Program Listing for File marker_common.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* 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
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_COMMON_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_COMMON_HPP_
#include <map>
#include <memory>
#include <mutex>
#include <set>
#include <string>
#include <vector>
#include <utility>
#include <OgreSceneNode.h>
#include "visualization_msgs/msg/marker.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include "rviz_common/properties/bool_property.hpp"
#include "rviz_common/properties/status_property.hpp"
#include "rviz_common/interaction/forwards.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_common
{
class Display;
class DisplayContext;
class QueueSizeProperty;
namespace properties
{
class IntProperty;
}
} // namespace rviz_common
using rviz_common::properties::StatusLevel;
namespace rviz_default_plugins
{
namespace displays
{
class MarkerNamespace;
namespace markers
{
class MarkerBase;
class MarkerSelectionHandler;
class MarkerFactory;
}
typedef std::shared_ptr<markers::MarkerSelectionHandler> MarkerSelectionHandlerPtr;
typedef std::shared_ptr<markers::MarkerBase> MarkerBasePtr;
typedef std::pair<std::string, int32_t> MarkerID;
class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerCommon
{
public:
explicit MarkerCommon(rviz_common::Display * display);
~MarkerCommon();
void initialize(rviz_common::DisplayContext * context, Ogre::SceneNode * scene_node);
void load(const rviz_common::Config & config);
void update(float wall_dt, float ros_dt);
void deleteMarker(MarkerID id);
void addMessage(visualization_msgs::msg::Marker::ConstSharedPtr marker);
void addMessage(visualization_msgs::msg::MarkerArray::ConstSharedPtr array);
void processMessage(visualization_msgs::msg::Marker::ConstSharedPtr message);
void clearMarkers();
void deleteAllMarkers();
void setMarkerStatus(MarkerID id, StatusLevel level, const std::string & text);
void deleteMarkerStatus(MarkerID id);
private:
void deleteMarkersInNamespace(const std::string & ns);
void processAdd(visualization_msgs::msg::Marker::ConstSharedPtr message);
void processDelete(visualization_msgs::msg::Marker::ConstSharedPtr message);
typedef std::vector<visualization_msgs::msg::Marker::ConstSharedPtr> V_MarkerMessage;
V_MarkerMessage takeSnapshotOfMessageQueue();
void processNewMessages(const V_MarkerMessage & local_queue);
void removeExpiredMarkers();
void updateMarkersWithLockedFrame() const;
QHash<QString, MarkerNamespace *>::const_iterator getMarkerNamespace(
const visualization_msgs::msg::Marker::ConstSharedPtr & message);
MarkerBasePtr createOrGetOldMarker(
const visualization_msgs::msg::Marker::ConstSharedPtr & message);
MarkerBasePtr createMarker(const visualization_msgs::msg::Marker::ConstSharedPtr & message);
void configureMarker(
const visualization_msgs::msg::Marker::ConstSharedPtr & message, MarkerBasePtr & marker);
typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker;
typedef std::set<MarkerBasePtr> S_MarkerBase;
M_IDToMarker markers_;
S_MarkerBase markers_with_expiration_;
S_MarkerBase frame_locked_markers_;
V_MarkerMessage message_queue_;
std::mutex queue_mutex_;
typedef QHash<QString, MarkerNamespace *> M_Namespace;
M_Namespace namespaces_;
rviz_common::properties::Property * namespaces_category_;
typedef std::map<QString, bool> M_EnabledState;
M_EnabledState namespace_config_enabled_state_;
std::unique_ptr<markers::MarkerFactory> marker_factory_;
rviz_common::Display * display_;
rviz_common::DisplayContext * context_;
Ogre::SceneNode * scene_node_;
friend class MarkerNamespace;
};
class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerNamespace : public rviz_common::properties::BoolProperty
{
Q_OBJECT
public:
MarkerNamespace(
const QString & name,
rviz_common::properties::Property * parent_property,
MarkerCommon * owner
);
bool isEnabled() const {return getBool();}
public Q_SLOTS:
void onEnableChanged();
private:
MarkerCommon * owner_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_COMMON_HPP_