interactive_marker_client.h
Go to the documentation of this file.
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 #ifndef INTERACTIVE_MARKER_CLIENT_H
00030 #define INTERACTIVE_MARKER_CLIENT_H
00031 
00032 #include <visualization_msgs/InteractiveMarkerUpdate.h>
00033 #include <visualization_msgs/InteractiveMarkerInit.h>
00034 
00035 namespace rviz
00036 {
00037 
00043 class InteractiveMarkerReceiver
00044 {
00045 public:
00051   virtual void processMarkerChanges( const std::vector<visualization_msgs::InteractiveMarker>* markers = NULL,
00052                                      const std::vector<visualization_msgs::InteractiveMarkerPose>* poses = NULL,
00053                                      const std::vector<std::string>* erases = NULL ) = 0;
00057   virtual void clearMarkers() = 0;
00058 
00063   virtual bool subscribeToInit() = 0;
00064 
00069   virtual void unsubscribeFromInit() = 0;
00070 
00075   virtual void setStatusOk(const std::string& name, const std::string& text) = 0;
00076 
00081   virtual void setStatusWarn(const std::string& name, const std::string& text) = 0;
00082 
00087   virtual void setStatusError(const std::string& name, const std::string& text) = 0;
00088 };
00089 
00100 class InteractiveMarkerClient
00101 {
00102 public:
00107   InteractiveMarkerClient( InteractiveMarkerReceiver* receiver );
00108 
00113   void processMarkerUpdate(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& marker_update);
00114 
00119   void processMarkerInit(const visualization_msgs::InteractiveMarkerInit::ConstPtr& marker_init);
00120 
00126   void reinit();
00127 
00133   void unsubscribedFromInit();
00134 
00138   bool isPublisherListEmpty();
00139 
00143   void clear();
00144 
00150   void flagLateConnections();
00151 
00152 private:
00153 
00154   InteractiveMarkerReceiver* receiver_;
00155 
00156   typedef std::map<uint64_t, visualization_msgs::InteractiveMarkerUpdate::ConstPtr> M_InteractiveMarkerUpdate;
00157 
00158   struct PublisherContext {
00159     bool update_seen;
00160     bool init_seen;
00161     uint64_t last_update_seq_num;
00162     uint64_t last_init_seq_num;
00163     ros::Time last_update_time;
00164     bool update_time_ok;
00165     bool initialized;
00166 
00167     // We queue up UPDATE messages which arrive before we get an init
00168     // message, in case the update messages are ahead of the init
00169     // messages.  No KEEP_ALIVE messages are stored here.
00170     M_InteractiveMarkerUpdate update_queue;
00171 
00172     PublisherContext();
00173     void enqueueUpdate(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& update);
00174 
00175     // Update the value of initialized based on previous sequence
00176     // numbers and the number from this new update.
00177     bool checkInitWith(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& update);
00178 
00179     // Update the value of initialized based on previous sequence
00180     // numbers and the number from this init message.
00181     bool checkInitWith(const visualization_msgs::InteractiveMarkerInit::ConstPtr& init);
00182   };
00183   typedef boost::shared_ptr<PublisherContext> PublisherContextPtr;
00184 
00185   typedef std::map<std::string, PublisherContextPtr> M_PublisherContext;
00186   M_PublisherContext publisher_contexts_;
00187 
00188   // If the markers have been cleared since the last call to
00189   // InteractiveMarkerReceiver::processMarkerChanges().
00190   bool cleared_;
00191 
00192   // If we have called InteractiveMarkerReceiver::subscribeToInit()
00193   // since we've called
00194   // InteractiveMarkerReceiver::unsubscribeFromInit().
00195   bool subscribed_to_init_;
00196 
00197   // play back the relevant updates from the queue, if any, and clear the queue.
00198   void playbackUpdateQueue( PublisherContextPtr& context );
00199 
00200   // Apply a single update message from a given publisher context.
00201   void applyUpdate( const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& marker_update,
00202                     PublisherContextPtr& context );
00203 
00204   // Check if we are ready to unsubscribe from the init topic, and
00205   // unsubscribe if so.
00206   void maybeUnsubscribeFromInit();
00207 };
00208 
00209 } // namespace rviz
00210 
00211 #endif // INTERACTIVE_MARKER_CLIENT_H


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32