marker_display.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, 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 00030 #ifndef RVIZ_MARKER_DISPLAY_H 00031 #define RVIZ_MARKER_DISPLAY_H 00032 00033 #include "rviz/display.h" 00034 #include "rviz/selection/forwards.h" 00035 #include "rviz/properties/forwards.h" 00036 00037 #include <map> 00038 #include <set> 00039 00040 #include <visualization_msgs/Marker.h> 00041 #include <visualization_msgs/MarkerArray.h> 00042 #include <boost/thread/mutex.hpp> 00043 #include <boost/shared_ptr.hpp> 00044 00045 #include <message_filters/subscriber.h> 00046 #include <tf/message_filter.h> 00047 00048 namespace Ogre 00049 { 00050 class SceneManager; 00051 class SceneNode; 00052 } 00053 00054 namespace ogre_tools 00055 { 00056 class Object; 00057 } 00058 00059 namespace rviz 00060 { 00061 00062 class MarkerSelectionHandler; 00063 typedef boost::shared_ptr<MarkerSelectionHandler> MarkerSelectionHandlerPtr; 00064 00065 class MarkerBase; 00066 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr; 00067 00068 typedef std::pair<std::string, int32_t> MarkerID; 00069 00076 class MarkerDisplay : public Display 00077 { 00078 public: 00079 MarkerDisplay( const std::string& name, VisualizationManager* manager ); 00080 virtual ~MarkerDisplay(); 00081 00082 virtual void update(float wall_dt, float ros_dt); 00083 00084 virtual void targetFrameChanged(); 00085 virtual void fixedFrameChanged(); 00086 virtual void reset(); 00087 00088 void setMarkerTopic(const std::string& topic); 00089 const std::string& getMarkerTopic() { return marker_topic_; } 00090 00091 virtual void createProperties(); 00092 00093 void setNamespaceEnabled(const std::string& ns, bool enabled); 00094 bool isNamespaceEnabled(const std::string& ns); 00095 00096 void deleteMarker(MarkerID id); 00097 00098 void setMarkerStatus(MarkerID id, StatusLevel level, const std::string& text); 00099 void deleteMarkerStatus(MarkerID id); 00100 00101 protected: 00102 virtual void onEnable(); 00103 virtual void onDisable(); 00104 00108 virtual void subscribe(); 00112 virtual void unsubscribe(); 00113 00117 void clearMarkers(); 00118 00123 void processMessage( const visualization_msgs::Marker::ConstPtr& message ); 00128 void processAdd( const visualization_msgs::Marker::ConstPtr& message ); 00133 void processDelete( const visualization_msgs::Marker::ConstPtr& message ); 00134 00135 MarkerBasePtr getMarker(MarkerID id); 00136 00140 void incomingMarker(const visualization_msgs::Marker::ConstPtr& marker); 00141 00142 void incomingMarkerArray(const visualization_msgs::MarkerArray::ConstPtr& array); 00143 00144 void failedMarker(const visualization_msgs::Marker::ConstPtr& marker, tf::FilterFailureReason reason); 00145 00146 typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker; 00147 typedef std::set<MarkerBasePtr> S_MarkerBase; 00148 M_IDToMarker markers_; 00149 S_MarkerBase markers_with_expiration_; 00150 S_MarkerBase frame_locked_markers_; 00151 typedef std::vector<visualization_msgs::Marker::ConstPtr> V_MarkerMessage; 00152 V_MarkerMessage message_queue_; 00153 00154 boost::mutex queue_mutex_; 00155 00156 Ogre::SceneNode* scene_node_; 00157 00158 message_filters::Subscriber<visualization_msgs::Marker> sub_; 00159 tf::MessageFilter<visualization_msgs::Marker> tf_filter_; 00160 ros::Subscriber array_sub_; 00161 00162 std::string marker_topic_; 00163 00164 struct Namespace 00165 { 00166 std::string name; 00167 bool enabled; 00168 BoolPropertyWPtr prop; 00169 }; 00170 typedef std::map<std::string, Namespace> M_Namespace; 00171 M_Namespace namespaces_; 00172 00173 ROSTopicStringPropertyWPtr marker_topic_property_; 00174 CategoryPropertyWPtr namespaces_category_; 00175 }; 00176 00177 } // namespace rviz 00178 00179 #endif /* RVIZ_MARKER_DISPLAY_H */