#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
INTERACTIVE_MARKERS_PUBLIC void	applyChanges ()

INTERACTIVE_MARKERS_PUBLIC void	clear ()

INTERACTIVE_MARKERS_PUBLIC bool	empty () const

INTERACTIVE_MARKERS_PUBLIC bool	erase (const std::string &name)

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

INTERACTIVE_MARKERS_PUBLIC void	insert (const visualization_msgs::InteractiveMarker &int_marker)

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

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

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

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

INTERACTIVE_MARKERS_PUBLIC std::size_t	size () const

INTERACTIVE_MARKERS_PUBLIC	~InteractiveMarkerServer ()
	Destruction of the interface will lead to all managed markers being cleared. More...

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 57 of file interactive_marker_server.h.

Member Typedef Documentation

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

Definition at line 62 of file interactive_marker_server.h.

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

Definition at line 61 of file interactive_marker_server.h.

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

private

Definition at line 170 of file interactive_marker_server.h.

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

private

Definition at line 185 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 205 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 479 of file interactive_marker_server.cpp.

bool interactive_markers::InteractiveMarkerServer::empty ( ) const

Return whether the server contains any markers. Note: Does not include markers inserted since the last applyChanges().

Returns: true if the server contains no markers

Definition at line 219 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 347 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 325 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 339 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::keepAlive ( )

private

Definition at line 463 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::processFeedback ( const FeedbackConstPtr & feedback )

private

Definition at line 410 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::publish ( visualization_msgs::InteractiveMarkerUpdate & update )

private

Definition at line 471 of file interactive_marker_server.cpp.

void interactive_markers::InteractiveMarkerServer::publishInit ( )

private

Definition at line 391 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 269 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()`
	)