common.hpp

 
#pragma once
 
#include <cctype>
#include <string>
#include <tuple>
#include <type_traits>
#include <unordered_map>
#include <vector>
 
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/header.hpp>
 
#include "event_detector/datatypes.hpp"
 
namespace event_detector {
 
// constants
const std::string kTransformationTopic = "/tf";               
const std::string kStaticTransformationTopic = "/tf_static";  
 
template <typename T>
struct Stamped {
  rclcpp::Time stamp;            
  std::shared_ptr<const T> msg;  
};
 
// convenience data structure typedefs
template <typename T>
using string_map = std::unordered_map<std::string, T>;
template <typename T>
using string_map_2d = std::unordered_map<std::string, string_map<T>>;
 
struct ClientConnection {
  std::string id;          
  std::string name;        
  std::string base_frame;  
  std::string tf_prefix;   
  bool buffer_all_tf = false;  
  bool buffer_all_tf_static = false;  
#define DATATYPE(TYPE, VAR) \
  std::vector<std::tuple<std::string, double, int>> VAR;  
#include "event_detector/datatypes.macro"
#undef DATATYPE
};
 
// definitions for distinguishing between ROS messages with/without header
// based on SFINAE (https://fekir.info/post/detect-member-variables/)
using HasRosHeaderNo = std::false_type;
using HasRosHeaderYes = std::true_type;
 
template <typename T, typename = std_msgs::msg::Header>
struct HasRosHeader : HasRosHeaderNo {};
 
template <typename T>
struct HasRosHeader<T, decltype(T::header)> : HasRosHeaderYes {};
 
template <typename T>
bool hasRosHeader(const T&);
 
template <typename T>
HasRosHeader<T> getHasRosHeader(const T&);
 
}  // namespace event_detector
 
#include "event_detector/common.tpp"