marker_display.h
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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 <map>
00034 #include <set>
00035 
00036 #include <boost/thread/mutex.hpp>
00037 #include <boost/shared_ptr.hpp>
00038 
00039 #ifndef Q_MOC_RUN
00040 #include <tf/message_filter.h>
00041 #include <message_filters/subscriber.h>
00042 #endif
00043 
00044 #include <visualization_msgs/Marker.h>
00045 #include <visualization_msgs/MarkerArray.h>
00046 
00047 #include "rviz/display.h"
00048 #include "rviz/properties/bool_property.h"
00049 #include "rviz/selection/forwards.h"
00050 
00051 namespace rviz
00052 {
00053 class IntProperty;
00054 class MarkerBase;
00055 class MarkerNamespace;
00056 class MarkerSelectionHandler;
00057 class Object;
00058 class RosTopicProperty;
00059 
00060 typedef boost::shared_ptr<MarkerSelectionHandler> MarkerSelectionHandlerPtr;
00061 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;
00062 typedef std::pair<std::string, int32_t> MarkerID;
00063 
00070 class MarkerDisplay: public Display
00071 {
00072 Q_OBJECT
00073 public:
00074   MarkerDisplay();
00075   virtual ~MarkerDisplay();
00076 
00077   virtual void onInitialize();
00078 
00079   virtual void update(float wall_dt, float ros_dt);
00080 
00081   virtual void fixedFrameChanged();
00082   virtual void reset();
00083 
00084   void deleteMarker(MarkerID id);
00085 
00086   void setMarkerStatus(MarkerID id, StatusLevel level, const std::string& text);
00087   void deleteMarkerStatus(MarkerID id);
00088 
00089   virtual void setTopic( const QString &topic, const QString &datatype );
00090 
00091 protected:
00092   virtual void onEnable();
00093   virtual void onDisable();
00094 
00097   virtual void subscribe();
00098 
00101   virtual void unsubscribe();
00102 
00104   void incomingMarkerArray( const visualization_msgs::MarkerArray::ConstPtr& array );
00105 
00106   ros::Subscriber array_sub_;
00107 
00108   RosTopicProperty* marker_topic_property_;
00109   IntProperty* queue_size_property_;
00110 
00111 private Q_SLOTS:
00112   void updateQueueSize();
00113   void updateTopic();
00114 
00115 private:
00117   void deleteMarkersInNamespace( const std::string& ns );
00118 
00122   void clearMarkers();
00123 
00128   void processMessage( const visualization_msgs::Marker::ConstPtr& message );
00133   void processAdd( const visualization_msgs::Marker::ConstPtr& message );
00138   void processDelete( const visualization_msgs::Marker::ConstPtr& message );
00139 
00143   void incomingMarker(const visualization_msgs::Marker::ConstPtr& marker);
00144 
00145   void failedMarker(const ros::MessageEvent<visualization_msgs::Marker>& marker_evt, tf::FilterFailureReason reason);
00146 
00147   typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker;
00148   typedef std::set<MarkerBasePtr> S_MarkerBase;
00149   M_IDToMarker markers_;                                
00150   S_MarkerBase markers_with_expiration_;
00151   S_MarkerBase frame_locked_markers_;
00152   typedef std::vector<visualization_msgs::Marker::ConstPtr> V_MarkerMessage;
00153   V_MarkerMessage message_queue_;                       
00154 
00155   boost::mutex queue_mutex_;
00156 
00157   message_filters::Subscriber<visualization_msgs::Marker> sub_;
00158   tf::MessageFilter<visualization_msgs::Marker>* tf_filter_;
00159 
00160   typedef QHash<QString, MarkerNamespace*> M_Namespace;
00161   M_Namespace namespaces_;
00162 
00163   Property* namespaces_category_;
00164 
00165   friend class MarkerNamespace;
00166 };
00167 
00170 class MarkerNamespace: public BoolProperty
00171 {
00172 Q_OBJECT
00173 public:
00174   MarkerNamespace( const QString& name, Property* parent_property, MarkerDisplay* owner );
00175   bool isEnabled() const { return getBool(); }
00176 
00177 public Q_SLOTS:
00178   void onEnableChanged();
00179 
00180 private:
00181   MarkerDisplay* owner_;
00182 };
00183 
00184 } // namespace rviz
00185 
00186 #endif /* RVIZ_MARKER_DISPLAY_H */


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:27