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 00030 #include "rviz/properties/ros_topic_property.h" 00031 #include "rviz/properties/int_property.h" 00032 00033 #include "marker_array_display.h" 00034 00035 namespace rviz 00036 { 00037 00038 MarkerArrayDisplay::MarkerArrayDisplay() 00039 : MarkerDisplay() 00040 { 00041 marker_topic_property_->setMessageType( QString::fromStdString( ros::message_traits::datatype<visualization_msgs::MarkerArray>() )); 00042 marker_topic_property_->setValue( "visualization_marker_array" ); 00043 marker_topic_property_->setDescription( "visualization_msgs::MarkerArray topic to subscribe to." ); 00044 00045 queue_size_property_->setDescription( "Advanced: set the size of the incoming Marker message queue. " 00046 " This should generally be at least a few times larger than the number of Markers in each MarkerArray." ); 00047 } 00048 00049 void MarkerArrayDisplay::subscribe() 00050 { 00051 if ( !isEnabled() ) 00052 { 00053 return; 00054 } 00055 00056 std::string topic = marker_topic_property_->getTopicStd(); 00057 if( !topic.empty() ) 00058 { 00059 array_sub_.shutdown(); 00060 00061 try 00062 { 00063 array_sub_ = update_nh_.subscribe( topic, queue_size_property_->getInt(), &MarkerArrayDisplay::handleMarkerArray, this ); 00064 setStatus( StatusProperty::Ok, "Topic", "OK" ); 00065 } 00066 catch( ros::Exception& e ) 00067 { 00068 setStatus( StatusProperty::Error, "Topic", QString( "Error subscribing: " ) + e.what() ); 00069 } 00070 } 00071 } 00072 00073 void MarkerArrayDisplay::unsubscribe() 00074 { 00075 array_sub_.shutdown(); 00076 } 00077 00078 // I seem to need this wrapper function to make the compiler like my 00079 // function pointer in the .subscribe() call above. 00080 void MarkerArrayDisplay::handleMarkerArray( const visualization_msgs::MarkerArray::ConstPtr& array ) 00081 { 00082 incomingMarkerArray( array ); 00083 } 00084 00085 } // end namespace rviz 00086 00087 #include <pluginlib/class_list_macros.h> 00088 PLUGINLIB_EXPORT_CLASS( rviz::MarkerArrayDisplay, rviz::Display )