interactive_markers::InteractiveMarkerClient Class Reference

#include <interactive_marker_client.h>

Inheritance diagram for interactive_markers::InteractiveMarkerClient:

Classes
struct	CbCollection

Public Types
typedef boost::function< void(const InitConstPtr &) >	InitCallback
typedef visualization_msgs::InteractiveMarkerInitConstPtr	InitConstPtr
typedef boost::function< void(const std::string &) >	ResetCallback
typedef boost::function< void(StatusT, const std::string &, const std::string &) >	StatusCallback
enum	StatusT { OK = 0, WARN = 1, ERROR = 2 }
typedef boost::function< void(const UpdateConstPtr &) >	UpdateCallback
typedef visualization_msgs::InteractiveMarkerUpdateConstPtr	UpdateConstPtr

Public Member Functions
INTERACTIVE_MARKERS_PUBLIC	InteractiveMarkerClient (tf::Transformer &tf, const std::string &target_frame="", const std::string &topic_ns="")
void	processInit (const InitConstPtr &msg)
void	processUpdate (const UpdateConstPtr &msg)
INTERACTIVE_MARKERS_PUBLIC void	setEnableAutocompleteTransparency (bool enable)
INTERACTIVE_MARKERS_PUBLIC void	setInitCb (const InitCallback &cb)
	Set callback for init messages. More...
INTERACTIVE_MARKERS_PUBLIC void	setResetCb (const ResetCallback &cb)
	Set callback for resetting one server connection. More...
INTERACTIVE_MARKERS_PUBLIC void	setStatusCb (const StatusCallback &cb)
	Set callback for status updates. More...
INTERACTIVE_MARKERS_PUBLIC void	setTargetFrame (std::string target_frame)
	Change the target frame and reset the connection. More...
INTERACTIVE_MARKERS_PUBLIC void	setUpdateCb (const UpdateCallback &cb)
	Set callback for update messages. More...
INTERACTIVE_MARKERS_PUBLIC void	shutdown ()
	Unsubscribe, clear queues & call reset callbacks. More...
INTERACTIVE_MARKERS_PUBLIC void	subscribe (std::string topic_ns)
	Subscribe to the topics topic_ns/update and topic_ns/init. More...
INTERACTIVE_MARKERS_PUBLIC void	update ()
	Update tf info, call callbacks. More...
INTERACTIVE_MARKERS_PUBLIC	~InteractiveMarkerClient ()
	Will cause a 'reset' call for all server ids. More...

Private Types
typedef boost::unordered_map< std::string, SingleClientPtr >	M_SingleClient
typedef boost::shared_ptr< SingleClient >	SingleClientPtr
enum	StateT { IDLE, INIT, RUNNING }

Private Member Functions
template<class MsgConstPtrT >
void	process (const MsgConstPtrT &msg)
void	statusCb (StatusT status, const std::string &server_id, const std::string &msg)
void	subscribeInit ()
void	subscribeUpdate ()

Private Attributes
CbCollection	callbacks_
bool	enable_autocomplete_transparency_
ros::Subscriber	init_sub_
int	last_num_publishers_
ros::NodeHandle	nh_
M_SingleClient	publisher_contexts_
boost::mutex	publisher_contexts_mutex_
StateMachine< StateT >	state_
StatusCallback	status_cb_
std::string	target_frame_
tf::Transformer &	tf_
std::string	topic_ns_
ros::Subscriber	update_sub_

Detailed Description

Acts as a client to one or multiple Interactive Marker servers. Handles topic subscription, error detection and tf transformations.

The output is an init message followed by a stream of updates for each server. In case of an error (e.g. message loss, tf failure), the connection to the sending server is reset.

All timestamped messages are being transformed into the target frame, while for non-timestamped messages it is ensured that the necessary tf transformation will be available.

Definition at line 68 of file interactive_marker_client.h.

Member Typedef Documentation

InitCallback

typedef boost::function< void ( const InitConstPtr& ) > interactive_markers::InteractiveMarkerClient::InitCallback

Definition at line 82 of file interactive_marker_client.h.

InitConstPtr

typedef visualization_msgs::InteractiveMarkerInitConstPtr interactive_markers::InteractiveMarkerClient::InitConstPtr

Definition at line 79 of file interactive_marker_client.h.

M_SingleClient

typedef boost::unordered_map<std::string, SingleClientPtr> interactive_markers::InteractiveMarkerClient::M_SingleClient

private

Definition at line 164 of file interactive_marker_client.h.

ResetCallback

typedef boost::function< void ( const std::string& ) > interactive_markers::InteractiveMarkerClient::ResetCallback

Definition at line 83 of file interactive_marker_client.h.

SingleClientPtr

typedef boost::shared_ptr<SingleClient> interactive_markers::InteractiveMarkerClient::SingleClientPtr

private

Definition at line 163 of file interactive_marker_client.h.

StatusCallback

typedef boost::function< void ( StatusT, const std::string&, const std::string& ) > interactive_markers::InteractiveMarkerClient::StatusCallback

Definition at line 84 of file interactive_marker_client.h.

UpdateCallback

typedef boost::function< void ( const UpdateConstPtr& ) > interactive_markers::InteractiveMarkerClient::UpdateCallback

Definition at line 81 of file interactive_marker_client.h.

UpdateConstPtr

typedef visualization_msgs::InteractiveMarkerUpdateConstPtr interactive_markers::InteractiveMarkerClient::UpdateConstPtr

Definition at line 78 of file interactive_marker_client.h.

Member Enumeration Documentation

StateT

enum interactive_markers::InteractiveMarkerClient::StateT

private

Enumerator
IDLE
INIT
RUNNING

Definition at line 141 of file interactive_marker_client.h.

StatusT

enum interactive_markers::InteractiveMarkerClient::StatusT

Enumerator
OK
WARN
ERROR

Definition at line 72 of file interactive_marker_client.h.

Constructor & Destructor Documentation

InteractiveMarkerClient()

interactive_markers::InteractiveMarkerClient::InteractiveMarkerClient	(	tf::Transformer &	tf,
		const std::string &	target_frame = "",
		const std::string &	topic_ns = ""
	)

Parameters

tf	The tf transformer to use.
target_frame	tf frame to transform timestamped messages into.
topic_ns	The topic namespace (will subscribe to topic_ns/update, topic_ns/init)

Definition at line 45 of file interactive_marker_client.cpp.

~InteractiveMarkerClient()

interactive_markers::InteractiveMarkerClient::~InteractiveMarkerClient

(

)

Will cause a 'reset' call for all server ids.

Definition at line 62 of file interactive_marker_client.cpp.

Member Function Documentation

process()

template<class MsgConstPtrT >

void interactive_markers::InteractiveMarkerClient::process ( const MsgConstPtrT &  msg )

private

Definition at line 169 of file interactive_marker_client.cpp.

processInit()

void interactive_markers::InteractiveMarkerClient::processInit

(

const InitConstPtr &

msg

)

Definition at line 208 of file interactive_marker_client.cpp.

processUpdate()

void interactive_markers::InteractiveMarkerClient::processUpdate

(

const UpdateConstPtr &

msg

)

Definition at line 213 of file interactive_marker_client.cpp.

setEnableAutocompleteTransparency()

INTERACTIVE_MARKERS_PUBLIC void interactive_markers::InteractiveMarkerClient::setEnableAutocompleteTransparency ( bool  enable )

inline

Definition at line 131 of file interactive_marker_client.h.

setInitCb()

void interactive_markers::InteractiveMarkerClient::setInitCb

(

const InitCallback &

cb

)

Set callback for init messages.

Definition at line 75 of file interactive_marker_client.cpp.

setResetCb()

void interactive_markers::InteractiveMarkerClient::setResetCb

(

const ResetCallback &

cb

)

Set callback for resetting one server connection.

Definition at line 85 of file interactive_marker_client.cpp.

setStatusCb()

void interactive_markers::InteractiveMarkerClient::setStatusCb

(

const StatusCallback &

cb

)

Set callback for status updates.

Definition at line 90 of file interactive_marker_client.cpp.

setTargetFrame()

void interactive_markers::InteractiveMarkerClient::setTargetFrame

(

std::string

target_frame

)

Change the target frame and reset the connection.

Definition at line 95 of file interactive_marker_client.cpp.

setUpdateCb()

void interactive_markers::InteractiveMarkerClient::setUpdateCb

(

const UpdateCallback &

cb

)

Set callback for update messages.

Definition at line 80 of file interactive_marker_client.cpp.

shutdown()

void interactive_markers::InteractiveMarkerClient::shutdown

(

)

Unsubscribe, clear queues & call reset callbacks.

Definition at line 114 of file interactive_marker_client.cpp.

statusCb()

void interactive_markers::InteractiveMarkerClient::statusCb ( StatusT  status, const std::string &  server_id, const std::string &  msg  )

private

Definition at line 273 of file interactive_marker_client.cpp.

subscribe()

void interactive_markers::InteractiveMarkerClient::subscribe

(

std::string

topic_ns

)

Subscribe to the topics topic_ns/update and topic_ns/init.

Subscribe to given topic.

Definition at line 68 of file interactive_marker_client.cpp.

subscribeInit()

void interactive_markers::InteractiveMarkerClient::subscribeInit ( )

private

Definition at line 151 of file interactive_marker_client.cpp.

subscribeUpdate()

void interactive_markers::InteractiveMarkerClient::subscribeUpdate ( )

private

Definition at line 133 of file interactive_marker_client.cpp.

update()

void interactive_markers::InteractiveMarkerClient::update

(

)

Update tf info, call callbacks.

Definition at line 218 of file interactive_marker_client.cpp.

Member Data Documentation

callbacks_

CbCollection interactive_markers::InteractiveMarkerClient::callbacks_

private

Definition at line 211 of file interactive_marker_client.h.

enable_autocomplete_transparency_

bool interactive_markers::InteractiveMarkerClient::enable_autocomplete_transparency_

private

Definition at line 220 of file interactive_marker_client.h.

init_sub_

ros::Subscriber interactive_markers::InteractiveMarkerClient::init_sub_

private

Definition at line 153 of file interactive_marker_client.h.

last_num_publishers_

int interactive_markers::InteractiveMarkerClient::last_num_publishers_

private

Definition at line 217 of file interactive_marker_client.h.

nh_

ros::NodeHandle interactive_markers::InteractiveMarkerClient::nh_

private

Definition at line 139 of file interactive_marker_client.h.

publisher_contexts_

M_SingleClient interactive_markers::InteractiveMarkerClient::publisher_contexts_

private

Definition at line 165 of file interactive_marker_client.h.

publisher_contexts_mutex_

boost::mutex interactive_markers::InteractiveMarkerClient::publisher_contexts_mutex_

private

Definition at line 166 of file interactive_marker_client.h.

state_

StateMachine<StateT> interactive_markers::InteractiveMarkerClient::state_

private

Definition at line 148 of file interactive_marker_client.h.

status_cb_

StatusCallback interactive_markers::InteractiveMarkerClient::status_cb_

private

Definition at line 214 of file interactive_marker_client.h.

target_frame_

std::string interactive_markers::InteractiveMarkerClient::target_frame_

private

Definition at line 169 of file interactive_marker_client.h.

tf_

tf::Transformer& interactive_markers::InteractiveMarkerClient::tf_

private

Definition at line 168 of file interactive_marker_client.h.

topic_ns_

std::string interactive_markers::InteractiveMarkerClient::topic_ns_

private

Definition at line 150 of file interactive_marker_client.h.

update_sub_

ros::Subscriber interactive_markers::InteractiveMarkerClient::update_sub_

private

Definition at line 152 of file interactive_marker_client.h.

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The documentation for this class was generated from the following files:

• interactive_marker_client.h
• interactive_marker_client.cpp