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patch for #4144 including backwards compatability. Also added check t…
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…o give nice error and quit if invalid filter name, instead of throwing exception

--HG--
branch : filters
extra : convert_revision : svn%3Aeb33c2ac-9c88-4c90-87e0-44a10359b0c3/stacks/common/trunk/filters%4030358
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tfoote committed Jun 22, 2010
1 parent 75d5903 commit f7a402c
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Showing 7 changed files with 99 additions and 32 deletions.
26 changes: 13 additions & 13 deletions default_plugins.xml
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Original file line number Diff line number Diff line change
@@ -1,86 +1,86 @@
<class_libraries>
<library path="lib/libmedian">
<class name="MultiChannelMedianFilterDouble" type="filters::MultiChannelMedianFilter<double>"
<class name="filters/MultiChannelMedianFilterDouble" type="filters::MultiChannelMedianFilter<double>"
base_class_type="filters::MultiChannelFilterBase<double>">
<description>
This is a median filter which works on a stream of std::vector of doubles.
</description>
</class>
<class name="MedianFilterDouble" type="filters::MedianFilter<double>"
<class name="filters/MedianFilterDouble" type="filters::MedianFilter<double>"
base_class_type="filters::FilterBase<double>">
<description>
This is a median filter which works on a stream of doubles.
</description>
</class>
<class name="MultiChannelMedianFilterFloat" type="filters::MultiChannelMedianFilter<float>"
<class name="filters/MultiChannelMedianFilterFloat" type="filters::MultiChannelMedianFilter<float>"
base_class_type="filters::MultiChannelFilterBase<float>">
<description>
This is a median filter which works on a stream of std::vector of floats.
</description>
</class>
<class name="MedianFilterFloat" type="filters::MedianFilter<float>"
<class name="filters/MedianFilterFloat" type="filters::MedianFilter<float>"
base_class_type="filters::FilterBase<float>">
<description>
This is a median filter which works on a stream of floats.
</description>
</class>
</library>
<library path="lib/libmean">
<class name="MeanFilterDouble" type="filters::MeanFilter<double>"
<class name="filters/MeanFilterDouble" type="filters::MeanFilter<double>"
base_class_type="filters::FilterBase<double>">
<description>
This is a mean filter which works on a stream of doubles.
</description>
</class>
<class name="MeanFilterFloat" type="filters::MeanFilter<float>"
<class name="filters/MeanFilterFloat" type="filters::MeanFilter<float>"
base_class_type="filters::FilterBase<float>">
<description>
This is a mean filter which works on a stream of floats.
</description>
</class>
<class name="MultiChannelMeanFilterDouble" type="filters::MultiChannelMeanFilter<double>"
<class name="filters/MultiChannelMeanFilterDouble" type="filters::MultiChannelMeanFilter<double>"
base_class_type="filters::MultiChannelFilterBase<double>">
<description>
This is a mean filter which works on a stream of vectors of doubles.
</description>
</class>
<class name="MultiChannelMeanFilterFloat" type="filters::MultiChannelMeanFilter<float>"
<class name="filters/MultiChannelMeanFilterFloat" type="filters::MultiChannelMeanFilter<float>"
base_class_type="filters::MultiChannelFilterBase<float>">
<description>
This is a mean filter which works on a stream of vectors of floats.
</description>
</class>
</library>
<library path="lib/libtest_param">
<class name="ParamTest" type="filters::ParamTest<double>"
<class name="filters/ParamTest" type="filters::ParamTest<double>"
base_class_type="filters::FilterBase<double>">
<description>
This is a filter designed to test parameter readings. It's not useful.
</description>
</class>
</library>
<library path="lib/libincrement">
<class name="IncrementFilterInt" type="filters::IncrementFilter<int>"
<class name="filters/IncrementFilterInt" type="filters::IncrementFilter<int>"
base_class_type="filters::FilterBase<int>">
<description>
This is a increment filter which works on a stream of ints.
</description>
</class>
<class name="MultiChannelIncrementFilterInt" type="filters::MultiChannelIncrementFilter<int>"
<class name="filters/MultiChannelIncrementFilterInt" type="filters::MultiChannelIncrementFilter<int>"
base_class_type="filters::MultiChannelFilterBase<int>">
<description>
This is a increment filter which works on a stream of vectors of ints.
</description>
</class>
</library>
<library path="lib/libtransfer_function">
<class name="MultiChannelTransferFunctionFilterDouble" type="filters::MultiChannelTransferFunctionFilter<double>"
<class name="filters/MultiChannelTransferFunctionFilterDouble" type="filters::MultiChannelTransferFunctionFilter<double>"
base_class_type="filters::MultiChannelFilterBase<double>">
<description>
This is a transfer filter which works on a stream of doubles.
</description>
</class>
<class name="TransferFunctionFilterDouble" type="filters::SingleChannelTransferFunctionFilter<double>"
<class name="filters/TransferFunctionFilterDouble" type="filters::SingleChannelTransferFunctionFilter<double>"
base_class_type="filters::FilterBase<double>">
<description>
This is a transfer filter which works on a stream of doubles.
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69 changes: 68 additions & 1 deletion include/filters/filter_chain.h
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Expand Up @@ -196,9 +196,43 @@ class FilterChain
return false;
}
}


//CHeck for backwards compatible declarations
if (std::string(config[i]["type"]).find("/") == std::string::npos)
{
ROS_WARN("Deprecation Warning: No '/' detected in FilterType, Please update to 1.2 plugin syntax. ");
std::vector<std::string> libs = loader_.getDeclaredClasses();
for (std::vector<std::string>::iterator it = libs.begin(); it != libs.end(); ++it)
{
size_t position = it->find(std::string(config[i]["type"]));
if (position != std::string::npos)
{
ROS_WARN("Replaced %s with %s", std::string(config[i]["type"]).c_str(), it->c_str());
config[i]["type"] = *it;
}
}
}
//Make sure the filter chain has a valid type
std::vector<std::string> libs = loader_.getDeclaredClasses();
bool found = false;
for (std::vector<std::string>::iterator it = libs.begin(); it != libs.end(); ++it)
{
if (*it == std::string(config[i]["type"]))
{
found = true;
break;
}
}
if (!found)
{
ROS_ERROR("Couldn't find filter of type %s", std::string(config[i]["type"]).c_str());
return false;
}

}
}


bool result = true;

Expand Down Expand Up @@ -397,6 +431,39 @@ class MultiChannelFilterChain
return false;
}
}
//CHeck for backwards compatible declarations
if (std::string(config[i]["type"]).find("/") == std::string::npos)
{
ROS_WARN("Deprecation Warning: No '/' detected in FilterType, Please update to 1.2 plugin syntax. ");
std::vector<std::string> libs = loader_.getDeclaredClasses();
for (std::vector<std::string>::iterator it = libs.begin(); it != libs.end(); ++it)
{
size_t position = it->find(std::string(config[i]["type"]));
if (position != std::string::npos)
{
ROS_WARN("Replaced %s with %s", std::string(config[i]["type"]).c_str(), it->c_str());
config[i]["type"] = *it;
}
}
}
//Make sure the filter chain has a valid type
std::vector<std::string> libs = loader_.getDeclaredClasses();
bool found = false;
for (std::vector<std::string>::iterator it = libs.begin(); it != libs.end(); ++it)
{
if (*it == std::string(config[i]["type"]))
{
found = true;
break;
}
}
if (!found)
{
ROS_ERROR("Couldn't find filter of type %s", std::string(config[i]["type"]).c_str());
return false;
}


}
}

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4 changes: 2 additions & 2 deletions src/increment.cpp
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Expand Up @@ -32,6 +32,6 @@



PLUGINLIB_REGISTER_CLASS(IncrementFilterInt, filters::IncrementFilter<int>, filters::FilterBase<int>)
PLUGINLIB_REGISTER_CLASS(MultiChannelIncrementFilterInt, filters::MultiChannelIncrementFilter<int>, filters::MultiChannelFilterBase<int>)
PLUGINLIB_DECLARE_CLASS(filters, IncrementFilterInt, filters::IncrementFilter<int>, filters::FilterBase<int>)
PLUGINLIB_DECLARE_CLASS(filters, MultiChannelIncrementFilterInt, filters::MultiChannelIncrementFilter<int>, filters::MultiChannelFilterBase<int>)

8 changes: 4 additions & 4 deletions src/mean.cpp
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Expand Up @@ -32,8 +32,8 @@



PLUGINLIB_REGISTER_CLASS(MeanFilterDouble, filters::MeanFilter<double>, filters::FilterBase<double>)
PLUGINLIB_REGISTER_CLASS(MeanFilterFloat, filters::MeanFilter<float>, filters::FilterBase<float>)
PLUGINLIB_REGISTER_CLASS(MultiChannelMeanFilterDouble, filters::MultiChannelMeanFilter<double>, filters::MultiChannelFilterBase<double>)
PLUGINLIB_REGISTER_CLASS(MultiChannelMeanFilterFloat, filters::MultiChannelMeanFilter<float>, filters::MultiChannelFilterBase<float>)
PLUGINLIB_DECLARE_CLASS(filters, MeanFilterDouble, filters::MeanFilter<double>, filters::FilterBase<double>)
PLUGINLIB_DECLARE_CLASS(filters, MeanFilterFloat, filters::MeanFilter<float>, filters::FilterBase<float>)
PLUGINLIB_DECLARE_CLASS(filters, MultiChannelMeanFilterDouble, filters::MultiChannelMeanFilter<double>, filters::MultiChannelFilterBase<double>)
PLUGINLIB_DECLARE_CLASS(filters, MultiChannelMeanFilterFloat, filters::MultiChannelMeanFilter<float>, filters::MultiChannelFilterBase<float>)

8 changes: 4 additions & 4 deletions src/median.cpp
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Expand Up @@ -33,12 +33,12 @@


//Double precision
PLUGINLIB_REGISTER_CLASS(MedianFilterDouble, filters::MedianFilter<double>,filters::FilterBase<double>)
PLUGINLIB_REGISTER_CLASS(MultiChannelMedianFilterDouble, filters::MultiChannelMedianFilter<double>,filters::MultiChannelFilterBase<double>)
PLUGINLIB_DECLARE_CLASS(filters, MedianFilterDouble, filters::MedianFilter<double>,filters::FilterBase<double>)
PLUGINLIB_DECLARE_CLASS(filters, MultiChannelMedianFilterDouble, filters::MultiChannelMedianFilter<double>,filters::MultiChannelFilterBase<double>)

//Float precision
PLUGINLIB_REGISTER_CLASS(MedianFilterFloat, filters::MedianFilter<float>,filters::FilterBase<float>)
PLUGINLIB_REGISTER_CLASS(MultiChannelMedianFilterFloat, filters::MultiChannelMedianFilter<float>,filters::MultiChannelFilterBase<float>)
PLUGINLIB_DECLARE_CLASS(filters, MedianFilterFloat, filters::MedianFilter<float>,filters::FilterBase<float>)
PLUGINLIB_DECLARE_CLASS(filters, MultiChannelMedianFilterFloat, filters::MultiChannelMedianFilter<float>,filters::MultiChannelFilterBase<float>)



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12 changes: 6 additions & 6 deletions src/test_params.cpp
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Expand Up @@ -31,10 +31,10 @@
#include "filters/param_test.h"
#include "pluginlib/class_list_macros.h"

PLUGINLIB_REGISTER_CLASS(ParamTestDouble, filters::ParamTest<double>, filters::FilterBase<double>)
PLUGINLIB_REGISTER_CLASS(ParamTestInt, filters::ParamTest<int>, filters::FilterBase<int>)
PLUGINLIB_REGISTER_CLASS(ParamTestUInt, filters::ParamTest<unsigned int>, filters::FilterBase<unsigned int>)
PLUGINLIB_REGISTER_CLASS(ParamTestString, filters::ParamTest<std::string>, filters::FilterBase<std::string>)
PLUGINLIB_DECLARE_CLASS(filters, ParamTestDouble, filters::ParamTest<double>, filters::FilterBase<double>)
PLUGINLIB_DECLARE_CLASS(filters, ParamTestInt, filters::ParamTest<int>, filters::FilterBase<int>)
PLUGINLIB_DECLARE_CLASS(filters, ParamTestUInt, filters::ParamTest<unsigned int>, filters::FilterBase<unsigned int>)
PLUGINLIB_DECLARE_CLASS(filters, ParamTestString, filters::ParamTest<std::string>, filters::FilterBase<std::string>)

PLUGINLIB_REGISTER_CLASS(ParamTestDoubleVector, filters::ParamTest<std::vector<double> >, filters::FilterBase<std::vector<double> >)
PLUGINLIB_REGISTER_CLASS(ParamTestStringVector, filters::ParamTest<std::vector<std::string> >, filters::FilterBase<std::vector<std::string> >)
PLUGINLIB_DECLARE_CLASS(filters, ParamTestDoubleVector, filters::ParamTest<std::vector<double> >, filters::FilterBase<std::vector<double> >)
PLUGINLIB_DECLARE_CLASS(filters, ParamTestStringVector, filters::ParamTest<std::vector<std::string> >, filters::FilterBase<std::vector<std::string> >)
4 changes: 2 additions & 2 deletions src/transfer_function.cpp
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Expand Up @@ -30,6 +30,6 @@
#include "filters/transfer_function.h"
#include "pluginlib/class_list_macros.h"

PLUGINLIB_REGISTER_CLASS(TransferFunctionFilterDouble, filters::SingleChannelTransferFunctionFilter<double>, filters::FilterBase<double>)
PLUGINLIB_REGISTER_CLASS(MultiChannelTransferFunctionFilterDouble, filters::MultiChannelTransferFunctionFilter<double>, filters::MultiChannelFilterBase<double>)
PLUGINLIB_DECLARE_CLASS(filters, TransferFunctionFilterDouble, filters::SingleChannelTransferFunctionFilter<double>, filters::FilterBase<double>)
PLUGINLIB_DECLARE_CLASS(filters, MultiChannelTransferFunctionFilterDouble, filters::MultiChannelTransferFunctionFilter<double>, filters::MultiChannelFilterBase<double>)

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