.. _program_listing_file__tmp_ws_src_interactive_markers_include_interactive_markers_interactive_marker_server.hpp:

Program Listing for File interactive_marker_server.hpp
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_interactive_markers_include_interactive_markers_interactive_marker_server.hpp>` (``/tmp/ws/src/interactive_markers/include/interactive_markers/interactive_marker_server.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2011, Willow Garage, Inc.
   // Copyright (c) 2019, Open Source Robotics Foundation, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the copyright holder nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   // Author: David Gossow
   
   #ifndef INTERACTIVE_MARKERS__INTERACTIVE_MARKER_SERVER_HPP_
   #define INTERACTIVE_MARKERS__INTERACTIVE_MARKER_SERVER_HPP_
   
   #include <functional>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <thread>
   #include <unordered_map>
   
   #include "rclcpp/rclcpp.hpp"
   #include "visualization_msgs/msg/interactive_marker_feedback.hpp"
   #include "visualization_msgs/msg/interactive_marker_update.hpp"
   #include "visualization_msgs/srv/get_interactive_markers.hpp"
   
   #include "interactive_markers/visibility_control.hpp"
   
   namespace interactive_markers
   {
   
   
   class InteractiveMarkerServer
   {
   public:
     typedef visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr FeedbackConstSharedPtr;
     typedef std::function<void (FeedbackConstSharedPtr)> FeedbackCallback;
   
     static const uint8_t DEFAULT_FEEDBACK_CB = 255;
   
   
     INTERACTIVE_MARKERS_PUBLIC
     InteractiveMarkerServer(
       const std::string & topic_namespace,
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr base_interface,
       rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface,
       rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface,
       rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
       rclcpp::node_interfaces::NodeServicesInterface::SharedPtr services_interface,
       const rclcpp::QoS & update_pub_qos = rclcpp::QoS(100),
       const rclcpp::QoS & feedback_sub_qos = rclcpp::QoS(1));
   
     template<typename NodePtr>
     InteractiveMarkerServer(
       const std::string & topic_namespace,
       NodePtr node,
       const rclcpp::QoS & update_pub_qos = rclcpp::QoS(100),
       const rclcpp::QoS & feedback_sub_qos = rclcpp::QoS(1))
     : InteractiveMarkerServer(
         topic_namespace,
         node->get_node_base_interface(),
         node->get_node_clock_interface(),
         node->get_node_logging_interface(),
         node->get_node_topics_interface(),
         node->get_node_services_interface(),
         update_pub_qos,
         feedback_sub_qos)
     {
     }
   
     INTERACTIVE_MARKERS_PUBLIC
     ~InteractiveMarkerServer();
   
   
     INTERACTIVE_MARKERS_PUBLIC
     void insert(const visualization_msgs::msg::InteractiveMarker & marker);
   
   
     INTERACTIVE_MARKERS_PUBLIC
     void insert(
       const visualization_msgs::msg::InteractiveMarker & marker,
       FeedbackCallback feedback_callback,
       uint8_t feedback_type = DEFAULT_FEEDBACK_CB);
   
   
     INTERACTIVE_MARKERS_PUBLIC
     bool setPose(
       const std::string & name,
       const geometry_msgs::msg::Pose & pose,
       const std_msgs::msg::Header & header = std_msgs::msg::Header());
   
   
     INTERACTIVE_MARKERS_PUBLIC
     bool erase(const std::string & name);
   
   
     INTERACTIVE_MARKERS_PUBLIC
     void clear();
   
   
     INTERACTIVE_MARKERS_PUBLIC
     bool empty() const;
   
   
     INTERACTIVE_MARKERS_PUBLIC
     std::size_t size() const;
   
   
     INTERACTIVE_MARKERS_PUBLIC
     bool setCallback(
       const std::string & name,
       FeedbackCallback feedback_cb,
       uint8_t feedback_type = DEFAULT_FEEDBACK_CB);
   
     INTERACTIVE_MARKERS_PUBLIC
     void applyChanges();
   
   
     INTERACTIVE_MARKERS_PUBLIC
     bool get(std::string name, visualization_msgs::msg::InteractiveMarker & int_marker) const;
   
   private:
     // Disable copying
     InteractiveMarkerServer(const InteractiveMarkerServer &) = delete;
     InteractiveMarkerServer & operator=(const InteractiveMarkerServer &) = delete;
   
     struct MarkerContext
     {
       rclcpp::Time last_feedback;
       std::string last_client_id;
       FeedbackCallback default_feedback_cb;
       std::unordered_map<uint8_t, FeedbackCallback> feedback_cbs;
       visualization_msgs::msg::InteractiveMarker int_marker;
     };
   
     typedef std::unordered_map<std::string, MarkerContext> M_MarkerContext;
   
     // represents an update to a single marker
     struct UpdateContext
     {
       enum
       {
         FULL_UPDATE,
         POSE_UPDATE,
         ERASE
       } update_type;
       visualization_msgs::msg::InteractiveMarker int_marker;
       FeedbackCallback default_feedback_cb;
       std::unordered_map<uint8_t, FeedbackCallback> feedback_cbs;
     };
   
     typedef std::unordered_map<std::string, UpdateContext> M_UpdateContext;
   
     void getInteractiveMarkersCallback(
       const std::shared_ptr<rmw_request_id_t> request_header,
       const std::shared_ptr<visualization_msgs::srv::GetInteractiveMarkers::Request> request,
       std::shared_ptr<visualization_msgs::srv::GetInteractiveMarkers::Response> response);
   
     // update marker pose & call user callback
     void processFeedback(
       visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr feedback);
   
     // increase sequence number & publish an update
     void publish(visualization_msgs::msg::InteractiveMarkerUpdate & update);
   
     // Update pose, schedule update without locking
     void doSetPose(
       M_UpdateContext::iterator update_it,
       const std::string & name,
       const geometry_msgs::msg::Pose & pose,
       const std_msgs::msg::Header & header);
   
     // contains the current state of all markers
     M_MarkerContext marker_contexts_;
   
     // updates that have to be sent on the next publish
     M_UpdateContext pending_updates_;
   
     // topic namespace to use
     std::string topic_namespace_;
   
     mutable std::recursive_mutex mutex_;
   
     rclcpp::Service<visualization_msgs::srv::GetInteractiveMarkers>::SharedPtr
       get_interactive_markers_service_;
     rclcpp::Publisher<visualization_msgs::msg::InteractiveMarkerUpdate>::SharedPtr update_pub_;
     rclcpp::Subscription<visualization_msgs::msg::InteractiveMarkerFeedback>::SharedPtr feedback_sub_;
   
     rclcpp::Context::SharedPtr context_;
     rclcpp::Clock::SharedPtr clock_;
     rclcpp::Logger logger_;
   
     uint64_t sequence_number_;
   };  // class InteractiveMarkerServer
   
   }  // namespace interactive_markers
   
   #endif  // INTERACTIVE_MARKERS__INTERACTIVE_MARKER_SERVER_HPP_