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00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 * Author: David Gossow 00030 */ 00031 00032 #ifndef INTERACTIVE_MARKER_MENU_HANDLER 00033 #define INTERACTIVE_MARKER_MENU_HANDLER 00034 00035 #include <visualization_msgs/MenuEntry.h> 00036 #include <interactive_markers/interactive_marker_server.h> 00037 00038 #include <boost/function.hpp> 00039 #include <boost/unordered_map.hpp> 00040 00041 namespace interactive_markers 00042 { 00043 00044 // Simple non-intrusive helper class which creates a menu and maps its 00045 // entries to function callbacks 00046 class MenuHandler 00047 { 00048 public: 00049 00050 typedef uint32_t EntryHandle; 00051 00052 typedef visualization_msgs::InteractiveMarkerFeedbackConstPtr FeedbackConstPtr; 00053 typedef boost::function< void ( const FeedbackConstPtr& ) > FeedbackCallback; 00054 00055 enum CheckState { 00056 NO_CHECKBOX, 00057 CHECKED, 00058 UNCHECKED 00059 }; 00060 00061 MenuHandler( ); 00062 00064 EntryHandle insert( const std::string &title, const FeedbackCallback &feedback_cb ); 00065 00067 EntryHandle insert( const std::string &title, 00068 const uint8_t command_type = visualization_msgs::MenuEntry::FEEDBACK, 00069 const std::string &command="" ); 00070 00072 EntryHandle insert( EntryHandle parent, const std::string &title, 00073 const FeedbackCallback &feedback_cb ); 00074 00076 EntryHandle insert( EntryHandle parent, const std::string &title, 00077 const uint8_t command_type = visualization_msgs::MenuEntry::FEEDBACK, 00078 const std::string &command="" ); 00079 00081 bool setVisible( EntryHandle handle, bool visible ); 00082 00084 bool setCheckState( EntryHandle handle, CheckState check_state ); 00085 00088 bool getCheckState( EntryHandle handle, CheckState &check_state ) const; 00089 00092 bool apply( InteractiveMarkerServer &server, const std::string &marker_name ); 00093 00095 bool reApply( InteractiveMarkerServer &server ); 00096 00099 bool getTitle( EntryHandle handle, std::string &title ) const; 00100 00101 private: 00102 00103 struct EntryContext 00104 { 00105 std::string title; 00106 std::string command; 00107 uint8_t command_type; 00108 std::vector<EntryHandle> sub_entries; 00109 bool visible; 00110 CheckState check_state; 00111 FeedbackCallback feedback_cb; 00112 }; 00113 00114 // Call registered callback functions for given feedback command 00115 void processFeedback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback ); 00116 00117 // Create and push MenuEntry objects from handles_in onto 00118 // entries_out. Calls itself recursively to add the entire menu 00119 // tree. 00120 bool pushMenuEntries( std::vector<EntryHandle>& handles_in, 00121 std::vector<visualization_msgs::MenuEntry>& entries_out, 00122 EntryHandle parent_handle ); 00123 00124 visualization_msgs::MenuEntry makeEntry( EntryContext& context, EntryHandle handle, EntryHandle parent_handle ); 00125 00126 // Insert without adding a top-level entry 00127 EntryHandle doInsert( const std::string &title, 00128 const uint8_t command_type, 00129 const std::string &command, 00130 const FeedbackCallback &feedback_cb ); 00131 00132 std::vector<EntryHandle> top_level_handles_; 00133 00134 boost::unordered_map<EntryHandle, EntryContext> entry_contexts_; 00135 00136 EntryHandle current_handle_; 00137 00138 std::set<std::string> managed_markers_; 00139 }; 00140 00141 } 00142 00143 #endif