interactive_marker_client.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */
#ifndef INTERACTIVE_MARKER_CLIENT_H
#define INTERACTIVE_MARKER_CLIENT_H

#include <visualization_msgs/InteractiveMarkerUpdate.h>
#include <visualization_msgs/InteractiveMarkerInit.h>

namespace rviz
{

class InteractiveMarkerReceiver
{
public:
  virtual void processMarkerChanges( const std::vector<visualization_msgs::InteractiveMarker>* markers = NULL,
                                     const std::vector<visualization_msgs::InteractiveMarkerPose>* poses = NULL,
                                     const std::vector<std::string>* erases = NULL ) = 0;
  virtual void clearMarkers() = 0;

  virtual bool subscribeToInit() = 0;

  virtual void unsubscribeFromInit() = 0;

  virtual void setStatusOk(const std::string& name, const std::string& text) = 0;

  virtual void setStatusWarn(const std::string& name, const std::string& text) = 0;

  virtual void setStatusError(const std::string& name, const std::string& text) = 0;
};

class InteractiveMarkerClient
{
public:
  InteractiveMarkerClient( InteractiveMarkerReceiver* receiver );

  void processMarkerUpdate(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& marker_update);

  void processMarkerInit(const visualization_msgs::InteractiveMarkerInit::ConstPtr& marker_init);

  void reinit();

  void unsubscribedFromInit();

  bool isPublisherListEmpty();

  void clear();

  void flagLateConnections();

private:

  InteractiveMarkerReceiver* receiver_;

  typedef std::map<uint64_t, visualization_msgs::InteractiveMarkerUpdate::ConstPtr> M_InteractiveMarkerUpdate;

  struct PublisherContext {
    bool update_seen;
    bool init_seen;
    uint64_t last_update_seq_num;
    uint64_t last_init_seq_num;
    ros::Time last_update_time;
    bool update_time_ok;
    bool initialized;

    // We queue up UPDATE messages which arrive before we get an init
    // message, in case the update messages are ahead of the init
    // messages.  No KEEP_ALIVE messages are stored here.
    M_InteractiveMarkerUpdate update_queue;

    PublisherContext();
    void enqueueUpdate(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& update);

    // Update the value of initialized based on previous sequence
    // numbers and the number from this new update.
    bool checkInitWith(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& update);

    // Update the value of initialized based on previous sequence
    // numbers and the number from this init message.
    bool checkInitWith(const visualization_msgs::InteractiveMarkerInit::ConstPtr& init);
  };
  typedef boost::shared_ptr<PublisherContext> PublisherContextPtr;

  typedef std::map<std::string, PublisherContextPtr> M_PublisherContext;
  M_PublisherContext publisher_contexts_;

  // If the markers have been cleared since the last call to
  // InteractiveMarkerReceiver::processMarkerChanges().
  bool cleared_;

  // If we have called InteractiveMarkerReceiver::subscribeToInit()
  // since we've called
  // InteractiveMarkerReceiver::unsubscribeFromInit().
  bool subscribed_to_init_;

  // play back the relevant updates from the queue, if any, and clear the queue.
  void playbackUpdateQueue( PublisherContextPtr& context );

  // Apply a single update message from a given publisher context.
  void applyUpdate( const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& marker_update,
                    PublisherContextPtr& context );

  // Check if we are ready to unsubscribe from the init topic, and
  // unsubscribe if so.
  void maybeUnsubscribeFromInit();
};

} // namespace rviz

#endif // INTERACTIVE_MARKER_CLIENT_H