00001 /* 00002 * Copyright (c) 2008, 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 #ifndef RVIZ_MARKER_DISPLAY_H 00031 #define RVIZ_MARKER_DISPLAY_H 00032 00033 #include "rviz/display.h" 00034 #include "rviz/selection/forwards.h" 00035 #include "rviz/properties/forwards.h" 00036 00037 #include <map> 00038 #include <set> 00039 00040 #include <visualization_msgs/Marker.h> 00041 #include <visualization_msgs/MarkerArray.h> 00042 #include <boost/thread/mutex.hpp> 00043 #include <boost/shared_ptr.hpp> 00044 00045 #include <message_filters/subscriber.h> 00046 #include <tf/message_filter.h> 00047 00048 namespace Ogre 00049 { 00050 class SceneManager; 00051 class SceneNode; 00052 } 00053 00054 namespace rviz 00055 { 00056 class Object; 00057 } 00058 00059 namespace rviz 00060 { 00061 00062 class MarkerSelectionHandler; 00063 typedef boost::shared_ptr<MarkerSelectionHandler> MarkerSelectionHandlerPtr; 00064 00065 class MarkerBase; 00066 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr; 00067 00068 typedef std::pair<std::string, int32_t> MarkerID; 00069 00076 class MarkerDisplay : public Display 00077 { 00078 public: 00079 MarkerDisplay(); 00080 virtual ~MarkerDisplay(); 00081 00082 virtual void onInitialize(); 00083 00084 virtual void update(float wall_dt, float ros_dt); 00085 00086 virtual void fixedFrameChanged(); 00087 virtual void reset(); 00088 00089 void setMarkerTopic(const std::string& topic); 00090 const std::string& getMarkerTopic() { return marker_topic_; } 00091 00092 virtual void createProperties(); 00093 00094 void setNamespaceEnabled(const std::string& ns, bool enabled); 00095 bool isNamespaceEnabled(const std::string& ns); 00096 00097 void deleteMarker(MarkerID id); 00098 00099 void setMarkerStatus(MarkerID id, StatusLevel level, const std::string& text); 00100 void deleteMarkerStatus(MarkerID id); 00101 00103 void setQueueSize( int size ); 00104 int getQueueSize(); 00105 00107 virtual void hideVisible(); 00108 00110 virtual void restoreVisible(); 00111 00112 protected: 00113 virtual void onEnable(); 00114 virtual void onDisable(); 00115 00119 virtual void subscribe(); 00123 virtual void unsubscribe(); 00124 00128 void clearMarkers(); 00129 00134 void processMessage( const visualization_msgs::Marker::ConstPtr& message ); 00139 void processAdd( const visualization_msgs::Marker::ConstPtr& message ); 00144 void processDelete( const visualization_msgs::Marker::ConstPtr& message ); 00145 00146 MarkerBasePtr getMarker(MarkerID id); 00147 00151 void incomingMarker(const visualization_msgs::Marker::ConstPtr& marker); 00152 00153 void incomingMarkerArray(const visualization_msgs::MarkerArray::ConstPtr& array); 00154 00155 void failedMarker(const visualization_msgs::Marker::ConstPtr& marker, tf::FilterFailureReason reason); 00156 00157 typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker; 00158 typedef std::set<MarkerBasePtr> S_MarkerBase; 00159 M_IDToMarker markers_; 00160 S_MarkerBase markers_with_expiration_; 00161 S_MarkerBase frame_locked_markers_; 00162 typedef std::vector<visualization_msgs::Marker::ConstPtr> V_MarkerMessage; 00163 V_MarkerMessage message_queue_; 00164 00165 boost::mutex queue_mutex_; 00166 00167 Ogre::SceneNode* scene_node_; 00168 00169 message_filters::Subscriber<visualization_msgs::Marker> sub_; 00170 tf::MessageFilter<visualization_msgs::Marker>* tf_filter_; 00171 ros::Subscriber array_sub_; 00172 00173 std::string marker_topic_; 00174 00175 struct Namespace 00176 { 00177 std::string name; 00178 bool enabled; 00179 BoolPropertyWPtr prop; 00180 }; 00181 typedef std::map<std::string, Namespace> M_Namespace; 00182 M_Namespace namespaces_; 00183 00184 ROSTopicStringPropertyWPtr marker_topic_property_; 00185 CategoryPropertyWPtr namespaces_category_; 00186 IntPropertyWPtr queue_size_property_; 00187 00188 bool hidden_; 00189 }; 00190 00191 } // namespace rviz 00192 00193 #endif /* RVIZ_MARKER_DISPLAY_H */