GR mods

gst_bridge/CMakeLists.txt

@@ -22,6 +22,11 @@ if($ENV{CLION_IDE})
   set(audio_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/audio_msgs/share/audio_msgs/cmake")
 endif()
 
+find_package(PkgConfig REQUIRED)
+
+# if(NOT TRACETOOLS_TRACEPOINTS_EXCLUDED)
+pkg_search_module(lttng-ust REQUIRED IMPORTED_TARGET lttng-ust)
+# endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
@@ -31,35 +36,28 @@ find_package(rclcpp REQUIRED)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 # find gstreamer
-set(gstreamer_components app pbutils audio fft net)
-find_package(GStreamer 1.8.3 REQUIRED COMPONENTS ${gstreamer_components})
+pkg_search_module(gstreamer REQUIRED IMPORTED_TARGET gstreamer-1.0)
+pkg_search_module(gstreamer-base REQUIRED IMPORTED_TARGET gstreamer-base-1.0)
+pkg_search_module(gstreamer-app REQUIRED IMPORTED_TARGET gstreamer-app-1.0)
+pkg_search_module(gstreamer-audio REQUIRED IMPORTED_TARGET gstreamer-audio-1.0)
+pkg_search_module(gstreamer-video REQUIRED IMPORTED_TARGET gstreamer-video-1.0)
+
 
 # find glib
 set(glib_components gio gio-unix gobject gthread gmodule)
-find_package(GLIB 2.28 REQUIRED COMPONENTS ${glib_components})
+find_package(GLIB REQUIRED COMPONENTS ${glib_components})
 
 ## Include messages
 find_package(std_msgs REQUIRED)
 find_package(audio_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-# find_package(rosidl_default_generators REQUIRED)
-
-## Generate added messages and services with any dependencies listed here
-# rosidl_generate_interfaces(${PROJECT_NAME}
-#   ${msg_files}
-#   DEPENDENCIES builtin_interfaces std_msgs
-# )
-
 
 
 ###########
 ## Build ##
 ###########
 
-
-
-
 # This is a gstreamer plugin, not a ros node
 # the install location needs to be found by gst-inspect
 
@@ -74,11 +72,8 @@ add_library(rosgstbridge SHARED
   src/rosaudiosrc.cpp
   src/rosimagesrc.cpp
   src/rostextsrc.cpp
-  )
-
-
-#rosidl_target_interfaces(rosgstbridge
-#  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  src/gst_bridge_tpp.cpp
+)
 
 # ament has a habit of pruning unused linked functions required by gstreamer
 # symptom of this is 'undefined symbol: gst_audio_sink_get_type' on gst-inspect
@@ -87,12 +82,10 @@ target_include_directories(rosgstbridge PRIVATE
   ${sensor_msgs_INCLUDE_DIRS}
   ${audio_msgs_INCLUDE_DIRS}
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
   $<INSTALL_INTERFACE:include>
   ${GLIB_INCLUDE_DIRS}
   ${GOBJECT_INCLUDE_DIR}
-  ${GSTREAMER_INCLUDE_DIRS}
-  ${GSTREAMER_BASE_INCLUDE_DIRS}
-  ${GST_INCLUDE_DIRS}
 )
 
 target_link_libraries(rosgstbridge PUBLIC
@@ -102,12 +95,12 @@ target_link_libraries(rosgstbridge PUBLIC
   ${GLIB_LIBRARIES}
   ${GLIB_GIO_LIBRARIES}
   ${GLIB_GOBJECT_LIBRARIES}
-  ${GSTREAMER_LIBRARIES}
-  ${GSTREAMER_AUDIO_LIBRARIES}
-  ${GSTREAMER_APP_LIBRARIES}
-  ${GSTREAMER_VIDEO_LIBRARIES}
-  ${GSTREAMER_BASE_LIBRARIES}
-  ${GST_LIBRARIES}
+  PkgConfig::gstreamer
+  PkgConfig::gstreamer-app
+  PkgConfig::gstreamer-audio
+  PkgConfig::gstreamer-base
+  PkgConfig::gstreamer-video
+  PkgConfig::lttng-ust
 )
 
 
@@ -123,27 +116,22 @@ target_include_directories(gst_bridge PUBLIC
   $<INSTALL_INTERFACE:include>
   ${GLIB_INCLUDE_DIRS}
   ${GOBJECT_INCLUDE_DIR}
-  ${GSTREAMER_INCLUDE_DIRS}
-  ${GSTREAMER_BASE_INCLUDE_DIRS}
-  ${GST_INCLUDE_DIRS}
 )
 target_link_libraries(gst_bridge PUBLIC
   ${rclcpp_LIBRARIES}
   ${sensor_msgs_LIBRARIES}
   ${audio_msgs_LIBRARIES}
   ${GLIB_LIBRARIES}
   ${GLIB_GIO_LIBRARIES}
-  ${GSTREAMER_LIBRARIES}
-  ${GSTREAMER_AUDIO_LIBRARIES}
-  ${GSTREAMER_APP_LIBRARIES}
-  ${GSTREAMER_VIDEO_LIBRARIES}
-  ${GSTREAMER_BASE_LIBRARIES}
-  ${GST_LIBRARIES}
+  PkgConfig::gstreamer
+  PkgConfig::gstreamer-app
+  PkgConfig::gstreamer-audio
+  PkgConfig::gstreamer-base
+  PkgConfig::gstreamer-video
 )
 
 
 ament_export_include_directories(include)
-#ament_export_libraries(gst_bridge src/gst_bridge.cpp)
 ament_export_libraries(gst_bridge)
 
 install(DIRECTORY include/

gst_bridge/include/gst_bridge/rosbasesink.h

@@ -43,8 +43,8 @@ struct _RosBaseSink
   GstBaseSink parent;
   gchar* node_name;
   gchar* node_namespace;
+  gint64 offset_time_ns;
 
-  rclcpp::Context::SharedPtr ros_context;
   rclcpp::Executor::SharedPtr ros_executor;
   rclcpp::Node::SharedPtr node;
   rclcpp::Logger logger;
@@ -72,7 +72,7 @@ struct _RosBaseSinkClass
 
 
   /*
-   * destroy the ros publisher(s) and unregister your callbacks and timers and prepare for ros_context->shutdown()
+   * destroy the ros publisher(s) and unregister your callbacks and timers and prepare for the shutdown of the rclcpp context
    * called at gstbasesink->change_state()  GST_STATE_CHANGE_READY_TO_NULL
    * timers and reconf callbacks are currently broken, needs a new thread with an executor, patches welcome
    */

gst_bridge/include/gst_bridge/rosbasesrc.h

@@ -24,6 +24,7 @@
 
 //include ROS and ROS message formats
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 
 G_BEGIN_DECLS
 
@@ -44,7 +45,6 @@ struct _RosBaseSrc
   gchar* node_name;
   gchar* node_namespace;
 
-  rclcpp::Context::SharedPtr ros_context;
   rclcpp::Executor::SharedPtr ros_executor;
   rclcpp::Node::SharedPtr node;
   rclcpp::Logger logger;
@@ -72,12 +72,14 @@ struct _RosBaseSrcClass
 
 
   /*
-   * destroy the ros subscription(s) and unregister your callbacks and timers and prepare for ros_context->shutdown()
+   * destroy the ros subscription(s) and unregister your callbacks and timers and prepare for shutdown of the rclcpp context
    * called at gstbasesrc->change_state()  GST_STATE_CHANGE_READY_TO_NULL
    * timers and reconf callbacks are currently broken, needs a new thread with an executor, patches welcome
    */
   gboolean (*close) (RosBaseSrc * src);
 
+  gboolean (*notify_thread) (RosBaseSrc * src);
+
 };
 
 GType rosbasesrc_get_type (void);

gst_bridge/include/gst_bridge/rosimagesink.h

@@ -26,6 +26,7 @@
 
 //include ROS and ROS message formats
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/duration.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
 

gst_bridge/include/gst_bridge/rosimagesrc.h

@@ -27,7 +27,7 @@
 //include ROS and ROS message formats
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/image.hpp>
-#include <queue>  // std::queue
+#include <deque>
 #include <mutex>  // std::mutex, std::unique_lock
 #include <condition_variable> // std::condition_variable
 
@@ -56,7 +56,7 @@ struct _Rosimagesrc
 
   // XXX this is too much boilerplate.
   size_t msg_queue_max;
-  std::queue<sensor_msgs::msg::Image::ConstSharedPtr> msg_queue;
+  std::deque<sensor_msgs::msg::Image::ConstSharedPtr> msg_queue;
   std::mutex msg_queue_mtx;
   std::condition_variable msg_queue_cv;
 

gst_bridge/package.xml

@@ -14,6 +14,8 @@
   <build_depend>libgstreamer1.0-dev</build_depend>
   <build_depend>libgstreamer-plugins-base1.0-dev</build_depend>
 
+  <depend>liblttng-ust-dev</depend>
+  <depend>liblttng-ctl-dev</depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>audio_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>

gst_bridge/src/gst_bridge_tpp.cpp

@@ -0,0 +1,2 @@
+#define LTTNG_UST_TRACEPOINT_CREATE_PROBES
+#include "gst_bridge_tpp.h"