiverStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_receiverStats = getPrivateNodeHandle().subscribe(
"/network/receiver_stats", 1, &TopicGUI::receiverStatsReceived, this
);
QTimer* updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), SLOT(update()));
updateTimer->start(2000);
}
void TopicGUI::shutdownPlugin()
{
m_sub_senderStats.shutdown();
m_sub_receiverStats.shutdown();
}
void TopicGUI::handleSenderStats(const SenderStatsConstPtr& msg)
{
ConnectionIdentifier ident;
ident.dest = msg->destination;
ident.protocol = msg->protocol;
ident.sourcePort = msg->source_port;
ident.destPort = msg->destination_port;
m_senderStats[ident] = msg;
update();
}
void TopicGUI::handleReceiverStats(const ReceiverStatsConstPtr& msg)
{
ConnectionIdentifier ident;
ident.dest = msg->host;
ident.protocol = msg->protocol;
ident.sourcePort = msg->remote_port;
ident.destPort = msg->local_port;
m_receiverStats[ident] = msg;
update();
}
static std::string sanitize(std::string arg)
{
for(size_t i = 0; i < arg.length(); ++i)
{
if(!isalnum(arg[i]))
arg[i] = '_';
}
return arg;
}
void TopicGUI::update()
{
ros::Time now = ros::Time::now();
ros::Duration timeoutDuration(4.0);
std::stringstream ss;
ss << "digraph G {\n";
ss << "K=0.6;\n";
std::set<ConnectionIdentifier> connections;
std::set<std::string> hosts;
for(auto pair : m_receiverStats)
{
if(now - pair.second->header.stamp > timeoutDuration)
continue;
connections.insert(pair.first);
hosts.insert(pair.second->remote);
hosts.insert(pair.first.dest);
}
for(auto pair : m_senderStats)
{
if(now - pair.second->header.stamp > timeoutDuration)
continue;
connections.insert(pair.first);
hosts.insert(pair.second->host);
hosts.insert(pair.first.dest);
}
for(auto& host : hosts)
{
ss << "node [ label = \"" << host << "\" ]; node_" << sanitize(host) << ";\n";
}
for(const auto& connection : connections)
{
auto sender_it = m_senderStats.find(connection);
auto receiver_it = m_receiverStats.find(connection);
SenderStatsConstPtr sender;
if(sender_it != m_senderStats.end())
sender = sender_it->second;
ReceiverStatsConstPtr receiver;
if(receiver_it != m_receiverStats.end())
receiver = receiver_it->second;
std::string source = sender ? sender->host : receiver->remote;
ss << "node_" << sanitize(source) << " -> node_" << sanitize(connection.dest) << "[ ";
ss << "label=\"";
std::string label;
if(sender_it != m_senderStats.end() && !sender_it->second->label.empty())
label = sender_it->second->label;
else if(receiver_it != m_receiverStats.end() && !receiver_it->second->label.empty())
label = receiver_it->second->label;
if(!label.empty())
ss << label << "\n";
ss << connection.protocol << " " << connection.sourcePort << " -> " << connection.destPort << "\n";
float bandwidth = 0.0;
int div = 0;
if(sender_it != m_senderStats.end() && now - sender_it->second->header.stamp < timeoutDuration)
{
bandwidth += sender_it->second->bandwidth;
div++;
}
if(receiver_it != m_receiverStats.end() && now - receiver_it->second->header.stamp < timeoutDuration)
{
bandwidth += receiver_it->second->bandwidth;
div++;
}
char bwBuf[100];
snprintf(bwBuf, sizeof(bwBuf), "%.2f MBit/s", bandwidth / 1024 / 1024);
ss << bwBuf;
ss << "\"";
ss << " ];\n";
}
ss << "}";
m_w->updateGraph(ss.str());
}
}
PLUGINLIB_EXPORT_CLASS(nimbro_topic_transport::TopicGUI, rqt_gui_cpp::Plugin)

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// Diagnostic GUI for nimbro_topic_transport
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef TOPIC_GUI_H
#define TOPIC_GUI_H
#include <ros/subscriber.h>
#include <nimbro_topic_transport/SenderStats.h>
#include <nimbro_topic_transport/ReceiverStats.h>
#include <rqt_gui_cpp/plugin.h>
#include <string>
#include <map>
#include <QTimer>
#include "dot_widget.h"
namespace nimbro_topic_transport
{
struct ConnectionIdentifier
{
std::string dest;
std::string protocol;
int sourcePort;
int destPort;
bool operator==(const ConnectionIdentifier& other) const
{
return dest == other.dest
&& protocol == other.protocol
&& sourcePort == other.sourcePort && destPort == other.destPort;
}
bool operator<(const ConnectionIdentifier& other) const
{
if(dest < other.dest)
return true;
if(dest > other.dest)
return false;
if(protocol < other.protocol)
return true;
if(protocol > other.protocol)
return false;
if(sourcePort < other.sourcePort)
return true;
if(sourcePort > other.sourcePort)
return false;
return destPort < other.destPort;
}
};
class TopicGUI : public rqt_gui_cpp::Plugin
{
Q_OBJECT
public:
TopicGUI();
virtual ~TopicGUI();
virtual void initPlugin(qt_gui_cpp::PluginContext & ) override;
virtual void shutdownPlugin() override;
Q_SIGNALS:
void senderStatsReceived(const nimbro_topic_transport::SenderStatsConstPtr& msg);
void receiverStatsReceived(const nimbro_topic_transport::ReceiverStatsConstPtr& msg);
private Q_SLOTS:
void handleSenderStats(const nimbro_topic_transport::SenderStatsConstPtr& msg);
void handleReceiverStats(const nimbro_topic_transport::ReceiverStatsConstPtr& msg);
void update();
private:
ros::Subscriber m_sub_senderStats;
ros::Subscriber m_sub_receiverStats;
std::map<ConnectionIdentifier, SenderStatsConstPtr> m_senderStats;
std::map<ConnectionIdentifier, ReceiverStatsConstPtr> m_receiverStats;
DotWidget* m_w;
};
}
#endif

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// Little-Endian value
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef LE_VALUE_H
#define LE_VALUE_H
#include <stdint.h>
#include <endian.h>
namespace nimbro_topic_transport
{
/**
* The LEValue template provides automatic endianness correction. The bytes
* in memory are always ordered little-endian.
**/
template<int Width>
class LEValue
{
};
template<>
class LEValue<1>
{
public:
typedef uint8_t Type;
inline operator uint8_t() const
{ return m_value; }
inline uint8_t operator()() const
{ return m_value; }
inline uint8_t operator=(uint8_t value)
{ return m_value = value; }
private:
uint8_t m_value;
} __attribute__((packed));
template<>
class LEValue<2>
{
public:
typedef uint16_t Type;
inline operator uint16_t() const
{ return le16toh(m_value); }
inline uint16_t operator()() const
{ return le16toh(m_value); }
inline uint16_t operator=(uint16_t value)
{
m_value = htole16(value);
return value;
}
private:
uint16_t m_value;
} __attribute__((packed));
template<>
class LEValue<4>
{
public:
typedef uint32_t Type;
inline operator uint32_t() const
{ return le32toh(m_value); }
inline uint32_t operator()() const
{ return le32toh(m_value); }
inline uint32_t operator=(uint32_t value)
{
m_value = htole32(value);
return value;
}
private:
uint32_t m_value;
} __attribute__((packed));
template<>
class LEValue<8>
{
public:
typedef uint64_t Type;
inline operator uint64_t() const
{ return le64toh(m_value); }
inline uint64_t operator()() const
{ return le64toh(m_value); }
inline uint64_t operator=(uint64_t value)
{
m_value = htole64(value);
return value;
}
private:
uint64_t m_value;
} __attribute__((packed));
}
#endif

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// TCP packet definition
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef TCP_PACKET_H
#define TCP_PACKET_H
#include "../le_value.h"
namespace nimbro_topic_transport
{
enum TCPFlag
{
TCP_FLAG_COMPRESSED = (1 << 0)
};
struct TCPHeader
{
LEValue<2> topic_len;
LEValue<2> type_len;
LEValue<4> data_len;
LEValue<4> topic_md5sum[4];
LEValue<4> flags;
} __attribute__((packed));
}
#endif

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// TCP receiver
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "tcp_receiver.h"
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netdb.h>
#include "tcp_packet.h"
#include "../topic_info.h"
#include <topic_tools/shape_shifter.h>
#include <bzlib.h>
#include <nimbro_topic_transport/CompressedMsg.h>
namespace nimbro_topic_transport
{
static bool sureRead(int fd, void* dest, ssize_t size)
{
uint8_t* destWPtr = (uint8_t*)dest;
while(size != 0)
{
ssize_t ret = read(fd, destWPtr, size);
if(ret < 0)
{
ROS_ERROR("Could not read(): %s", strerror(errno));
return false;
}
if(ret == 0)
{
// Client has closed connection (ignore silently)
return false;
}
size -= ret;
destWPtr += ret;
}
return true;
}
TCPReceiver::TCPReceiver()
: m_nh("~")
, m_receivedBytesInStatsInterval(0)
{
m_fd = socket(AF_INET, SOCK_STREAM, 0);
if(m_fd < 0)
{
ROS_FATAL("Could not create socket: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
int port;
m_nh.param("port", port, 5050);
sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_ANY;
addr.sin_port = htons(port);
int on = 1;
if(setsockopt(m_fd, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on)) != 0)
{
ROS_FATAL("Could not enable SO_REUSEADDR: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
ROS_DEBUG("Binding to :%d", port);
if(bind(m_fd, (sockaddr*)&addr, sizeof(addr)) != 0)
{
ROS_FATAL("Could not bind socket: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
if(listen(m_fd, 10) != 0)
{
ROS_FATAL("Could not listen: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
m_nh.param("keep_compressed", m_keepCompressed, false);
char hostnameBuf[256];
gethostname(hostnameBuf, sizeof(hostnameBuf));
hostnameBuf[sizeof(hostnameBuf)-1] = 0;
m_stats.node = ros::this_node::getName();
m_stats.protocol = "TCP";
m_stats.host = hostnameBuf;
m_stats.local_port = port;
m_stats.fec = false;
m_nh.param("label", m_stats.label, std::string());
m_pub_stats = m_nh.advertise<ReceiverStats>("/network/receiver_stats", 1);
m_statsInterval = ros::WallDuration(2.0);
m_statsTimer = m_nh.createWallTimer(m_statsInterval,
boost::bind(&TCPReceiver::updateStats, this)
);
m_nh.param("topic_prefix", m_topicPrefix, std::string());
}
TCPReceiver::~TCPReceiver()
{
}
void TCPReceiver::run()
{
fd_set fds;
while(ros::ok())
{
ros::spinOnce();
// Clean up any exited threads
std::list<ClientHandler*>::iterator it = m_handlers.begin();
while(it != m_handlers.end())
{
if(!(*it)->isRunning())
{
delete *it;
it = m_handlers.erase(it);
}
else
it++;
}
FD_ZERO(&fds);
FD_SET(m_fd, &fds);
timeval timeout;
timeout.tv_usec = 0;
timeout.tv_sec = 1;
int ret = select(m_fd+1, &fds, 0, 0, &timeout);
if(ret < 0)
{
if(errno == EINTR || errno == EAGAIN)
continue;
ROS_ERROR("Could not select(): %s", strerror(errno));
throw std::runtime_error("Could not select");
}
if(ret == 0)
continue;
sockaddr_storage remoteAddr;
socklen_t remoteAddrLen = sizeof(remoteAddr);
int client_fd = accept(m_fd, (sockaddr*)&remoteAddr, &remoteAddrLen);
{
// Perform reverse lookup
char nameBuf[256];
char serviceBuf[256];
ros::WallTime startLookup = ros::WallTime::now();
if(getnameinfo((sockaddr*)&remoteAddr, remoteAddrLen, nameBuf, sizeof(nameBuf), serviceBuf, sizeof(serviceBuf), NI_NUMERICSERV) == 0)
{
ROS_INFO("New remote: %s:%s", nameBuf, serviceBuf);
m_stats.remote = nameBuf;
m_stats.remote_port = atoi(serviceBuf);
}
else
{
ROS_ERROR("Could not resolve remote address to name");
m_stats.remote = "unknown";
m_stats.remote_port = -1;
}
ros::WallTime endLookup = ros::WallTime::now();
// Warn if lookup takes up time (otherwise the user does not know
// what is going on)
if(endLookup - startLookup > ros::WallDuration(1.0))
{
ROS_WARN("Reverse address lookup took more than a second. "
"Consider adding '%s' to /etc/hosts",
m_stats.remote.c_str()
);
}
}
ClientHandler* handler = new ClientHandler(client_fd, m_topicPrefix);
handler->setKeepCompressed(m_keepCompressed);
m_handlers.push_back(handler);
}
}
TCPReceiver::ClientHandler::ClientHandler(int fd, const std::string& topicPrefix)
: m_fd(fd)
, m_uncompressBuf(1024)
, m_running(true)
, m_keepCompressed(false)
, m_topicPrefix(topicPrefix)
{
m_thread = boost::thread(boost::bind(&ClientHandler::start, this));
}
TCPReceiver::ClientHandler::~ClientHandler()
{
close(m_fd);
}
class VectorStream
{
public:
VectorStream(std::vector<uint8_t>* vector)
: m_vector(vector)
{}
inline const uint8_t* getData()
{ return m_vector->data(); }
inline size_t getLength()
{ return m_vector->size(); }
private:
std::vector<uint8_t>* m_vector;
};
void TCPReceiver::ClientHandler::start()
{
run();
m_running = false;
}
void TCPReceiver::ClientHandler::run()
{
while(1)
{
TCPHeader header;
if(!sureRead(m_fd, &header, sizeof(header)))
return;
std::vector<char> buf(header.topic_len + 1);
if(!sureRead(m_fd, buf.data(), header.topic_len))
return;
buf[buf.size()-1] = 0;
std::string topic(buf.data());
buf.resize(header.type_len+1);
if(!sureRead(m_fd, buf.data(), header.type_len))
return;
buf[buf.size()-1] = 0;
std::string type(buf.data());
std::string md5;
topic_info::unpackMD5(header.topic_md5sum, &md5);
std::vector<uint8_t> data(header.data_len);
if(!sureRead(m_fd, data.data(), header.data_len))
return;
ROS_DEBUG("Got msg with flags: %d", header.flags());
if(m_keepCompressed && (header.flags() & TCP_FLAG_COMPRESSED))
{
CompressedMsg compressed;
compressed.type = type;
memcpy(compressed.md5.data(), header.topic_md5sum, sizeof(header.topic_md5sum));
compressed.data.swap(data);
std::map<std::string, ros::Publisher>::iterator it = m_pub.find(topic);
if(it == m_pub.end())
{
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<CompressedMsg>(m_topicPrefix + topic, 2);
m_pub[topic] = pub;
pub.publish(compressed);
}
else
it->second.publish(compressed);
}
else
{
topic_tools::ShapeShifter shifter;
if(header.flags() & TCP_FLAG_COMPRESSED)
{
int ret = 0;
unsigned int len = m_uncompressBuf.size();
while(1)
{
ret = BZ2_bzBuffToBuffDecompress((char*)m_uncompressBuf.data(), &len, (char*)data.data(), data.size(), 0, 0);
if(ret == BZ_OUTBUFF_FULL)
{
len = 4 * m_uncompressBuf.size();
ROS_INFO("Increasing buffer size to %d KiB", (int)len / 1024);
m_uncompressBuf.resize(len);
continue;
}
else
break;
}
if(ret != BZ_OK)
{
ROS_ERROR("Could not decompress bz2 data (reason %d), dropping msg", ret);
continue;
}
ROS_DEBUG("decompress %d KiB (%d) to %d KiB (%d)", (int)data.size() / 1024, (int)data.size(), (int)len / 1024, (int)len);
m_uncompressBuf.resize(len);
VectorStream stream(&m_uncompressBuf);
shifter.read(stream);
}
else
{
VectorStream stream(&data);
shifter.read(stream);
}
ROS_DEBUG("Got message from topic '%s' (type '%s', md5 '%s')", topic.c_str(), type.c_str(), md5.c_str());
shifter.morph(md5, type, "", "");
std::map<std::string, ros::Publisher>::iterator it = m_pub.find(topic);
if(it == m_pub.end())
{
ROS_DEBUG("Advertising new topic '%s'", (m_topicPrefix + topic).c_str());
std::string msgDef = topic_info::getMsgDef(type);
ros::NodeHandle nh;
ros::AdvertiseOptions options(
m_topicPrefix + topic,
2,
md5,
type,
topic_info::getMsgDef(type)
);
// It will take subscribers some time to connect to our publisher.
// Therefore, latch messages so they will not be lost.
// No, this is often unexpected. Instead, wait before publishing.
// options.latch = true;
m_pub[topic] = nh.advertise(options);
it = m_pub.find(topic);
sleep(1);
}
it->second.publish(shifter);
}
uint8_t ack = 1;
if(write(m_fd, &ack, 1) != 1)
{
ROS_ERROR("Could not write(): %s", strerror(errno));
return;
}
}
}
bool TCPReceiver::ClientHandler::isRunning() const
{
return m_running;
}
void TCPReceiver::updateStats()
{
m_stats.header.stamp = ros::Time::now();
uint64_t totalBytes = 0;
for(auto handler : m_handlers)
{
totalBytes += handler->bytesReceived();
handler->resetByteCounter();
}
m_stats.bandwidth = totalBytes / m_statsInterval.toSec();
m_stats.drop_rate = 0;
// If there is no connection yet, drop the stats msg
if(m_handlers.empty())
return;
m_pub_stats.publish(m_stats);
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "tcp_receiver");
nimbro_topic_transport::TCPReceiver recv;
recv.run();
return 0;
}

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// TCP receiver
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef TCP_RECEIVER_H
#define TCP_RECEIVER_H
#include <list>
#include <ros/node_handle.h>
#include <boost/thread.hpp>
#include <nimbro_topic_transport/ReceiverStats.h>
namespace nimbro_topic_transport
{
class TCPReceiver
{
public:
TCPReceiver();
~TCPReceiver();
void run();
private:
class ClientHandler
{
public:
ClientHandler(int fd, const std::string& topicPrefix);
~ClientHandler();
void start();
void run();
void setKeepCompressed(bool keep)
{ m_keepCompressed = keep; }
bool isRunning() const;
inline uint64_t bytesReceived() const
{ return m_bytesReceived; }
inline void resetByteCounter()
{ m_bytesReceived = 0; }
private:
int m_fd;
boost::thread m_thread;
std::map<std::string, ros::Publisher> m_pub;
std::vector<uint8_t> m_uncompressBuf;
bool m_running;
bool m_keepCompressed;
uint64_t m_bytesReceived;
std::string m_topicPrefix;
};
void updateStats();
int m_fd;
std::list<ClientHandler*> m_handlers;
ros::NodeHandle m_nh;
bool m_keepCompressed;
nimbro_topic_transport::ReceiverStats m_stats;
uint64_t m_receivedBytesInStatsInterval;
ros::Publisher m_pub_stats;
ros::WallDuration m_statsInterval;
ros::WallTimer m_statsTimer;
std::string m_topicPrefix;
};
}
#endif

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// TCP sender
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "tcp_sender.h"
#include "../topic_info.h"
#include <bzlib.h>
#include <netinet/tcp.h>
#include <boost/algorithm/string/replace.hpp>
#include "ros/message_traits.h"
#include <netdb.h>
namespace nimbro_topic_transport
{
TCPSender::TCPSender()
: m_nh("~")
, m_fd(-1)
, m_sentBytesInStatsInterval(0)
{
std::string addr;
if(!m_nh.getParam("destination_addr", addr) && !m_nh.getParam("address", addr))
{
ROS_FATAL("tcp_sender needs an 'destination_addr' parameter!");
throw std::runtime_error("tcp_sender needs an 'destination_addr' parameter!");
}
int port;
if(!m_nh.getParam("destination_port", port) && !m_nh.getParam("port", port))
{
ROS_FATAL("tcp_sender needs a 'destination_port' parameter!");
throw std::runtime_error("tcp_sender needs a 'destination_port' parameter!");
}
std::string portStr = boost::lexical_cast<std::string>(port);
if(m_nh.hasParam("source_port"))
{
if(!m_nh.getParam("source_port", m_sourcePort))
{
ROS_FATAL("Invalid source_port");
throw std::runtime_error("Invalid source port");
}
}
else
m_sourcePort = -1;
addrinfo* info = 0;
if(getaddrinfo(addr.c_str(), portStr.c_str(), 0, &info) != 0 || !info)
{
ROS_FATAL("Could not lookup host name '%s'", addr.c_str());
throw std::runtime_error("Could not lookup hostname");
}
m_addrFamily = info->ai_family;
memcpy(&m_addr, info->ai_addr, info->ai_addrlen);
m_addrLen = info->ai_addrlen;
freeaddrinfo(info);
XmlRpc::XmlRpcValue list;
m_nh.getParam("topics", list);
ROS_ASSERT(list.getType() == XmlRpc::XmlRpcValue::TypeArray);
for(int32_t i = 0; i < list.size(); ++i)
{
XmlRpc::XmlRpcValue& entry = list[i];
ROS_ASSERT(entry.getType() == XmlRpc::XmlRpcValue::TypeStruct);
ROS_ASSERT(entry.hasMember("name"));
std::string topic = entry["name"];
int flags = 0;
if(entry.hasMember("compress") && ((bool)entry["compress"]) == true)
flags |= TCP_FLAG_COMPRESSED;
boost::function<void(const ros::MessageEvent<topic_tools::ShapeShifter const>&)> func;
func = boost::bind(&TCPSender::messageCallback, this, topic, flags, _1);
ros::SubscribeOptions options;
options.initByFullCallbackType<const ros::MessageEvent<topic_tools::ShapeShifter const>&>(topic, 20, func);
if(entry.hasMember("type"))
{
std::string type = entry["type"];
std::string md5 = topic_info::getMd5Sum(type);
if(md5.empty())
{
ROS_ERROR("Could not get md5 sum of topic type '%s'", type.c_str());
continue;
}
options.datatype = type;
options.md5sum = md5;
}
m_subs.push_back(m_nh.subscribe(options));
#if WITH_CONFIG_SERVER
bool enabled = true;
if (entry.hasMember("enable"))
enabled = entry["enable"];
std::string parameterName(topic);
boost::replace_first(parameterName, "/", "");
boost::replace_all(parameterName, "/", "_");
boost::shared_ptr<config_server::Parameter<bool>> parameter( new config_server::Parameter<bool>(parameterName, enabled));
m_enableTopic[topic] = parameter;
#endif
}
if (m_nh.hasParam("ignored_publishers")) {
m_nh.getParam("ignored_publishers", m_ignoredPubs);
for (std::vector<std::string>::iterator ignoredPublisher = m_ignoredPubs.begin();
ignoredPublisher != m_ignoredPubs.end(); ignoredPublisher++) {
*ignoredPublisher = ros::names::resolve(*ignoredPublisher);
}
}
char hostnameBuf[256];
gethostname(hostnameBuf, sizeof(hostnameBuf));
hostnameBuf[sizeof(hostnameBuf)-1] = 0;
m_stats.node = ros::this_node::getName();
m_stats.protocol = "TCP";
m_stats.host = hostnameBuf;
m_stats.destination = addr;
m_stats.destination_port = port;
m_stats.source_port = m_sourcePort;
m_stats.fec = false;
m_nh.param("label", m_stats.label, std::string());
m_pub_stats = m_nh.advertise<SenderStats>("/network/sender_stats", 1);
for(auto& pair : m_topicSendBytesInStatsInteral)
pair.second = 0;
m_statsInterval = ros::WallDuration(2.0);
m_statsTimer = m_nh.createWallTimer(m_statsInterval,
boost::bind(&TCPSender::updateStats, this)
);
m_statsTimer.start();
}
TCPSender::~TCPSender()
{
}
bool TCPSender::connect()
{
m_fd = socket(m_addrFamily, SOCK_STREAM, 0);
if(m_fd < 0)
{
ROS_ERROR("Could not create socket: %s", strerror(errno));
return false;
}
if(m_sourcePort != -1)
{
std::string source_port_str = boost::lexical_cast<std::string>(m_sourcePort);
addrinfo hints;
memset(&hints, 0, sizeof(hints));
hints.ai_flags = AI_PASSIVE;
hints.ai_family = m_addrFamily;
hints.ai_socktype = SOCK_STREAM;
addrinfo* localInfo = 0;
if(getaddrinfo(NULL, source_port_str.c_str(), &hints, &localInfo) != 0 || !localInfo)
{
ROS_FATAL("Could not get local address: %s", strerror(errno));
throw std::runtime_error("Could not get local address");
}
if(bind(m_fd, localInfo->ai_addr, localInfo->ai_addrlen) != 0)
{
ROS_FATAL("Could not bind to source port: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
freeaddrinfo(localInfo);
}
if(::connect(m_fd, (sockaddr*)&m_addr, m_addrLen) != 0)
{
ROS_ERROR("Could not connect: %s", strerror(errno));
return false;
}
if(m_sourcePort == -1)
{
sockaddr_storage addr;
socklen_t addrlen = sizeof(addr);
char nameBuf[256];
char serviceBuf[256];
if(getsockname(m_fd, (sockaddr*)&addr, &addrlen) != 0)
{
ROS_ERROR("Could not get local socket addr: %s", strerror(errno));
}
if(getnameinfo((sockaddr*)&addr, addrlen, nameBuf, sizeof(nameBuf), serviceBuf, sizeof(serviceBuf), NI_NUMERICSERV | NI_NUMERICHOST) != 0)
{
ROS_ERROR("Could not resolve remote address to name");
}
m_stats.source_port = atoi(serviceBuf);
}
#ifdef TCP_USER_TIMEOUT
int timeout = 8000;
if(setsockopt(m_fd, SOL_TCP, TCP_USER_TIMEOUT, &timeout, sizeof(timeout)) != 0)
{
ROS_ERROR("Could not set TCP_USER_TIMEOUT: %s", strerror(errno));
return false;
}
#else
ROS_WARN("Not setting TCP_USER_TIMEOUT");
#endif
return true;
}
class PtrStream
{
public:
PtrStream(uint8_t* ptr)
: m_ptr(ptr)
{}
inline uint8_t* advance(int)
{ return m_ptr; }
private:
uint8_t* m_ptr;
};
void TCPSender::messageCallback(const std::string& topic, int flags,
const ros::MessageEvent<topic_tools::ShapeShifter const>& event)
{
#if WITH_CONFIG_SERVER
if (! (*m_enableTopic[topic])() )
return;
#endif
// check if the message wasn't published by an ignored publisher
std::string const &messagePublisher = event.getConnectionHeader()["callerid"];
if (std::find(m_ignoredPubs.begin(), m_ignoredPubs.end(), messagePublisher) != m_ignoredPubs.end())
return;
send(topic, flags, event.getMessage());
}
void TCPSender::send(const std::string& topic, int flags, const topic_tools::ShapeShifter::ConstPtr& shifter)
{
#if WITH_CONFIG_SERVER
if (! (*m_enableTopic[topic])() )
return;
#endif
std::string type = shifter->getDataType();
std::string md5 = shifter->getMD5Sum();
uint32_t size = shifter->size();
uint32_t maxDataSize = size;
if(flags & TCP_FLAG_COMPRESSED)
maxDataSize = size + size / 100 + 1200; // taken from bzip2 docs
m_packet.resize(
sizeof(TCPHeader) + topic.length() + type.length() + maxDataSize
);
TCPHeader* header = (TCPHeader*)m_packet.data();
// Fill in topic & type
uint8_t* wptr = m_packet.data() + sizeof(TCPHeader);
memcpy(wptr, topic.c_str(), topic.length());
wptr += topic.length();
memcpy(wptr, type.c_str(), type.length());
wptr += type.length();
if(flags & TCP_FLAG_COMPRESSED)
{
unsigned int len = m_packet.size() - (wptr - m_packet.data());
m_compressionBuf.resize(shifter->size());
PtrStream stream(m_compressionBuf.data());
shifter->write(stream);
if(BZ2_bzBuffToBuffCompress((char*)wptr, &len, (char*)m_compressionBuf.data(), m_compressionBuf.size(), 7, 0, 30) == BZ_OK)
{
header->data_len = len;
wptr += len;
size = len;
}
else
{
ROS_ERROR("Could not compress with bzip2 library, sending uncompressed");
flags &= ~TCP_FLAG_COMPRESSED;
memcpy(wptr, m_compressionBuf.data(), m_compressionBuf.size());
header->data_len = m_compressionBuf.size();
wptr += m_compressionBuf.size();
}
}
else
{
PtrStream stream(wptr);
shifter->write(stream);
header->data_len = size;
wptr += size;
}
header->topic_len = topic.length();
header->type_len = type.length();
header->data_len = size;
header->flags = flags;
topic_info::packMD5(md5, header->topic_md5sum);
// Resize to final size
m_packet.resize(
wptr - m_packet.data()
);
// Try to send the packet
for(int tries = 0; tries < 10; ++tries)
{
if(m_fd == -1)
{
if(!connect())
{
ROS_WARN("Connection failed, trying again");
continue;
}
}
if(write(m_fd, m_packet.data(), m_packet.size()) != (int)m_packet.size())
{
ROS_WARN("Could not send data, trying again");
close(m_fd);
m_fd = -1;
continue;
}
m_sentBytesInStatsInterval += m_packet.size();
m_topicSendBytesInStatsInteral[topic] += m_packet.size();
// Read ACK
uint8_t ack;
if(read(m_fd, &ack, 1) != 1)
{
ROS_WARN("Could not read ACK, sending again (!)");
close(m_fd);
m_fd = -1;
continue;
}
return;
}
ROS_ERROR("Could not send TCP packet. Dropping message from topic %s!", topic.c_str());
}
void TCPSender::updateStats()
{
m_stats.header.stamp = ros::Time::now();
m_stats.bandwidth = 8 * m_sentBytesInStatsInterval / m_statsInterval.toSec();
m_stats.topics.clear();
for(auto& pair : m_topicSendBytesInStatsInteral)
{
nimbro_topic_transport::TopicBandwidth tp;
tp.name = pair.first;
tp.bandwidth = pair.second / m_statsInterval.toSec();
pair.second = 0;
m_stats.topics.push_back(tp);
}
m_pub_stats.publish(m_stats);
m_sentBytesInStatsInterval = 0;
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "tcp_sender");
nimbro_topic_transport::TCPSender sender;
ros::spin();
return 0;
}

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// TCP sender
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef TCP_SENDER_H
#define TCP_SENDER_H
#include <ros/node_handle.h>
#include <topic_tools/shape_shifter.h>
#include <arpa/inet.h>
#include "tcp_packet.h"
#if WITH_CONFIG_SERVER
#include <config_server/parameter.h>
#endif
#include <map>
#include "ros/message_event.h"
#include <nimbro_topic_transport/SenderStats.h>
namespace nimbro_topic_transport
{
class TCPSender
{
public:
TCPSender();
~TCPSender();
bool connect();
void send(const std::string& topic, int flags, const topic_tools::ShapeShifter::ConstPtr& shifter);
void messageCallback(const std::string& topic, int flags,
const ros::MessageEvent<topic_tools::ShapeShifter const>& shifter);
private:
void updateStats();
ros::NodeHandle m_nh;
int m_fd;
int m_addrFamily;
sockaddr_storage m_addr;
socklen_t m_addrLen;
int m_sourcePort;
std::vector<ros::Subscriber> m_subs;
std::vector<uint8_t> m_packet;
std::vector<uint8_t> m_compressionBuf;
std::vector<std::string> m_ignoredPubs;
#if WITH_CONFIG_SERVER
std::map<std::string, boost::shared_ptr<config_server::Parameter<bool>>> m_enableTopic;
#endif
nimbro_topic_transport::SenderStats m_stats;
ros::Publisher m_pub_stats;
ros::WallDuration m_statsInterval;
ros::WallTimer m_statsTimer;
uint64_t m_sentBytesInStatsInterval;
std::map<std::string, uint64_t> m_topicSendBytesInStatsInteral;
};
}
#endif

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// Provides information about topic types
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "topic_info.h"
#include <ros/names.h>
#include <sys/wait.h>
#include <stdio.h>
#include <unistd.h>
#include <string>
namespace nimbro_topic_transport
{
namespace topic_info
{
/**
* Execute a rosmsg query and return result.
*
* The executed command is "rosmsg @a cmd @a type".
*
* @param stripNL If true, strip off the final newline.
* @return rosmsg output
**/
static std::string msgQuery(const std::string& cmd, const std::string& type, bool stripNL)
{
std::vector<char> buf(1024);
int idx = 0;
std::string error;
if(!ros::names::validate(type, error))
{
ROS_WARN("Got invalid message type '%s'", type.c_str());
return "";
}
int fds[2];
if(pipe(fds) != 0)
throw std::runtime_error("Could not create pipe");
int pid = fork();
if(pid == 0)
{
close(fds[0]);
dup2(fds[1], STDOUT_FILENO);
if(execlp("rosmsg", "rosmsg", cmd.c_str(), type.c_str(), 0) != 0)
{
throw std::runtime_error("Could not execlp() rosmsg");
}
}
close(fds[1]);
while(1)
{
buf.resize(idx + 1024);
int size = read(fds[0], buf.data() + idx, 1024);
if(size < 0)
throw std::runtime_error("Could not read()");
else if(size == 0)
break;
idx += size;
}
close(fds[0]);
int status;
waitpid(pid, &status, 0);
if(!WIFEXITED(status) || WEXITSTATUS(status) != 0 || idx == 0)
{
ROS_WARN("Could not get rosmsg %s for type '%s'", cmd.c_str(), type.c_str());
return "";
}
std::string ret(buf.data(), idx);
if(stripNL)
return std::string(buf.data(), idx-1);
else
return std::string(buf.data(), idx);
}
std::string getMsgDef(const std::string& type)
{
return msgQuery("show", type, false);
}
std::string getMd5Sum(const std::string& type)
{
return msgQuery("md5", type, true);
}
void packMD5(const std::string& str, LEValue< 4 >* dest)
{
for(int i = 0; i < 4; ++i)
{
std::string md5_part = str.substr(8*i, 8);
uint32_t md5_num = strtoll(md5_part.c_str(), 0, 16);
dest[i] = md5_num;
}
}
void unpackMD5(const LEValue< 4 >* src, std::string* dest)
{
dest->clear();
for(int i = 0; i < 4; ++i)
{
char buf[10];
snprintf(buf, sizeof(buf), "%08x", src[i]());
*dest += buf;
}
}
}
}

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// Provides information about topic types
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef TOPIC_INFO_H
#define TOPIC_INFO_H
#include "le_value.h"
#include <string>
namespace nimbro_topic_transport
{
namespace topic_info
{
/**
* Get the message definition string (from the .msg file)
*
* @return msg definition, or empty on failure (unknown type, etc)
**/
std::string getMsgDef(const std::string& type);
/**
* Get the message md5 string
*
* @return md5 sum (32 chars), or empty on failure (unknown type, etc)
**/
std::string getMd5Sum(const std::string& type);
/**
* md5 string -> LEValue<4>
**/
void packMD5(const std::string& str, LEValue<4>* dest);
/**
* LEValue<4> -> md5 string
**/
void unpackMD5(const LEValue<4>* src, std::string* dest);
}
}
#endif

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// Topic receiver (part of udp_receiver)
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "topic_receiver.h"
#include <bzlib.h>
namespace nimbro_topic_transport
{
bool Message::decompress(Message* dest)
{
unsigned int destLen = 1024;
dest->payload.resize(destLen);
while(1)
{
int ret = BZ2_bzBuffToBuffDecompress((char*)dest->payload.data(), &destLen, (char*)payload.data(), payload.size(), 0, 0);
if(ret == BZ_OUTBUFF_FULL)
{
destLen *= 2;
dest->payload.resize(destLen);
continue;
}
if(ret != BZ_OK)
{
ROS_ERROR("Could not decompress message");
return false;
}
break;
}
dest->payload.resize(destLen);
dest->header = header;
dest->id = id;
dest->size = destLen;
return true;
}
TopicReceiver::TopicReceiver()
: waiting_for_subscriber(true)
, m_decompressionThreadRunning(false)
{
}
TopicReceiver::~TopicReceiver()
{
{
boost::unique_lock<boost::mutex> lock(m_mutex);
m_decompressionThreadShouldExit = true;
}
m_cond.notify_one();
}
void TopicReceiver::takeForDecompression(const boost::shared_ptr<Message>& msg)
{
if(!m_decompressionThreadRunning)
{
m_decompressionThreadShouldExit = false;
m_decompressionThread = boost::thread(boost::bind(&TopicReceiver::decompress, this));
m_decompressionThreadRunning = true;
}
boost::unique_lock<boost::mutex> lock(m_mutex);
m_compressedMsg = msg;
m_cond.notify_one();
}
void TopicReceiver::decompress()
{
while(1)
{
boost::shared_ptr<Message> currentMessage;
{
boost::unique_lock<boost::mutex> lock(m_mutex);
while(!m_compressedMsg && !m_decompressionThreadShouldExit)
m_cond.wait(lock);
if(m_decompressionThreadShouldExit)
return;
currentMessage = m_compressedMsg;
m_compressedMsg.reset();
}
Message decompressed;
currentMessage->decompress(&decompressed);
boost::shared_ptr<topic_tools::ShapeShifter> shapeShifter(new topic_tools::ShapeShifter);
shapeShifter->morph(md5_str, decompressed.header.topic_type, msg_def, "");
shapeShifter->read(decompressed);
publish(shapeShifter);
}
}
void TopicReceiver::publish(const boost::shared_ptr<topic_tools::ShapeShifter>& msg)
{
if(!waiting_for_subscriber)
{
publisher.publish(msg);
}
else
{
m_msgInQueue = msg;
m_queueTime = ros::WallTime::now();
}
}
void TopicReceiver::publishCompressed(const CompressedMsgConstPtr& msg)
{
if(!waiting_for_subscriber)
{
publisher.publish(msg);
}
else
{
m_compressedMsgInQueue = msg;
m_queueTime = ros::WallTime::now();
}
}
void TopicReceiver::handleSubscriber()
{
if(!waiting_for_subscriber)
return;
if(!m_compressedMsg && !m_msgInQueue)
{
// No msg arrived before the first subscriber
waiting_for_subscriber = false;
return;
}
ros::WallTime now = ros::WallTime::now();
if(now - m_queueTime > ros::WallDuration(1.0))
{
// Message to old, drop it
waiting_for_subscriber = false;
m_msgInQueue.reset();
m_compressedMsgInQueue.reset();
return;
}
if(m_msgInQueue)
{
publisher.publish(m_msgInQueue);
m_msgInQueue.reset();
}
else if(m_compressedMsgInQueue)
{
publisher.publish(m_compressedMsgInQueue);
m_compressedMsgInQueue.reset();
}
waiting_for_subscriber = false;
}
}

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// Topic receiver (part of udp_receiver)
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef TOPIC_RECEIVER_H
#define TOPIC_RECEIVER_H
#include <stdint.h>
#include <stdlib.h>
#include <vector>
#include <ros/publisher.h>
#include <topic_tools/shape_shifter.h>
#include <nimbro_topic_transport/CompressedMsg.h>
#include <boost/thread.hpp>
#if WITH_OPENFEC
extern "C"
{
#include <of_openfec_api.h>
}
#endif
#include "udp_packet.h"
namespace nimbro_topic_transport
{
struct Message
{
Message(uint16_t id)
: id(id)
, size(0)
, complete(false)
{}
Message()
{}
~Message()
{
}
uint32_t getLength() const
{ return size; }
uint8_t* getData()
{ return payload.data(); }
bool decompress(Message* dest);
uint16_t id;
UDPFirstPacket::Header header;
std::vector<uint8_t> payload;
size_t size;
std::vector<bool> msgs;
bool complete;
#if WITH_OPENFEC
boost::shared_ptr<of_session_t> decoder;
boost::shared_ptr<of_parameters_t> params;
unsigned int received_symbols;
std::vector<boost::shared_ptr<std::vector<uint8_t>>> fecPackets;
#endif
};
struct TopicReceiver
{
TopicReceiver();
~TopicReceiver();
ros::Publisher publisher;
uint32_t md5[4];
std::string md5_str;
std::string msg_def;
bool compressed;
int last_message_counter;
bool waiting_for_subscriber;
void takeForDecompression(const boost::shared_ptr<Message>& compressed);
void publish(const boost::shared_ptr<topic_tools::ShapeShifter>& msg);
void publishCompressed(const CompressedMsgConstPtr& msg);
void handleSubscriber();
private:
boost::shared_ptr<Message> m_compressedMsg;
boost::condition_variable m_cond;
boost::mutex m_mutex;
boost::thread m_decompressionThread;
bool m_decompressionThreadRunning;
bool m_decompressionThreadShouldExit;
boost::shared_ptr<topic_tools::ShapeShifter> m_msgInQueue;
CompressedMsgConstPtr m_compressedMsgInQueue;
ros::WallTime m_queueTime;
void decompress();
};
}
#endif

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// Sends a single topic
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "topic_sender.h"
#include "udp_sender.h"
#include "udp_packet.h"
#include "../topic_info.h"
#include <bzlib.h>
#include <nimbro_topic_transport/CompressedMsg.h>
#include <boost/algorithm/string/replace.hpp>
#include <random>
#include <algorithm>
#include <chrono>
#if WITH_OPENFEC
extern "C"
{
#include <of_openfec_api.h>
}
#endif
#include <fcntl.h>
namespace nimbro_topic_transport
{
TopicSender::TopicSender(UDPSender* sender, ros::NodeHandle* nh, const std::string& topic, double rate, bool resend, int flags, bool enable, const std::string& type)
: m_sender(sender)
, m_flags(flags)
, m_updateBuf(true)
, m_msgCounter(0)
, m_inputMsgCounter(0)
, m_directTransmission(true)
#if WITH_CONFIG_SERVER
, m_enable(escapeTopicName(topic), enable)
#endif
{
ros::SubscribeOptions ops;
boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> func = boost::bind(&TopicSender::handleData, this, _1);
ops.initByFullCallbackType(topic, 20, func);
if(!type.empty())
{
ops.datatype = type;
ops.md5sum = topic_info::getMd5Sum(type);
}
m_subscriber = nh->subscribe(ops);
m_topicName = topic;
if(rate == 0.0)
m_durationBetweenPackets = ros::Duration(0.0);
else
m_durationBetweenPackets = ros::Duration(1.0 / rate);
if(resend)
{
m_resendTimer = nh->createTimer(m_durationBetweenPackets, boost::bind(&TopicSender::resend, this));
m_resendTimer.start();
}
}
TopicSender::~TopicSender()
{
ROS_DEBUG("Topic '%s': Sent %d messages", m_topicName.c_str(), m_msgCounter);
}
void TopicSender::send()
{
if(m_updateBuf)
{
boost::lock_guard<boost::mutex> lock(m_dataMutex);
if(!m_lastData)
return;
// If the data was sent over our CompressedMsg format, do not recompress it
if((m_flags & UDP_FLAG_COMPRESSED) && m_lastData->getDataType() == "nimbro_topic_transport/CompressedMsg")
{
CompressedMsg::Ptr compressed = m_lastData->instantiate<CompressedMsg>();
if(!compressed)
{
ROS_ERROR("Could not instantiate CompressedMsg");
return;
}
m_buf.swap(compressed->data);
memcpy(m_md5, compressed->md5.data(), sizeof(m_md5));
m_topicType = compressed->type;
}
else
{
m_buf.resize(m_lastData->size());
m_lastData->write(*this);
if(m_flags & UDP_FLAG_COMPRESSED)
{
unsigned int len = m_buf.size() + m_buf.size() / 100 + 1200;
m_compressionBuf.resize(len);
int ret = BZ2_bzBuffToBuffCompress((char*)m_compressionBuf.data(), &len, (char*)m_buf.data(), m_buf.size(), 3, 0, 30);
if(ret == BZ_OK)
{
m_buf.swap(m_compressionBuf);
m_buf.resize(len);
}
else
{
ROS_ERROR("Could not compress data, sending uncompressed");
}
}
std::string md5 = m_lastData->getMD5Sum();
for(int i = 0; i < 4; ++i)
{
std::string md5_part = md5.substr(8*i, 8);
uint32_t md5_num = strtoll(md5_part.c_str(), 0, 16);
m_md5[i] = md5_num;
}
m_topicType = m_lastData->getDataType();
}
m_updateBuf = false;
}
// Do we want to do forward error correction?
if(m_sender->fec() != 0.0)
{
sendWithFEC();
}
else
{
sendWithoutFEC();
}
m_msgCounter++;
}
inline uint64_t div_round_up(uint64_t a, uint64_t b)
{
return (a + b - 1) / b;
}
void TopicSender::sendWithFEC()
{
#if WITH_OPENFEC
uint16_t msg_id = m_sender->allocateMessageID();
uint64_t dataSize = sizeof(FECHeader) + m_buf.size();
// If the message fits in a single packet, use that as the buffer size
uint64_t symbolSize;
uint64_t sourceSymbols;
if(dataSize <= FECPacket::MaxDataSize)
{
sourceSymbols = 1;
symbolSize = dataSize;
}
else
{
// We need to pad the data to a multiple of our packet payload size.
sourceSymbols = div_round_up(dataSize, FECPacket::MaxDataSize);
symbolSize = FECPacket::MaxDataSize;
}
ROS_DEBUG("dataSize: %lu, symbol size: %lu, sourceSymbols: %lu", dataSize, symbolSize, sourceSymbols);
uint64_t packetSize = sizeof(FECPacket::Header) + symbolSize;
ROS_DEBUG("=> packetSize: %lu", packetSize);
uint64_t repairSymbols = std::ceil(m_sender->fec() * sourceSymbols);
uint64_t numPackets = sourceSymbols + repairSymbols;
of_session_t* ses = 0;
uint32_t prng_seed = rand();
if(sourceSymbols >= MIN_PACKETS_LDPC)
{
ROS_DEBUG("%s: Choosing LDPC-Staircase codec", m_topicName.c_str());
if(of_create_codec_instance(&ses, OF_CODEC_LDPC_STAIRCASE_STABLE, OF_ENCODER, 1) != OF_STATUS_OK)
{
ROS_ERROR("%s: Could not create LDPC codec instance", m_topicName.c_str());
return;
}
of_ldpc_parameters_t params;
params.nb_source_symbols = sourceSymbols;
params.nb_repair_symbols = std::ceil(m_sender->fec() * sourceSymbols);
params.encoding_symbol_length = symbolSize;
params.prng_seed = prng_seed;
params.N1 = 7;
ROS_DEBUG("LDPC seed: 7, 0x%X", params.prng_seed);
if(of_set_fec_parameters(ses, (of_parameters_t*)&params) != OF_STATUS_OK)
{
ROS_ERROR("%s: Could not set FEC parameters", m_topicName.c_str());
of_release_codec_instance(ses);
return;
}
}
else
{
ROS_DEBUG("%s: Choosing Reed-Solomon codec", m_topicName.c_str());
if(of_create_codec_instance(&ses, OF_CODEC_REED_SOLOMON_GF_2_M_STABLE, OF_ENCODER, 0) != OF_STATUS_OK)
{
ROS_ERROR("%s: Could not create REED_SOLOMON codec instance", m_topicName.c_str());
return;
}
of_rs_2_m_parameters params;
params.nb_source_symbols = sourceSymbols;
params.nb_repair_symbols = std::ceil(m_sender->fec() * sourceSymbols);
params.encoding_symbol_length = symbolSize;
params.m = 8;
if(of_set_fec_parameters(ses, (of_parameters_t*)&params) != OF_STATUS_OK)
{
ROS_ERROR("%s: Could not set FEC parameters", m_topicName.c_str());
of_release_codec_instance(ses);
return;
}
}
std::vector<uint8_t> packetBuffer(numPackets * packetSize);
std::vector<void*> symbols(sourceSymbols + repairSymbols);
uint64_t writtenData = 0;
// Fill the source packets
for(uint64_t i = 0; i < sourceSymbols; ++i)
{
uint8_t* packetPtr = packetBuffer.data() + i * packetSize;
FECPacket::Header* header = reinterpret_cast<FECPacket::Header*>(packetPtr);
header->msg_id = msg_id;
header->symbol_id = i;
header->symbol_length = symbolSize;
header->source_symbols = sourceSymbols;
header->repair_symbols = repairSymbols;
header->prng_seed = prng_seed;
uint8_t* dataPtr = packetPtr + sizeof(FECPacket::Header);
uint64_t remainingSpace = symbolSize;
symbols[i] = dataPtr;
if(i == 0)
{
// First packet includes the FECHeader
FECHeader* msgHeader = reinterpret_cast<FECHeader*>(dataPtr);
// Fill in header fields
msgHeader->flags = m_flags;
msgHeader->topic_msg_counter = m_inputMsgCounter;
strncpy(msgHeader->topic_name, m_topicName.c_str(), sizeof(msgHeader->topic_name));
if(msgHeader->topic_name[sizeof(msgHeader->topic_name)-1] != 0)
{
ROS_ERROR("Topic '%s' is too long. Please shorten the name.", m_topicName.c_str());
msgHeader->topic_name[sizeof(msgHeader->topic_name)-1] = 0;
}
strncpy(msgHeader->topic_type, m_topicType.c_str(), sizeof(msgHeader->topic_type));
if(msgHeader->topic_type[sizeof(msgHeader->topic_type)-1] != 0)
{
ROS_ERROR("Topic type '%s' is too long. Please shorten the name.", m_topicType.c_str());
msgHeader->topic_type[sizeof(msgHeader->topic_type)-1] = 0;
}
for(int i = 0; i < 4; ++i)
msgHeader->topic_md5[i] = m_md5[i];
dataPtr += sizeof(FECHeader);
remainingSpace -= sizeof(FECHeader);
}
uint64_t chunkSize = std::min(remainingSpace, m_buf.size() - writtenData);
memcpy(dataPtr, m_buf.data() + writtenData, chunkSize);
writtenData += chunkSize;
// Set any padding to zero
if(chunkSize < remainingSpace)
memset(dataPtr + chunkSize, 0, remainingSpace - chunkSize);
}
// Fill the repair packets
for(uint64_t i = sourceSymbols; i < sourceSymbols + repairSymbols; ++i)
{
uint8_t* packetPtr = packetBuffer.data() + i * packetSize;
FECPacket::Header* header = reinterpret_cast<FECPacket::Header*>(packetPtr);
header->msg_id = msg_id;
header->symbol_id = i;
header->symbol_length = symbolSize;
header->source_symbols = sourceSymbols;
header->repair_symbols = repairSymbols;
header->prng_seed = prng_seed;
uint8_t* dataPtr = packetPtr + sizeof(FECPacket::Header);
symbols[i] = dataPtr;
}
for(uint64_t i = sourceSymbols; i < sourceSymbols + repairSymbols; ++i)
{
if(of_build_repair_symbol(ses, symbols.data(), i) != OF_STATUS_OK)
{
ROS_ERROR("%s: Could not build repair symbol", m_topicName.c_str());
of_release_codec_instance(ses);
return;
}
}
// FEC work is done
of_release_codec_instance(ses);
std::vector<unsigned int> packetOrder(numPackets);
std::iota(packetOrder.begin(), packetOrder.end(), 0);
// Send the packets in random order
unsigned seed = std::chrono::system_clock::now().time_since_epoch().count();
std::mt19937 mt(seed);
std::shuffle(packetOrder.begin(), packetOrder.end(), mt);
ROS_DEBUG("Sending %d packets", (int)packetOrder.size());
for(unsigned int idx : packetOrder)
{
if(!m_sender->send(packetBuffer.data() + idx * packetSize, packetSize, m_topicName))
return;
}
#else
throw std::runtime_error("Forward error correction requested, but I was not compiled with FEC support...");
#endif
}
void TopicSender::sendWithoutFEC()
{
uint32_t size = m_buf.size();
uint8_t buf[PACKET_SIZE];
uint32_t buf_size = std::min<uint32_t>(PACKET_SIZE, sizeof(UDPFirstPacket) + size);
UDPFirstPacket* first = (UDPFirstPacket*)buf;
uint16_t msg_id = m_sender->allocateMessageID();
first->header.frag_id = 0;
first->header.msg_id = msg_id;
first->header.flags = m_flags;
first->header.topic_msg_counter = m_inputMsgCounter;
// Calculate number of packets
first->header.remaining_packets = std::max<uint32_t>(0,
(size - UDPFirstPacket::MaxDataSize + (UDPDataPacket::MaxDataSize-1)) / UDPDataPacket::MaxDataSize
);
strncpy(first->header.topic_name, m_topicName.c_str(), sizeof(first->header.topic_name));
if(first->header.topic_name[sizeof(first->header.topic_name)-1] != 0)
{
ROS_ERROR("Topic '%s' is too long. Please shorten the name.", m_topicName.c_str());
first->header.topic_name[sizeof(first->header.topic_name)-1] = 0;
}
strncpy(first->header.topic_type, m_topicType.c_str(), sizeof(first->header.topic_type));
if(first->header.topic_type[sizeof(first->header.topic_type)-1] != 0)
{
ROS_ERROR("Topic type '%s' is too long. Please shorten the name.", m_topicType.c_str());
first->header.topic_type[sizeof(first->header.topic_type)-1] = 0;
}
for(int i = 0; i < 4; ++i)
first->header.topic_md5[i] = m_md5[i];
uint8_t* rptr = m_buf.data();
uint32_t psize = std::min<uint32_t>(UDPFirstPacket::MaxDataSize, size);
memcpy(first->data, rptr, psize);
rptr += psize;
size -= psize;
if(!m_sender->send(buf, buf_size, m_topicName))
return;
if(m_sender->duplicateFirstPacket())
{
if(!m_sender->send(buf, buf_size, m_topicName))
return;
}
uint16_t frag_id = 1;
while(size > 0)
{
buf_size = std::min<uint32_t>(PACKET_SIZE, sizeof(UDPDataPacket) + size);
UDPDataPacket* next_packet = (UDPDataPacket*)buf;
next_packet->header.frag_id = frag_id++;
next_packet->header.msg_id = msg_id;
psize = std::min<uint32_t>(UDPDataPacket::MaxDataSize, size);
memcpy(next_packet->data, rptr, psize);
rptr += psize;
size -= psize;
if(!m_sender->send(buf, buf_size, m_topicName))
return;
}
}
void TopicSender::handleData(const topic_tools::ShapeShifter::ConstPtr& shapeShifter)
{
#if WITH_CONFIG_SERVER
if (!m_enable() )
return;
#endif
{
boost::lock_guard<boost::mutex> lock(m_dataMutex);
m_lastData = shapeShifter;
m_updateBuf = true;
ros::Time now = ros::Time::now();
if(now - m_lastTime < m_durationBetweenPackets)
return;
m_lastTime = now;
m_inputMsgCounter++;
}
if(m_directTransmission)
send();
}
void TopicSender::resend()
{
if(!m_lastData)
return;
ros::Time now = ros::Time::now();
if(now - m_lastTime < m_durationBetweenPackets)
return;
sendCurrentMessage();
}
void TopicSender::sendCurrentMessage()
{
if(!m_lastData)
return;
send();
}
void TopicSender::setDirectTransmissionEnabled(bool value)
{
m_directTransmission = value;
if(m_directTransmission && m_resendTimer.isValid())
m_resendTimer.start();
else
m_resendTimer.stop();
}
std::string TopicSender::escapeTopicName(std::string topicName)
{
boost::replace_first(topicName, "/", "");
boost::replace_all(topicName, "/", "_");
return topicName;
}
}

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// Sends a single topic
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef TOPIC_SENDER_H
#define TOPIC_SENDER_H
#include <ros/subscriber.h>
#include <topic_tools/shape_shifter.h>
#include <boost/thread.hpp>
#if WITH_CONFIG_SERVER
#include <config_server/parameter.h>
#endif
namespace nimbro_topic_transport
{
class UDPSender;
class TopicSender
{
public:
TopicSender(UDPSender* sender, ros::NodeHandle* nh, const std::string& topic, double rate, bool resend, int flags, bool enable = true, const std::string& type = "");
~TopicSender();
void handleData(const topic_tools::ShapeShifter::ConstPtr& shapeShifter);
inline uint8_t* advance(int)
{ return m_buf.data(); }
bool isDirectTransmissionEnabled() const
{ return m_directTransmission; }
void setDirectTransmissionEnabled(bool value);
void sendCurrentMessage();
private:
void send();
void resend();
void sendWithFEC();
void sendWithoutFEC();
static std::string escapeTopicName(std::string topicName);
UDPSender* m_sender;
ros::Subscriber m_subscriber;
std::string m_topicName;
std::string m_topicType;
int m_flags;
std::vector<uint8_t> m_buf;
uint32_t m_md5[4];
std::vector<uint8_t> m_compressionBuf;
ros::Duration m_durationBetweenPackets;
ros::Time m_lastTime;
ros::Timer m_resendTimer;
topic_tools::ShapeShifter::ConstPtr m_lastData;
bool m_updateBuf;
unsigned int m_msgCounter;
unsigned int m_inputMsgCounter;
bool m_directTransmission;
boost::mutex m_dataMutex;
#if WITH_CONFIG_SERVER
config_server::Parameter<bool> m_enable;
#endif
};
};
#endif

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// UDP packet definition
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#ifndef UDP_PACKET_H
#define UDP_PACKET_H
#include "../le_value.h"
namespace nimbro_topic_transport
{
// Since we sometimes tunnel nimbro_network packets through QuickTun,
// leave space for one additional UDP/IP envelope.
const int PACKET_SIZE = 1500 - 20 - 8 - 20 - 8;
// const int PACKET_SIZE = 1024 + 12; // for symbol size == 1024
enum PacketType
{
PACKET_INFO,
PACKET_DATA
};
enum UDPFlag
{
UDP_FLAG_COMPRESSED = (1 << 0),
UDP_FLAG_RELAY_MODE = (1 << 1)
};
struct UDPGenericPacket
{
LEValue<2> frag_id;
LEValue<2> msg_id;
} __attribute__((packed));
struct UDPFirstPacket
{
struct Header
{
LEValue<2> frag_id;
LEValue<2> msg_id;
char topic_name[64];
char topic_type[64];
LEValue<4> topic_md5[4];
LEValue<2> remaining_packets;
LEValue<2> flags;
LEValue<2> topic_msg_counter;
} __attribute__((packed));
enum { MaxDataSize = PACKET_SIZE - sizeof(Header) };
Header header;
uint8_t data[];
} __attribute__((packed));
struct UDPDataPacket
{
struct Header
{
LEValue<2> frag_id;
LEValue<2> msg_id;
} __attribute__((packed));
enum { MaxDataSize = PACKET_SIZE - sizeof(Header) };
Header header;
uint8_t data[];
} __attribute__((packed));
// Minimum number of packets for choosing the LDPC-Staircase algorithm
const int MIN_PACKETS_LDPC = 255;
struct FECHeader
{
char topic_name[64];
char topic_type[64];
LEValue<4> topic_md5[4];
LEValue<2> flags;
LEValue<2> topic_msg_counter;
uint8_t data[];
} __attribute__((packed));
struct FECPacket
{
struct Header
{
LEValue<2> msg_id;
LEValue<4> symbol_id;
LEValue<2> symbol_length;
LEValue<2> source_symbols;
LEValue<2> repair_symbols;
LEValue<4> prng_seed;
} __attribute__((packed));
enum { MaxDataSize = PACKET_SIZE - sizeof(Header) };
Header header;
uint8_t data[];
} __attribute__((packed));
}
#endif

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// UDP receiver node
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
#include "udp_receiver.h"
#include "udp_packet.h"
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netdb.h>
#include <ros/console.h>
#include <ros/node_handle.h>
#include <topic_tools/shape_shifter.h>
#include <std_msgs/Time.h>
#include <stdio.h>
#include <ros/names.h>
#include "../topic_info.h"
#include <nimbro_topic_transport/CompressedMsg.h>
#if WITH_PLOTTING
# include <plot_msgs/Plot.h>
#endif
#include <fcntl.h>
namespace nimbro_topic_transport
{
UDPReceiver::UDPReceiver()
: m_receivedBytesInStatsInterval(0)
, m_expectedPacketsInStatsInterval(0)
, m_missingPacketsInStatsInterval(0)
, m_remoteAddrLen(0)
{
ros::NodeHandle nh("~");
m_pub_heartbeat = nh.advertise<std_msgs::Time>("heartbeat", 1);
#if WITH_PLOTTING
m_pub_plot = nh.advertise<plot_msgs::Plot>("/plot", 1000);
#endif
m_fd = socket(AF_INET, SOCK_DGRAM, 0);
if(m_fd < 0)
{
ROS_FATAL("Could not create socket: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
int port;
nh.param("port", port, 5050);
sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_ANY;
addr.sin_port = htons(port);
ROS_INFO("Binding to :%d", port);
if(bind(m_fd, (sockaddr*)&addr, sizeof(addr)) != 0)
{
ROS_FATAL("Could not bind socket: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
int on = 1;
if(setsockopt(m_fd, SOL_SOCKET, SO_BROADCAST, &on, sizeof(on)) != 0)
{
ROS_FATAL("Could not set broadcast flag: %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
nh.param("drop_repeated_msgs", m_dropRepeatedMessages, true);
nh.param("warn_drop_incomplete", m_warnDropIncomplete, true);
nh.param("keep_compressed", m_keepCompressed, false);
nh.param("fec", m_fec, false);
#if !(WITH_OPENFEC)
if(m_fec)
throw std::runtime_error("Please compile with FEC support to enable FEC");
#endif
char hostnameBuf[256];
gethostname(hostnameBuf, sizeof(hostnameBuf));
hostnameBuf[sizeof(hostnameBuf)-1] = 0;
m_stats.node = ros::this_node::getName();
m_stats.protocol = "UDP";
m_stats.host = hostnameBuf;
m_stats.local_port = port;
m_stats.fec = m_fec;
nh.param("label", m_stats.label, std::string());
m_pub_stats = nh.advertise<ReceiverStats>("/network/receiver_stats", 1);
m_statsInterval = ros::WallDuration(2.0);
m_statsTimer = nh.createWallTimer(m_statsInterval,
boost::bind(&UDPReceiver::updateStats, this)
);
nh.param("topic_prefix", m_topicPrefix, std::string());
}
UDPReceiver::~UDPReceiver()
{
}
template<class HeaderType>
void UDPReceiver::handleFinishedMessage(Message* msg, HeaderType* header)
{
if(msg->complete)
return;
// Packet complete
msg->complete = true;
// Enforce termination
header->topic_type[sizeof(header->topic_type)-1] = 0;
header->topic_name[sizeof(header->topic_name)-1] = 0;
ROS_DEBUG("Got a packet of type %s, topic %s, (msg id %d), size %d", header->topic_type, header->topic_name, msg->id, (int)msg->payload.size());
// Find topic
TopicMap::iterator topic_it = m_topics.find(header->topic_name);
boost::shared_ptr<TopicReceiver> topic;
if(topic_it == m_topics.end())
{
m_topics.insert(std::pair<std::string, boost::shared_ptr<TopicReceiver>>(
header->topic_name,
boost::make_shared<TopicReceiver>()
));
topic = m_topics[header->topic_name];
topic->last_message_counter = -1;
}
else
topic = topic_it->second;
// Send heartbeat message
ros::Time now = ros::Time::now();
if(now - m_lastHeartbeatTime > ros::Duration(0.2))
{
std_msgs::Time time;
time.data = now;
m_pub_heartbeat.publish(time);
m_lastHeartbeatTime = now;
}
#if WITH_PLOTTING
// Plot packet size
plot_msgs::Plot plot;
plot.header.stamp = ros::Time::now();
plot_msgs::PlotPoint point;
std::string safe_topic = header->topic_name;
std::replace(safe_topic.begin(), safe_topic.end(), '/', '_');
point.name = "/udp_receiver/mbyte/" + safe_topic;
point.value = ((double)msg->getLength()) / 1024 / 1024;
plot.points.push_back(point);
m_pub_plot.publish(plot);
#endif
if(m_dropRepeatedMessages && header->topic_msg_counter() == topic->last_message_counter)
{
// This is the same message, probably sent in relay mode
return;
}
bool compressed = header->flags & UDP_FLAG_COMPRESSED;
// Compare md5
if(topic->last_message_counter == -1 || memcmp(topic->md5, header->topic_md5, sizeof(topic->md5)) != 0 || (m_keepCompressed && topic->compressed != compressed))
{
topic->msg_def = topic_info::getMsgDef(header->topic_type);
topic->md5_str = topic_info::getMd5Sum(header->topic_type);
if(topic->msg_def.empty() || topic->md5_str.size() != 8*4)
{
ROS_ERROR("Could not find msg type '%s', please make sure msg definitions are up to date", header->topic_type);
return;
}
ROS_INFO("Received first message on topic '%s'", header->topic_name);
for(int i = 0; i < 4; ++i)
{
std::string md5_part = topic->md5_str.substr(8*i, 8);
uint32_t md5_num = strtoll(md5_part.c_str(), 0, 16);
topic->md5[i] = md5_num;
}
if(memcmp(topic->md5, header->topic_md5, sizeof(topic->md5)) != 0)
{
ROS_ERROR("Invalid md5 sum for topic type '%s', please make sure msg definitions are up to date", header->topic_type);
return;
}
if(m_keepCompressed && compressed)
{
// If we are requested to keep the messages compressed, we advertise our compressed msg type
topic->publisher = m_nh.advertise<CompressedMsg>(
m_topicPrefix + header->topic_name,
1,
boost::bind(&TopicReceiver::handleSubscriber, topic)
);
}
else
{
// ... otherwise, we advertise the native type
ros::AdvertiseOptions options(
m_topicPrefix + header->topic_name,
1,
topic->md5_str,
header->topic_type,
topic->msg_def,
boost::bind(&TopicReceiver::handleSubscriber, topic)
);
// Latching is often unexpected. Better to lose the first msg.
//options.latch = 1;
topic->publisher = m_nh.advertise(options);
}
topic->compressed = compressed;
}
if(compressed && m_keepCompressed)
{
CompressedMsgPtr compressed(new CompressedMsg);
compressed->type = header->topic_type;
memcpy(compressed->md5.data(), topic->md5, sizeof(topic->md5));
compressed->data.swap(msg->payload);
topic->publishCompressed(compressed);
}
else if(header->flags & UDP_FLAG_COMPRESSED)
topic->takeForDecompression(boost::make_shared<Message>(*msg));
else
{
boost::shared_ptr<topic_tools::ShapeShifter> shapeShifter(new topic_tools::ShapeShifter);
shapeShifter->morph(topic->md5_str, header->topic_type, topic->msg_def, "");
shapeShifter->read(*msg);
topic->publish(shapeShifter);
}
topic->last_message_counter = header->topic_msg_counter();
}
void UDPReceiver::run()
{
std::vector<uint8_t> buf;
ROS_INFO("UDP receiver ready");
while(1)
{
ros::spinOnce();
// handleMessagePacket() below might swap() our buffer out, so make
// sure that we have enough room.
buf.resize(PACKET_SIZE);
fd_set fds;
FD_ZERO(&fds);
FD_SET(m_fd, &fds);
timeval timeout;
timeout.tv_usec = 50 * 1000;
timeout.tv_sec = 0;
int ret = select(m_fd+1, &fds, 0, 0, &timeout);
if(ret < 0)
{
if(errno == EINTR || errno == EAGAIN)
continue;
ROS_FATAL("Could not select(): %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
if(ret == 0)
continue;
sockaddr_storage addr;
socklen_t addrlen = sizeof(addr);
ssize_t size = recvfrom(m_fd, buf.data(), buf.size(), 0, (sockaddr*)&addr, &addrlen);
if(size < 0)
{
ROS_FATAL("Could not recv(): %s", strerror(errno));
throw std::runtime_error(strerror(errno));
}
if(addrlen != m_remoteAddrLen || memcmp(&addr, &m_remoteAddr, addrlen) != 0)
{
// Perform reverse lookup
char nameBuf[256];
char serviceBuf[256];
ros::WallTime startLookup = ros::WallTime::now();
if(getnameinfo((sockaddr*)&addr, addrlen, nameBuf, sizeof(nameBuf), serviceBuf, sizeof(serviceBuf), NI_NUMERICSERV) == 0)
{
ROS_INFO("New remote: %s:%s", nameBuf, serviceBuf);
m_stats.remote = nameBuf;
m_stats.remote_port = atoi(serviceBuf);
}
else
{
ROS_ERROR("Could not resolve remote address to name");
m_stats.remote = "unknown";
m_stats.remote_port = -1;
}
ros::WallTime endLookup = ros::WallTime::now();
// Warn if lookup takes up time (otherwise the user does not know
// what is going on)
if(endLookup - startLookup > ros::WallDuration(1.0))
{
ROS_WARN("Reverse address lookup took more than a second. "
"Consider adding '%s' to /etc/hosts",
m_stats.remote.c_str()
);
}
m_remoteAddr = addr;
m_remoteAddrLen = addrlen;
}
ROS_DEBUG("packet of size %lu", size);
m_receivedBytesInStatsInterval += size;
uint16_t msg_id;
// Obtain the message ID from the packet
if(m_fec)
{
FECPacket::Header* header = (FECPacket::Header*)buf.data();
msg_id = header->msg_id();
}
else
{
UDPGenericPacket* generic = (UDPGenericPacket*)buf.data();
msg_id = generic->msg_id();
}
// Look up the message ID in our list of incomplete messages
MessageBuffer::iterator it = std::find_if(m_incompleteMessages.begin(), m_incompleteMessages.end(),
[=](const Message& msg) { return msg.id == msg_id; }
);
if(it == m_incompleteMessages.end())
{
// Insert a new message
m_incompleteMessages.push_front(Message(msg_id));
it = m_incompleteMessages.begin();
pruneMessages();
}
handleMessagePacket(it, &buf, size);
}
}
void UDPReceiver::updateStats()
{
m_stats.header.stamp = ros::Time::now();
m_stats.bandwidth = m_receivedBytesInStatsInterval / m_statsInterval.toSec();
m_stats.drop_rate = ((double)m_missingPacketsInStatsInterval) / m_expectedPacketsInStatsInterval;
m_pub_stats.publish(m_stats);
// Reset all stats counters
m_receivedBytesInStatsInterval = 0;
m_missingPacketsInStatsInterval = 0;
m_expectedPacketsInStatsInterval = 0;
}
void UDPReceiver::pruneMessages()
{
// Erase messages that are too old (after index 31)
MessageBuffer::iterator itr = m_incompleteMessages.begin();
MessageBuffer::iterator it_end = m_incompleteMessages.end();
for(int i = 0; i < 31; ++i)
{
itr++;
if(itr == it_end)
break;
}
// Collect statistics on packets which will be deleted
for(MessageBuffer::iterator itd = itr; itd != it_end; ++itd)
{
const Message& msg = *itd;
#if WITH_OPENFEC
if(m_fec)
{
if(msg.params)
{
int total = msg.params->nb_source_symbols + msg.params->nb_repair_symbols;
m_expectedPacketsInStatsInterval += total;
m_missingPacketsInStatsInterval += total - msg.received_symbols;
}
}
else
#endif
{
int num_fragments = msg.msgs.size();
int received = 0;
for(unsigned int i = 0; i < msg.msgs.size(); ++i)
{
if(msg.msgs[i])
received++;
}
m_expectedPacketsInStatsInterval += num_fragments;
m_missingPacketsInStatsInterval += num_fragments - received;
}
}
// If enabled, warn each time we drop an incomplete message
if(m_warnDropIncomplete)
{
for(MessageBuffer::iterator itd = itr; itd != it_end; ++itd)
{
const Message& msg = *itd;
if(msg.complete)
continue;
int num_fragments = msg.msgs.size();
int received = 0;
for(unsigned int i = 0; i < msg.msgs.size(); ++i)
{
if(msg.msgs[i])
received++;
}
#if WITH_OPENFEC
if(msg.decoder)
{
ROS_WARN("Dropping FEC message %d (%u/%u symbols)", msg.id, msg.received_symbols, msg.params->nb_source_symbols);
}
else
#endif
{
ROS_WARN("Dropping message %d, %.2f%% of fragments received (%d/%d)",
msg.id, 100.0 * received / num_fragments, received, num_fragments
);
}
}
}
// Finally, delete all messages after index 31
m_incompleteMessages.erase(itr, it_end);
}
void UDPReceiver::handleMessagePacket(MessageBuffer::iterator it, std::vector<uint8_t>* buf, std::size_t size)
{
Message* msg = &*it;
// If the message is already completed (happens especially with FEC),
// drop this packet.
if(msg->complete)
{
#if WITH_OPENFEC
// ... but still include it in the statistics!
msg->received_symbols++;
#endif
return;
}
if(m_fec)
{
#if WITH_OPENFEC
// Save the received packet (OpenFEC expects all symbols to stay
// available until end of decoding)
boost::shared_ptr<std::vector<uint8_t>> fecBuffer(new std::vector<uint8_t>);
fecBuffer->swap(*buf);
msg->fecPackets.push_back(fecBuffer);
FECPacket* packet = (FECPacket*)fecBuffer->data();
if(!msg->decoder)
{
of_session_t* ses = 0;
of_parameters_t* params = 0;
if(packet->header.source_symbols() >= MIN_PACKETS_LDPC)
{
if(of_create_codec_instance(&ses, OF_CODEC_LDPC_STAIRCASE_STABLE, OF_DECODER, 1) != OF_STATUS_OK)
{
ROS_ERROR("Could not create LDPC decoder");
return;
}
of_ldpc_parameters_t* ldpc_params = (of_ldpc_parameters_t*)malloc(sizeof(of_ldpc_parameters_t));
ldpc_params->nb_source_symbols = packet->header.source_symbols();
ldpc_params->nb_repair_symbols = packet->header.repair_symbols();
ldpc_params->encoding_symbol_length = packet->header.symbol_length();
ldpc_params->prng_seed = packet->header.prng_seed();
ldpc_params->N1 = 7;
ROS_DEBUG("LDPC parameters: %d, %d, %d, 0x%X, %d", ldpc_params->nb_source_symbols, ldpc_params->nb_repair_symbols, ldpc_params->encoding_symbol_length, ldpc_params->prng_seed, ldpc_params->N1);
params = (of_parameters*)ldpc_params;
}
else
{
if(of_create_codec_instance(&ses, OF_CODEC_REED_SOLOMON_GF_2_M_STABLE, OF_DECODER, 1) != OF_STATUS_OK)
{
ROS_ERROR("Could not create REED_SOLOMON decoder");
return;
}
of_rs_2_m_parameters* rs_params = (of_rs_2_m_parameters_t*)malloc(sizeof(of_rs_2_m_parameters_t));
rs_params->nb_source_symbols = packet->header.source_symbols();
rs_params->nb_repair_symbols = packet->header.repair_symbols();
rs_params->encoding_symbol_length = packet->header.symbol_length();
rs_params->m = 8;
params = (of_parameters_t*)rs_params;
}
if(of_set_fec_parameters(ses, params) != OF_STATUS_OK)
{
ROS_ERROR("Could not set FEC parameters");
of_release_codec_instance(ses);
return;
}
msg->decoder.reset(ses, of_release_codec_instance);
msg->params.reset(params, free);
msg->received_symbols = 0;
}
msg->received_symbols++;
ROS_DEBUG("msg: %10d, symbol: %10d/%10d", msg->id, packet->header.symbol_id(), packet->header.source_symbols());
uint8_t* symbol_begin = packet->data;
if(size - sizeof(FECPacket::Header) != msg->params->encoding_symbol_length)
{
ROS_ERROR("Symbol size mismatch: got %d, expected %d",
(int)(size - sizeof(FECPacket::Header)),
(int)(msg->params->encoding_symbol_length)
);
return;
}
// FEC iterative decoding
if(of_decode_with_new_symbol(msg->decoder.get(), symbol_begin, packet->header.symbol_id()) != OF_STATUS_OK)
{
ROS_ERROR("Could not decode symbol");
return;
}
bool done = false;
if(msg->received_symbols >= msg->params->nb_source_symbols)
{
// Are we finished using the iterative decoding already?
done = of_is_decoding_complete(msg->decoder.get());
// As it is implemented in OpenFEC right now, we can only
// try the ML decoding (gaussian elimination) *once*.
// After that the internal state is screwed up and the message
// has to be discarded.
// So we have to be sure that it's worth it ;-)
if(!done && msg->received_symbols >= msg->params->nb_source_symbols + msg->params->nb_repair_symbols / 2)
{
of_status_t ret = of_finish_decoding(msg->decoder.get());
if(ret == OF_STATUS_OK)
done = true;
else
{
ROS_ERROR("ML decoding failed, dropping message...");
msg->complete = true;
return;
}
}
}
if(done)
{
ROS_DEBUG("FEC: Decoding done!");
std::vector<void*> symbols(msg->params->nb_source_symbols, 0);
if(of_get_source_symbols_tab(msg->decoder.get(), symbols.data()) != OF_STATUS_OK)
{
ROS_ERROR("Could not get decoded symbols");
return;
}
uint64_t payloadLength = msg->params->nb_source_symbols * msg->params->encoding_symbol_length;
if(msg->params->encoding_symbol_length < sizeof(FECHeader) || payloadLength < sizeof(FECHeader))
{
ROS_ERROR("Invalid short payload");
m_incompleteMessages.erase(it);
return;
}
FECHeader msgHeader;
memcpy(&msgHeader, symbols[0], sizeof(FECHeader));
payloadLength -= sizeof(FECHeader);
msg->payload.resize(payloadLength);
uint8_t* writePtr = msg->payload.data();
memcpy(
msg->payload.data(),
((uint8_t*)symbols[0]) + sizeof(FECHeader),
msg->params->encoding_symbol_length - sizeof(FECHeader)
);
writePtr += msg->params->encoding_symbol_length - sizeof(FECHeader);
for(unsigned int symbol = 1; symbol < msg->params->nb_source_symbols; ++symbol)
{
memcpy(writePtr, symbols[symbol], msg->params->encoding_symbol_length);
writePtr += msg->params->encoding_symbol_length;
}
msg->size = payloadLength;
handleFinishedMessage(msg, &msgHeader);
// keep completed messages in the buffer so that we know that
// we have to ignore any additional symbols of that message.
}
#endif
}
else
{
UDPGenericPacket* generic = (UDPGenericPacket*)buf->data();
if(generic->frag_id == 0)
{
UDPFirstPacket* first = (UDPFirstPacket*)buf->data();
msg->header = first->header;
// We can calculate an approximate size now
uint32_t required_size = (msg->header.remaining_packets()+1) * PACKET_SIZE;
uint32_t my_size = size - sizeof(UDPFirstPacket);
if(msg->payload.size() < required_size)
msg->payload.resize(required_size);
memcpy(msg->payload.data(), first->data, my_size);
if(msg->size < my_size)
msg->size = my_size;
if(((uint16_t)msg->msgs.size()) < msg->header.remaining_packets()+1)
msg->msgs.resize(msg->header.remaining_packets()+1, false);
}
else
{
UDPDataPacket* data = (UDPDataPacket*)buf->data();
uint32_t offset = UDPFirstPacket::MaxDataSize + (data->header.frag_id-1) * UDPDataPacket::MaxDataSize;
uint32_t required_size = offset + size - sizeof(UDPDataPacket);
if(msg->payload.size() < required_size)
msg->payload.resize(required_size);
memcpy(msg->payload.data() + offset, data->data, size - sizeof(UDPDataPacket));
if(msg->size < required_size)
msg->size = required_size;
}
if(generic->frag_id >= msg->msgs.size())
msg->msgs.resize(generic->frag_id+1, false);
msg->msgs[generic->frag_id] = true;
if(std::all_of(msg->msgs.begin(), msg->msgs.end(), [](bool x){return x;}))
{
handleFinishedMessage(msg, &msg->header);
// as we delete the message from the buffer here, immediately
// add it to the statistics
m_expectedPacketsInStatsInterval += msg->msgs.size();
m_incompleteMessages.erase(it);
}
}
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "udp_receiver", ros::init_options::NoSigintHandler);
ros::NodeHandle nh;
nimbro_topic_transport::UDPReceiver recv;
recv.run();
return 0;
}

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