marker_array_display.cpp
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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 #include "marker_array_display.h"
00030 
00031 #include "rviz/properties/property_manager.h"
00032 #include "rviz/properties/property.h"
00033 
00034 namespace rviz
00035 {
00036 
00037 MarkerArrayDisplay::MarkerArrayDisplay()
00038   : MarkerDisplay()
00039   , topic_("visualization_marker_array")
00040 {
00041 }
00042 
00043 MarkerArrayDisplay::~MarkerArrayDisplay()
00044 {
00045 }
00046 
00047 void MarkerArrayDisplay::setTopic(const std::string& topic)
00048 {
00049   unsubscribe();
00050   topic_ = topic;
00051   subscribe();
00052   propertyChanged(topic_property_);
00053 }
00054 
00055 void MarkerArrayDisplay::createProperties()
00056 {
00057   topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Marker Array Topic", property_prefix_,
00058                                                                                boost::bind( &MarkerArrayDisplay::getTopic, this ),
00059                                                                                boost::bind( &MarkerArrayDisplay::setTopic, this, _1 ),
00060                                                                                parent_category_, this );
00061   setPropertyHelpText( topic_property_,
00062                        "visualization_msgs::MarkerArray topic to subscribe to.");
00063   ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
00064   topic_prop->setMessageType(ros::message_traits::datatype<visualization_msgs::MarkerArray>());
00065 
00066   queue_size_property_ = property_manager_->createProperty<IntProperty>( "Queue Size", property_prefix_,
00067                                                                          boost::bind( &MarkerArrayDisplay::getQueueSize, this ),
00068                                                                          boost::bind( &MarkerArrayDisplay::setQueueSize, this, _1 ),
00069                                                                          parent_category_, this );
00070   setPropertyHelpText( queue_size_property_, "Advanced: set the size of the incoming Marker message queue.  This should generally be at least a few times larger than the number of Markers in each MarkerArray." );
00071 
00072   namespaces_category_ = property_manager_->createCategory("Namespaces", property_prefix_, parent_category_, this);
00073 }
00074 
00078 void MarkerArrayDisplay::subscribe()
00079 {
00080   if ( !isEnabled() )
00081   {
00082     return;
00083   }
00084 
00085   if (!topic_.empty())
00086   {
00087     array_sub_.shutdown();
00088 
00089     try
00090     {
00091       array_sub_ = update_nh_.subscribe(topic_, 1000, &MarkerArrayDisplay::handleMarkerArray, this);
00092       setStatus(status_levels::Ok, "Topic", "OK");
00093     }
00094     catch (ros::Exception& e)
00095     {
00096       setStatus(status_levels::Error, "Topic", std::string("Error subscribing: ") + e.what());
00097     }
00098   }
00099 }
00100 
00101 void MarkerArrayDisplay::unsubscribe()
00102 {
00103   array_sub_.shutdown();
00104 }
00105 
00106 // I seem to need this wrapper function to make the compiler like my
00107 // function pointer in the .subscribe() call above.
00108 void MarkerArrayDisplay::handleMarkerArray(const visualization_msgs::MarkerArray::ConstPtr& array)
00109 {
00110   incomingMarkerArray( array );
00111 }
00112 
00113 } // end namespace rviz


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