[Refactor] Introduce a virtual class, NNSRosPublisher

This patch introduces a virtual class containing common code for
publishing ROS1 and ROS2 topics.

Signed-off-by: Wook Song <[email protected]>

include/nns_ros_publisher.h

@@ -1,75 +1,123 @@
+/* SPDX-License-Identifier: LGPL-2.1-only */
 /**
- * Copyright (C) 2018 Samsung Electronics Co., Ltd. All rights reserved.
+ * NNStreamer-ROS: NNStreamer extension packages for ROS/ROS2 support
+ * Copyright (C) 2020 Wook Song <[email protected]>
+ * Copyright (C) 2018 Samsung Electronics Co., Ltd.
  *
- * This library is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Library General Public
- * License as published by the Free Software Foundation; 
- * version 2.1 of the License.
- *
- * This library is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * Library General Public License for more details.
- *
- */
-/**
- * @file   nns_ros_pubisher.h
- * @author Wook Song <[email protected]>
- * @date   11/19/2018
- * @brief  A helper class to support publishing ROS topic within NNStreamer
- *
- * This class bridges between the NNStreamer (C) and ROS frameworks (ROSCPP/C++).
- *
- * @bug     No known bugs.
+ * @file        nns_ros_publisher.h
+ * @date        12 Oct 2020
+ * @brief       A virtual class for publishing the ROS/ROS2 topic
+ *              via NNStreamer plugins
+ * @see         https://github.com/nnstreamer/nnstreamer-ros
+ * @author      Wook Song <[email protected]>
+ * @bug         No known bugs except for NYI items
  */
 
 #ifndef _NNS_ROS_PUBLISHER_H_
 #define _NNS_ROS_PUBLISHER_H_
+
 #include <glib-2.0/glib.h>
 #include <nnstreamer/tensor_typedef.h>
 #include <nnstreamer/nnstreamer_plugin_api.h>
-#ifdef __cplusplus
-#include <ros/ros.h>
-#include <std_msgs/MultiArrayLayout.h>
-#include <std_msgs/MultiArrayDimension.h>
 
-typedef enum _err_code {
-  UNDEFINED_ROS_MASTER_URI,
-  FAILED_TO_CONNECT_ROSCORE,
-} err_code;
+#ifdef __cplusplus
+#include <string>
 
-class NnsRosPublisher
+template <class T, typename S> class NnsRosPublisher
 {
 public:
   NnsRosPublisher (const char *node_name, const char *topic_name,
-      gboolean is_dummy_roscore);
-  ~NnsRosPublisher ();
-  gboolean publish (const guint num_tensors,
-      const GstTensorMemory *tensors_mem, rosbag::Bag *bag);
-  gboolean setPubTopicInfo (const GstTensorsConfig *conf);
-  const gchar *getPubTopicName ();
-private:
-  NnsRosPublisher ();
+      gboolean is_dummy, S q_size = 15)
+  {
+    this->str_node_name = std::string (node_name);
+    this->str_pub_topic_name = std::string (topic_name);
+    this->ready_to_pub = FALSE;
+    this->is_dummy = is_dummy;
+    this->default_q_size = q_size;
+  }
+  virtual ~NnsRosPublisher () { };
+
+  const gchar *getPubTopicName ()
+  {
+    return this->str_pub_topic_name.c_str ();
+  }
+
+  static const gchar *getHelperName ()
+  {
+    return NnsRosPublisher::str_nns_helper_name.c_str ();
+  }
+
+  virtual gboolean publish (const guint num_tensors,
+      const GstTensorMemory *tensors_mem, void *bag) = 0;
 
+  /**
+   * @brief	A method for configuraing topic information to publish
+   * @param[in] conf The configuration information at the NNStreamer side
+   * @return TRUE if the configuration is successfully done
+  */
+  template <class U>
+  gboolean setPubTopicInfo (const GstTensorsConfig *conf)
+  {
+    const GstTensorsInfo *tensors_info = &conf->info;
+
+    g_return_val_if_fail (tensors_info->num_tensors <= NNS_TENSOR_SIZE_LIMIT,
+        FALSE);
+
+    this->num_of_tensors_pub = tensors_info->num_tensors;
+
+    for (guint i = 0; i < this->num_of_tensors_pub; ++i) {
+      gsize tensor_size = gst_tensor_info_get_size (&tensors_info->info[i]);
+      guint each_dim_stride = tensor_size;
+
+      for (gint j = (NNS_TENSOR_RANK_LIMIT - 1); j >= 0; --j) {
+        U each_dim;
+        /**
+        * FIXME: Since the type of 'stride' of std_msgs::MultiArrayDimension is
+        * unsigned int,conversion from size_t to unsigned int is requried.
+        */
+        each_dim.label = gst_tensor_get_type_string(tensors_info->info[i].type);
+        each_dim.size =
+            tensors_info->info[i].dimension[j];
+        if (j != (NNS_TENSOR_RANK_LIMIT - 1)) {
+          each_dim_stride /= tensors_info->info[i].dimension[j + 1];
+        }
+        each_dim.stride = each_dim_stride;
+
+        this->topic_layouts_pub[i].dim.push_back (each_dim);
+      }
+
+      g_return_val_if_fail (
+          this->topic_layouts_pub[i].dim.at(0).stride == tensor_size, FALSE
+          );
+    }
+
+    this->ready_to_pub = TRUE;
+
+    return ready_to_pub;
+  }
+
+protected:
   // Variables for ROS configuration
-  ros::NodeHandle *nh_parent;
-  ros::NodeHandle *nh_child;
-  ros::Publisher  ros_sink_pub;
+  static std::string str_nns_helper_name;
   std::string str_node_name;
   std::string str_pub_topic_name;
-  gboolean is_dummy_roscore;
+  gboolean is_dummy;
+  S default_q_size;
   // Variables for publish ROS topic
   gboolean ready_to_pub;
   guint num_of_tensors_pub;
-  std_msgs::MultiArrayLayout topic_layouts_pub[NNS_TENSOR_SIZE_LIMIT];
+  T topic_layouts_pub[NNS_TENSOR_SIZE_LIMIT];
 };
 
+template <class T, typename S>
+std::string NnsRosPublisher<T, S>::str_nns_helper_name = "nns_ros_publisher";
+
 extern "C"
 {
 #endif /* __cplusplus */
 
 void *nns_ros_publisher_init (const char *node_name, const char *topic_name,
-    gboolean is_dummy_roscore);
+    gboolean is_dummy);
 void nns_ros_publisher_finalize (void *instance);
 gboolean nns_ros_publisher_publish (void *instance, const guint num_tensors,
     const GstTensorMemory *tensors_mem, void *bag);
@@ -79,6 +127,6 @@ const gchar *nns_ros_publisher_get_pub_topic_name (void *instance);
 void *nns_ros_publisher_open_writable_bag (void *instance, const char *name);
 void nns_ros_publisher_close_bag (void *bag);
 #ifdef __cplusplus
-};
+}
 #endif /* __cplusplus */
 #endif /* _NNS_ROS_PUBLISHER_H_ */

ros/CMakeLists.txt

@@ -130,7 +130,7 @@ catkin_package(
 )
 
 SET(CXX_SRC_FILES_NNS_ROS_PUBLISHER
-  ./node/nns_ros_publisher.cc
+  ./node/nns_roscpp_publisher.cc
 )
 
 SET(CXX_SRC_FILES_NNS_ROS_SRC