single_client.h
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00001 /*
00002  * Copyright (c) 2012, 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  * Author: David Gossow
00030  *//*
00031  * single_client.h
00032  *
00033  *  Created on: Jul 17, 2012
00034  *      Author: gossow
00035  */
00036 
00037 #ifndef SINGLE_CLIENT_H_
00038 #define SINGLE_CLIENT_H_
00039 
00040 #include <visualization_msgs/InteractiveMarkerInit.h>
00041 #include <visualization_msgs/InteractiveMarkerUpdate.h>
00042 
00043 #include <boost/scoped_ptr.hpp>
00044 #include <boost/thread/thread.hpp>
00045 #include <boost/thread/recursive_mutex.hpp>
00046 
00047 #include <boost/function.hpp>
00048 #include <boost/unordered_map.hpp>
00049 
00050 #include <tf/tf.h>
00051 
00052 #include <deque>
00053 
00054 #include "message_context.h"
00055 #include "state_machine.h"
00056 #include "../interactive_marker_client.h"
00057 
00058 
00059 namespace interactive_markers
00060 {
00061 
00062 class SingleClient
00063 {
00064 public:
00065 
00066   SingleClient(
00067       const std::string& server_id,
00068       tf::Transformer& tf,
00069       const std::string& target_frame,
00070       const InteractiveMarkerClient::CbCollection& callbacks );
00071 
00072   ~SingleClient();
00073 
00074   // Process message from the update channel
00075   void process(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& msg, bool enable_autocomplete_transparency = true);
00076 
00077   // Process message from the init channel
00078   void process(const visualization_msgs::InteractiveMarkerInit::ConstPtr& msg, bool enable_autocomplete_transparency = true);
00079 
00080   // true if INIT messages are not needed anymore
00081   bool isInitialized();
00082 
00083   // transform all messages with missing transforms
00084   void update();
00085 
00086 private:
00087 
00088   // check if we can go from init state to normal operation
00089   void checkInitFinished();
00090 
00091   void checkKeepAlive();
00092 
00093   enum StateT
00094   {
00095     INIT,
00096     RECEIVING,
00097     TF_ERROR
00098   };
00099 
00100   StateMachine<StateT> state_;
00101 
00102   // updateTf implementation (for one queue)
00103   void transformInitMsgs( );
00104   void transformUpdateMsgs( );
00105 
00106   void pushUpdates();
00107 
00108   void errorReset( std::string error_msg );
00109 
00110   // sequence number and time of first ever received update
00111   uint64_t first_update_seq_num_;
00112 
00113   // sequence number and time of last received update
00114   uint64_t last_update_seq_num_;
00115   ros::Time last_update_time_;
00116 
00117   // true if the last outgoing update is too long ago
00118   // and we've already sent a notification of that
00119   bool update_time_ok_;
00120 
00121   typedef MessageContext<visualization_msgs::InteractiveMarkerUpdate> UpdateMessageContext;
00122   typedef MessageContext<visualization_msgs::InteractiveMarkerInit> InitMessageContext;
00123 
00124   // Queue of Updates waiting for tf and numbering
00125   typedef std::deque< UpdateMessageContext > M_UpdateMessageContext;
00126   typedef std::deque< InitMessageContext > M_InitMessageContext;
00127 
00128   // queue for update messages
00129   M_UpdateMessageContext update_queue_;
00130 
00131   // queue for init messages
00132   M_InitMessageContext init_queue_;
00133 
00134   tf::Transformer& tf_;
00135   std::string target_frame_;
00136 
00137   const InteractiveMarkerClient::CbCollection& callbacks_;
00138 
00139   std::string server_id_;
00140 
00141   bool warn_keepalive_;
00142 };
00143 
00144 }
00145 
00146 #endif /* SINGLE_CLIENT_H_ */


interactive_markers
Author(s): David Gossow
autogenerated on Sat Aug 27 2016 03:37:45