#include <interactive_marker_server.h>

Inheritance diagram for interactive_markers::InteractiveMarkerServer:

Classes
struct	MarkerContext
struct	UpdateContext
Public Types
typedef boost::function< void(const FeedbackConstPtr &) >	FeedbackCallback
typedef visualization_msgs::InteractiveMarkerFeedbackConstPtr	FeedbackConstPtr
Public Member Functions
void	applyChanges ()
void	clear ()
bool	erase (const std::string &name)
bool	get (std::string name, visualization_msgs::InteractiveMarker &int_marker) const
void	insert (const visualization_msgs::InteractiveMarker &int_marker)
void	insert (const visualization_msgs::InteractiveMarker &int_marker, FeedbackCallback feedback_cb, uint8_t feedback_type=DEFAULT_FEEDBACK_CB)
	InteractiveMarkerServer (const std::string &topic_ns, const std::string &server_id="", bool spin_thread=false)
bool	setCallback (const std::string &name, FeedbackCallback feedback_cb, uint8_t feedback_type=DEFAULT_FEEDBACK_CB)
bool	setPose (const std::string &name, const geometry_msgs::Pose &pose, const std_msgs::Header &header=std_msgs::Header())
	~InteractiveMarkerServer ()
	Destruction of the interface will lead to all managed markers being cleared.
Static Public Attributes
static const uint8_t	DEFAULT_FEEDBACK_CB = 255
Private Types
typedef boost::unordered_map < std::string, MarkerContext >	M_MarkerContext
typedef boost::unordered_map < std::string, UpdateContext >	M_UpdateContext
Private Member Functions
void	doSetPose (M_UpdateContext::iterator update_it, const std::string &name, const geometry_msgs::Pose &pose, const std_msgs::Header &header)
void	keepAlive ()
void	processFeedback (const FeedbackConstPtr &feedback)
void	publish (visualization_msgs::InteractiveMarkerUpdate &update)
void	publishInit ()
void	spinThread ()
Private Attributes
ros::CallbackQueue	callback_queue_
ros::Subscriber	feedback_sub_
ros::Publisher	init_pub_
ros::Timer	keep_alive_timer_
M_MarkerContext	marker_contexts_
boost::recursive_mutex	mutex_
volatile bool	need_to_terminate_
ros::NodeHandle	node_handle_
M_UpdateContext	pending_updates_
uint64_t	seq_num_
std::string	server_id_
boost::scoped_ptr< boost::thread >	spin_thread_
std::string	topic_ns_
ros::Publisher	update_pub_

Detailed Description

Acts as a server to one or many GUIs (e.g. rviz) displaying a set of interactive markers

Note: Keep in mind that changes made by calling insert(), erase(), setCallback() etc. are not applied until calling applyChanges().

Definition at line 56 of file interactive_marker_server.h.

Member Typedef Documentation

typedef boost::function< void ( const FeedbackConstPtr& ) > interactive_markers::InteractiveMarkerServer::FeedbackCallback

Definition at line 61 of file interactive_marker_server.h.

typedef visualization_msgs::InteractiveMarkerFeedbackConstPtr interactive_markers::InteractiveMarkerServer::FeedbackConstPtr

Definition at line 60 of file interactive_marker_server.h.

typedef boost::unordered_map< std::string, MarkerContext > interactive_markers::InteractiveMarkerServer::M_MarkerContext [private]

Definition at line 147 of file interactive_marker_server.h.

typedef boost::unordered_map< std::string, UpdateContext > interactive_markers::InteractiveMarkerServer::M_UpdateContext [private]

Definition at line 162 of file interactive_marker_server.h.

Constructor & Destructor Documentation

interactive_markers::InteractiveMarkerServer::InteractiveMarkerServer	(	const std::string &	topic_ns,
		const std::string &	server_id = `""`,
		bool	spin_thread = `false`
	)

Parameters:

topic_ns	The interface will use the topics topic_ns/update and topic_ns/feedback for communication.
server_id	If you run multiple servers on the same topic from within the same node, you will need to assign different names to them. Otherwise, leave this empty.
spin_thread	If set to true, will spin up a thread for message handling. All callbacks will be called from that thread.

Definition at line 42 of file interactive_marker_server.cpp.

interactive_markers::InteractiveMarkerServer::~InteractiveMarkerServer ( )

Destruction of the interface will lead to all managed markers being cleared.

Definition at line 81 of file interactive_marker_server.cpp.

Member Function Documentation

void interactive_markers::InteractiveMarkerServer::applyChanges ( )

Apply changes made since the last call to this method & broadcast an update to all clients.

Definition at line 110 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::clear ( )

Clear all markers. Note: This change will not take effect until you call applyChanges().

Definition at line 200 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::doSetPose	(	M_UpdateContext::iterator	update_it,
		const std::string &	name,
		const geometry_msgs::Pose &	pose,
		const std_msgs::Header &	header
	)		`[private]`

Definition at line 450 of file interactive_marker_server.cpp.

bool interactive_markers::InteractiveMarkerServer::erase ( const std::string & name )

Erase the marker with the specified name Note: This change will not take effect until you call applyChanges().

Returns:: true if a marker with that name exists

Parameters:

name	Name of the interactive marker

Definition at line 192 of file interactive_marker_server.cpp.

bool interactive_markers::InteractiveMarkerServer::get	(	std::string	name,
		visualization_msgs::InteractiveMarker &	int_marker
	)		const

Get marker by name

Parameters:

	name	Name of the interactive marker
[out]	int_marker	Output message

Returns:: true if a marker with that name exists

Definition at line 318 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::insert ( const visualization_msgs::InteractiveMarker & int_marker )

Add or replace a marker without changing its callback functions. Note: Changes to the marker will not take effect until you call applyChanges(). The callback changes immediately.

Parameters:

int_marker The marker to be added or replaced

Definition at line 296 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::insert	(	const visualization_msgs::InteractiveMarker &	int_marker,
		FeedbackCallback	feedback_cb,
		uint8_t	feedback_type = `DEFAULT_FEEDBACK_CB`
	)

Add or replace a marker and its callback functions Note: Changes to the marker will not take effect until you call applyChanges(). The callback changes immediately.

Parameters:

int_marker	The marker to be added or replaced
feedback_cb	Function to call on the arrival of a feedback message.
feedback_type	Type of feedback for which to call the feedback.

Definition at line 310 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::keepAlive ( ) [private]

Definition at line 434 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::processFeedback ( const FeedbackConstPtr & feedback ) [private]

Definition at line 381 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::publish ( visualization_msgs::InteractiveMarkerUpdate & update ) [private]

Definition at line 442 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::publishInit ( ) [private]

Definition at line 362 of file interactive_marker_server.cpp.

bool interactive_markers::InteractiveMarkerServer::setCallback	(	const std::string &	name,
		FeedbackCallback	feedback_cb,
		uint8_t	feedback_type = `DEFAULT_FEEDBACK_CB`
	)

Add or replace a callback function for the specified marker. Note: This change will not take effect until you call applyChanges(). The server will try to call any type-specific callback first. If none is set, it will call the default callback. If a callback for the given type already exists, it will be replaced. To unset a type-specific callback, pass in an empty one.

Parameters:

name	Name of the interactive marker
feedback_cb	Function to call on the arrival of a feedback message.
feedback_type	Type of feedback for which to call the feedback. Leave this empty to make this the default callback.

Definition at line 240 of file interactive_marker_server.cpp.

bool interactive_markers::InteractiveMarkerServer::setPose	(	const std::string &	name,
		const geometry_msgs::Pose &	pose,
		const std_msgs::Header &	header = `std_msgs::Header()`
	)