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Commit 13ad876d authored by Valentin Platzgummer's avatar Valentin Platzgummer
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rosbridge_msgs toJson signatures changed to (Document &, Document::AllocatorType &)

parent 34ab923f
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Showing with 87 additions and 69 deletions
test_rosbridge/rosbridge/main.cpp
View file @ 13ad876d
......@@ -45,10 +45,19 @@ void publisherThread(RosbridgeWsClient& rbc, const std::future<void>& futureObj)
rosbridge_msgs::Polygon polygon(std::vector<rosbridge_msgs::Point32>({rosbridge_msgs::Point32(1,1,1),
rosbridge_msgs::Point32(2,2,2),
rosbridge_msgs::Point32(3,3,3)}));
rosbridge_msgs::Polygon polygon2(std::vector<rosbridge_msgs::Point32>({rosbridge_msgs::Point32(1,1,3),
rosbridge_msgs::Point32(2,2,4),
rosbridge_msgs::Point32(3,3,5)}));
rosbridge_msgs::PolygonStamped polygonStamped(header, polygon);
rapidjson::Document doc;
rapidjson::Value val = polygonStamped.toJson(doc.GetAllocator());
val.Swap(doc);
rosbridge_msgs::PolygonStamped polygonStamped2(header, polygon2);
std::vector<rosbridge_msgs::PolygonStamped> parray({polygonStamped, polygonStamped2});
std::vector<uint32_t> labels({1,2});
std::vector<_Float32> likelihood({1,2});
rosbridge_msgs::PolygonArray polygonArray(header, parray, labels, likelihood);
rapidjson::Document doc(rapidjson::kObjectType);
void(polygonArray.toJson(doc, doc.GetAllocator()));
// Write to stdout
rapidjson::OStreamWrapper out(std::cout);
......@@ -59,7 +68,7 @@ void publisherThread(RosbridgeWsClient& rbc, const std::future<void>& futureObj)
while (futureObj.wait_for(std::chrono::milliseconds(1)) == std::future_status::timeout)
{
rbc.publish("/polygon_stamped_topic", doc);
rbc.publish("/polygon_array_topic", doc);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
......@@ -76,7 +85,7 @@ int main() {
// rbc.advertiseService("service_advertiser", "/zservice", "std_srvs/SetBool", advertiseServiceCallback);
rbc.addClient("topic_advertiser");
rbc.advertise("topic_advertiser", "/polygon_stamped_topic", "geometry_msgs/PolygonStamped");
rbc.advertise("topic_advertiser", "/polygon_array_topic", "jsk_recognition_msgs/PolygonArray");
// rbc.addClient("topic_subscriber");
// rbc.subscribe("topic_subscriber", "/ztopic", subscriberCallback);
......
test_rosbridge/rosbridge/snake.cpp
View file @ 13ad876d
......@@ -13,15 +13,14 @@ namespace rosbridge_msgs {
Point32::Point32(_Float32 x, _Float32 y, _Float32 z): x(x), y(y), z(z) {}
rapidjson::Value Point32::toJson(rapidjson::Document::AllocatorType &allocator)
bool Point32::toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value val(rapidjson::kObjectType);
val.AddMember("x", rapidjson::Value().SetFloat(this->x), allocator);
val.AddMember("y", rapidjson::Value().SetFloat(this->y), allocator);
val.AddMember("z", rapidjson::Value().SetFloat(this->z), allocator);
doc.AddMember("x", rapidjson::Value().SetFloat(this->x), allocator);
doc.AddMember("y", rapidjson::Value().SetFloat(this->y), allocator);
doc.AddMember("z", rapidjson::Value().SetFloat(this->z), allocator);
return val;
return true;
}
......@@ -32,14 +31,12 @@ namespace rosbridge_msgs {
Time::Time(uint32_t secs, uint32_t nsecs): secs(secs), nsecs(nsecs) {}
rapidjson::Value Time::toJson(rapidjson::Document::AllocatorType &allocator)
bool Time::toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value val(rapidjson::kObjectType);
doc.AddMember("secs", rapidjson::Value().SetUint(this->secs), allocator);
doc.AddMember("nsecs", rapidjson::Value().SetUint(this->nsecs), allocator);
val.AddMember("secs", rapidjson::Value().SetUint(this->secs), allocator);
val.AddMember("nsecs", rapidjson::Value().SetUint(this->nsecs), allocator);
return val;
return true;
}
......@@ -48,17 +45,18 @@ namespace rosbridge_msgs {
//===================================================================
Header::Header(): seq(0), frame_id("") {}
Header::Header(uint32_t seq, Time stamp, std::string frame_id): seq(seq), stamp(stamp), frame_id(frame_id) {}
Header::Header(uint32_t seq, const Time &stamp, std::string frame_id): seq(seq), stamp(stamp), frame_id(frame_id) {}
rapidjson::Value Header::toJson(rapidjson::Document::AllocatorType &allocator)
bool Header::toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value val(rapidjson::kObjectType);
val.AddMember("seq", rapidjson::Value().SetUint(this->seq), allocator);
val.AddMember("stamp", this->stamp.toJson(allocator), allocator);
val.AddMember("frame_id", rapidjson::Value().SetString(this->frame_id.data(), this->frame_id.length(), allocator), allocator);
return val;
doc.AddMember("seq", rapidjson::Value().SetUint(this->seq), allocator);
rapidjson::Document stamp(rapidjson::kObjectType);
if (!this->stamp.toJson(stamp, allocator))
return false;
doc.AddMember("stamp", stamp, allocator);
doc.AddMember("frame_id", rapidjson::Value().SetString(this->frame_id.data(), this->frame_id.length(), allocator), allocator);
return true;
}
......@@ -67,20 +65,22 @@ namespace rosbridge_msgs {
//===================================================================
Polygon::Polygon(){}
Polygon::Polygon(std::vector<Point32> points) : points(points) {}
Polygon::Polygon(const std::vector<Point32> &points) : points(points) {}
rapidjson::Value Polygon::toJson(rapidjson::Document::AllocatorType &allocator)
bool Polygon::toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value val(rapidjson::kObjectType);
rapidjson::Value points(rapidjson::kArrayType);
for(std::vector<Point32>::iterator it = this->points.begin(); it != this->points.end(); ++it)
points.PushBack(it->toJson(allocator), allocator);
for(std::vector<Point32>::iterator it = this->points.begin(); it != this->points.end(); ++it) {
rapidjson::Document point(rapidjson::kObjectType);
if (!it->toJson(point, allocator))
return false;
points.PushBack(point, allocator);
}
val.AddMember("points", points, allocator);
doc.AddMember("points", points, allocator);
return val;
return true;
}
......@@ -89,16 +89,20 @@ namespace rosbridge_msgs {
//===================================================================
PolygonStamped::PolygonStamped() {}
PolygonStamped::PolygonStamped(Header header, Polygon polygon) : header(header), polygon(polygon){}
PolygonStamped::PolygonStamped(const Header &header, const Polygon &polygon) : header(header), polygon(polygon){}
rapidjson::Value PolygonStamped::toJson(rapidjson::Document::AllocatorType &allocator)
bool PolygonStamped::toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value val(rapidjson::kObjectType);
val.AddMember("header", this->header.toJson(allocator), allocator);
val.AddMember("polygon", this->polygon.toJson(allocator), allocator);
return val;
rapidjson::Document header(rapidjson::kObjectType);
if (!this->header.toJson(header, allocator))
return false;
rapidjson::Document polygon(rapidjson::kObjectType);
if (!this->polygon.toJson(polygon, allocator))
return false;
doc.AddMember("header", header, allocator);
doc.AddMember("polygon", polygon, allocator);
return true;
}
......@@ -108,37 +112,42 @@ namespace rosbridge_msgs {
//===================================================================
PolygonArray::PolygonArray() {}
PolygonArray::PolygonArray(Header header,
std::vector<Polygon> polygons,
std::vector<uint32_t> labels,
std::vector<_Float32> likelihood)
PolygonArray::PolygonArray(const Header &header,
const std::vector<PolygonStamped> &polygons,
const std::vector<uint32_t> &labels,
const std::vector<_Float32> &likelihood)
: header(header), polygons(polygons), labels(labels), likelihood(likelihood) {}
rapidjson::Value PolygonArray::toJson(rapidjson::Document::AllocatorType &allocator)
bool PolygonArray::toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator)
{
rapidjson::Value val(rapidjson::kObjectType);
val.AddMember("header", this->header.toJson(allocator), allocator);
rapidjson::Document header(rapidjson::kObjectType);
if (!this->header.toJson(header, allocator))
return false;
doc.AddMember("header", header, allocator);
rapidjson::Value polygons(rapidjson::kArrayType);
for(auto it = this->polygons.begin(); it != this->polygons.end(); ++it)
polygons.PushBack(it->toJson(allocator), allocator);
val.AddMember("polygons", polygons, allocator);
for(auto it = this->polygons.begin(); it != this->polygons.end(); ++it){
rapidjson::Document polygon(rapidjson::kObjectType);
if (!it->toJson(polygon, allocator))
return false;
polygons.PushBack(polygon, allocator);
}
doc.AddMember("polygons", polygons, allocator);
rapidjson::Value labels(rapidjson::kArrayType);
for(auto it = this->labels.begin(); it != this->labels.end(); ++it)
labels.PushBack(rapidjson::Value().SetUint(*it), allocator);
val.AddMember("labels", labels, allocator);
doc.AddMember("labels", labels, allocator);
rapidjson::Value likelyhood(rapidjson::kArrayType);
rapidjson::Value likelihood(rapidjson::kArrayType);
for(auto it = this->likelihood.begin(); it != this->likelihood.end(); ++it)
likelyhood.PushBack(rapidjson::Value().SetFloat(*it), allocator);
val.AddMember("likelyhood", likelyhood, allocator);
likelihood.PushBack(rapidjson::Value().SetFloat(*it), allocator);
doc.AddMember("likelihood", likelihood, allocator);
return val;
return true;
}
}
test_rosbridge/rosbridge/snake.h
View file @ 13ad876d
......@@ -20,7 +20,7 @@ namespace rosbridge_msgs {
Time();
Time(uint32_t secs, uint32_t nsecs);
rapidjson::Value toJson(rapidjson::Document::AllocatorType &allocator);
bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator);
uint32_t secs;
uint32_t nsecs;
......@@ -31,9 +31,9 @@ namespace rosbridge_msgs {
class Header{
public:
Header();
Header(uint32_t seq, Time stamp, std::string frame_id);
Header(uint32_t seq, const Time &stamp, std::string frame_id);
rapidjson::Value toJson(rapidjson::Document::AllocatorType &allocator);
bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator);
uint32_t seq;
Time stamp;
......@@ -47,7 +47,7 @@ namespace rosbridge_msgs {
Point32();
Point32(_Float32 x, _Float32 y, _Float32 z);
rapidjson::Value toJson(rapidjson::Document::AllocatorType &allocator);
bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator);
_Float32 x;
_Float32 y;
......@@ -59,9 +59,9 @@ namespace rosbridge_msgs {
class Polygon{
public:
Polygon();
Polygon(std::vector<Point32> points);
Polygon(const std::vector<Point32> &points);
rapidjson::Value toJson(rapidjson::Document::AllocatorType &allocator);
bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator);
std::vector<Point32> points;
};
......@@ -71,9 +71,9 @@ namespace rosbridge_msgs {
class PolygonStamped{
public:
PolygonStamped();
PolygonStamped(Header header, Polygon polygon);
PolygonStamped(const Header &header, const Polygon &polygon);
rapidjson::Value toJson(rapidjson::Document::AllocatorType &allocator);
bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator);
Header header;
Polygon polygon;
......@@ -84,12 +84,12 @@ namespace rosbridge_msgs {
class PolygonArray{
public:
PolygonArray();
PolygonArray(Header header, std::vector<Polygon> polygons, std::vector<uint32_t> labels, std::vector<_Float32> likelihood);
PolygonArray(const Header &header, const std::vector<PolygonStamped> &polygons, const std::vector<uint32_t> &labels, const std::vector<_Float32> &likelihood);
rapidjson::Value toJson(rapidjson::Document::AllocatorType &allocator);
bool toJson(rapidjson::Document &doc, rapidjson::Document::AllocatorType &allocator);
Header header;
std::vector<Polygon> polygons;
std::vector<PolygonStamped> polygons;
std::vector<uint32_t> labels;
std::vector<_Float32> likelihood;
};
......
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