Program Listing for File interactive_marker_server.hpp
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// Copyright (c) 2011, Willow Garage, Inc.
// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
//
// 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 copyright holder 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 HOLDER 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
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// POSSIBILITY OF SUCH DAMAGE.
// Author: David Gossow
#ifndef INTERACTIVE_MARKERS__INTERACTIVE_MARKER_SERVER_HPP_
#define INTERACTIVE_MARKERS__INTERACTIVE_MARKER_SERVER_HPP_
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_map>
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "std_msgs/msg/header.hpp"
#include "visualization_msgs/msg/interactive_marker.hpp"
#include "visualization_msgs/msg/interactive_marker_feedback.hpp"
#include "visualization_msgs/msg/interactive_marker_update.hpp"
#include "visualization_msgs/srv/get_interactive_markers.hpp"
#include "interactive_markers/visibility_control.hpp"
namespace interactive_markers
{
class InteractiveMarkerServer
{
public:
typedef visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr FeedbackConstSharedPtr;
typedef std::function<void (FeedbackConstSharedPtr)> FeedbackCallback;
static const uint8_t DEFAULT_FEEDBACK_CB = 255;
INTERACTIVE_MARKERS_PUBLIC
InteractiveMarkerServer(
const std::string & topic_namespace,
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr base_interface,
rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr services_interface,
const rclcpp::QoS & update_pub_qos = rclcpp::QoS(100),
const rclcpp::QoS & feedback_sub_qos = rclcpp::QoS(1));
template<typename NodePtr>
InteractiveMarkerServer(
const std::string & topic_namespace,
NodePtr node,
const rclcpp::QoS & update_pub_qos = rclcpp::QoS(100),
const rclcpp::QoS & feedback_sub_qos = rclcpp::QoS(1))
: InteractiveMarkerServer(
topic_namespace,
node->get_node_base_interface(),
node->get_node_clock_interface(),
node->get_node_logging_interface(),
node->get_node_topics_interface(),
node->get_node_services_interface(),
update_pub_qos,
feedback_sub_qos)
{
}
INTERACTIVE_MARKERS_PUBLIC
~InteractiveMarkerServer();
INTERACTIVE_MARKERS_PUBLIC
void insert(const visualization_msgs::msg::InteractiveMarker & marker);
INTERACTIVE_MARKERS_PUBLIC
void insert(
const visualization_msgs::msg::InteractiveMarker & marker,
FeedbackCallback feedback_callback,
uint8_t feedback_type = DEFAULT_FEEDBACK_CB);
INTERACTIVE_MARKERS_PUBLIC
bool setPose(
const std::string & name,
const geometry_msgs::msg::Pose & pose,
const std_msgs::msg::Header & header = std_msgs::msg::Header());
INTERACTIVE_MARKERS_PUBLIC
bool erase(const std::string & name);
INTERACTIVE_MARKERS_PUBLIC
void clear();
INTERACTIVE_MARKERS_PUBLIC
bool empty() const;
INTERACTIVE_MARKERS_PUBLIC
std::size_t size() const;
INTERACTIVE_MARKERS_PUBLIC
bool setCallback(
const std::string & name,
FeedbackCallback feedback_cb,
uint8_t feedback_type = DEFAULT_FEEDBACK_CB);
INTERACTIVE_MARKERS_PUBLIC
void applyChanges();
INTERACTIVE_MARKERS_PUBLIC
bool get(const std::string & name, visualization_msgs::msg::InteractiveMarker & int_marker) const;
private:
// Disable copying
InteractiveMarkerServer(const InteractiveMarkerServer &) = delete;
InteractiveMarkerServer & operator=(const InteractiveMarkerServer &) = delete;
struct MarkerContext
{
rclcpp::Time last_feedback;
std::string last_client_id;
FeedbackCallback default_feedback_cb;
std::unordered_map<uint8_t, FeedbackCallback> feedback_cbs;
visualization_msgs::msg::InteractiveMarker int_marker;
};
typedef std::unordered_map<std::string, MarkerContext> M_MarkerContext;
// represents an update to a single marker
struct UpdateContext
{
enum
{
FULL_UPDATE,
POSE_UPDATE,
ERASE
} update_type;
visualization_msgs::msg::InteractiveMarker int_marker;
FeedbackCallback default_feedback_cb;
std::unordered_map<uint8_t, FeedbackCallback> feedback_cbs;
};
typedef std::unordered_map<std::string, UpdateContext> M_UpdateContext;
void getInteractiveMarkersCallback(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<visualization_msgs::srv::GetInteractiveMarkers::Request> request,
std::shared_ptr<visualization_msgs::srv::GetInteractiveMarkers::Response> response);
// update marker pose & call user callback
void processFeedback(
visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr feedback);
// increase sequence number & publish an update
void publish(visualization_msgs::msg::InteractiveMarkerUpdate & update);
// Update pose, schedule update without locking
void doSetPose(
M_UpdateContext::iterator update_it,
const std::string & name,
const geometry_msgs::msg::Pose & pose,
const std_msgs::msg::Header & header);
// contains the current state of all markers
M_MarkerContext marker_contexts_;
// updates that have to be sent on the next publish
M_UpdateContext pending_updates_;
// topic namespace to use
std::string topic_namespace_;
mutable std::recursive_mutex mutex_;
rclcpp::Service<visualization_msgs::srv::GetInteractiveMarkers>::SharedPtr
get_interactive_markers_service_;
rclcpp::Publisher<visualization_msgs::msg::InteractiveMarkerUpdate>::SharedPtr update_pub_;
rclcpp::Subscription<visualization_msgs::msg::InteractiveMarkerFeedback>::SharedPtr feedback_sub_;
rclcpp::Context::SharedPtr context_;
rclcpp::Clock::SharedPtr clock_;
rclcpp::Logger logger_;
uint64_t sequence_number_;
}; // class InteractiveMarkerServer
} // namespace interactive_markers
#endif // INTERACTIVE_MARKERS__INTERACTIVE_MARKER_SERVER_HPP_