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00030 #ifndef RVIZ_MARKER_DISPLAY_H
00031 #define RVIZ_MARKER_DISPLAY_H
00032
00033 #include <map>
00034 #include <set>
00035
00036 #include <boost/thread/mutex.hpp>
00037 #include <boost/shared_ptr.hpp>
00038
00039 #ifndef Q_MOC_RUN
00040 #include <tf/message_filter.h>
00041 #include <message_filters/subscriber.h>
00042 #endif
00043
00044 #include <visualization_msgs/Marker.h>
00045 #include <visualization_msgs/MarkerArray.h>
00046
00047 #include "rviz/display.h"
00048 #include "rviz/properties/bool_property.h"
00049 #include "rviz/selection/forwards.h"
00050
00051 namespace rviz
00052 {
00053 class IntProperty;
00054 class MarkerBase;
00055 class MarkerNamespace;
00056 class MarkerSelectionHandler;
00057 class Object;
00058 class RosTopicProperty;
00059
00060 typedef boost::shared_ptr<MarkerSelectionHandler> MarkerSelectionHandlerPtr;
00061 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;
00062 typedef std::pair<std::string, int32_t> MarkerID;
00063
00070 class MarkerDisplay: public Display
00071 {
00072 Q_OBJECT
00073 public:
00074 MarkerDisplay();
00075 virtual ~MarkerDisplay();
00076
00077 virtual void onInitialize();
00078
00079 virtual void update(float wall_dt, float ros_dt);
00080
00081 virtual void fixedFrameChanged();
00082 virtual void reset();
00083
00084 void deleteMarker(MarkerID id);
00085
00086 void setMarkerStatus(MarkerID id, StatusLevel level, const std::string& text);
00087 void deleteMarkerStatus(MarkerID id);
00088
00089 virtual void setTopic( const QString &topic, const QString &datatype );
00090
00091 protected:
00092 virtual void onEnable();
00093 virtual void onDisable();
00094
00097 virtual void subscribe();
00098
00101 virtual void unsubscribe();
00102
00104 void incomingMarkerArray( const visualization_msgs::MarkerArray::ConstPtr& array );
00105
00106 ros::Subscriber array_sub_;
00107
00108 RosTopicProperty* marker_topic_property_;
00109 IntProperty* queue_size_property_;
00110
00111 private Q_SLOTS:
00112 void updateQueueSize();
00113 void updateTopic();
00114
00115 private:
00117 void deleteMarkersInNamespace( const std::string& ns );
00118
00122 void clearMarkers();
00123
00128 void processMessage( const visualization_msgs::Marker::ConstPtr& message );
00133 void processAdd( const visualization_msgs::Marker::ConstPtr& message );
00138 void processDelete( const visualization_msgs::Marker::ConstPtr& message );
00139
00143 void incomingMarker(const visualization_msgs::Marker::ConstPtr& marker);
00144
00145 void failedMarker(const ros::MessageEvent<visualization_msgs::Marker>& marker_evt, tf::FilterFailureReason reason);
00146
00147 typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker;
00148 typedef std::set<MarkerBasePtr> S_MarkerBase;
00149 M_IDToMarker markers_;
00150 S_MarkerBase markers_with_expiration_;
00151 S_MarkerBase frame_locked_markers_;
00152 typedef std::vector<visualization_msgs::Marker::ConstPtr> V_MarkerMessage;
00153 V_MarkerMessage message_queue_;
00154
00155 boost::mutex queue_mutex_;
00156
00157 message_filters::Subscriber<visualization_msgs::Marker> sub_;
00158 tf::MessageFilter<visualization_msgs::Marker>* tf_filter_;
00159
00160 typedef QHash<QString, MarkerNamespace*> M_Namespace;
00161 M_Namespace namespaces_;
00162
00163 Property* namespaces_category_;
00164
00165 friend class MarkerNamespace;
00166 };
00167
00170 class MarkerNamespace: public BoolProperty
00171 {
00172 Q_OBJECT
00173 public:
00174 MarkerNamespace( const QString& name, Property* parent_property, MarkerDisplay* owner );
00175 bool isEnabled() const { return getBool(); }
00176
00177 public Q_SLOTS:
00178 void onEnableChanged();
00179
00180 private:
00181 MarkerDisplay* owner_;
00182 };
00183
00184 }
00185
00186 #endif