interactive_marker_server.h
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00001 /*
00002  * Copyright (c) 2011, 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 
00032 #ifndef INTERACTIVE_MARKER_SERVER
00033 #define INTERACTIVE_MARKER_SERVER
00034 
00035 #include <visualization_msgs/InteractiveMarkerUpdate.h>
00036 #include <visualization_msgs/InteractiveMarkerFeedback.h>
00037 
00038 #include <boost/scoped_ptr.hpp>
00039 #include <boost/thread/thread.hpp>
00040 #include <boost/thread/recursive_mutex.hpp>
00041 
00042 #include <ros/ros.h>
00043 #include <ros/callback_queue.h>
00044 
00045 
00046 #include <boost/function.hpp>
00047 #include <boost/unordered_map.hpp>
00048 
00049 namespace interactive_markers
00050 {
00051 
00056 class InteractiveMarkerServer : boost::noncopyable
00057 {
00058 public:
00059 
00060   typedef visualization_msgs::InteractiveMarkerFeedbackConstPtr FeedbackConstPtr;
00061   typedef boost::function< void ( const FeedbackConstPtr& ) > FeedbackCallback;
00062 
00063   static const uint8_t DEFAULT_FEEDBACK_CB = 255;
00064 
00072   InteractiveMarkerServer( const std::string &topic_ns, const std::string &server_id="", bool spin_thread = false );
00073 
00075   ~InteractiveMarkerServer();
00076 
00081   void insert( const visualization_msgs::InteractiveMarker &int_marker );
00082 
00089   void insert( const visualization_msgs::InteractiveMarker &int_marker,
00090                FeedbackCallback feedback_cb,
00091                uint8_t feedback_type=DEFAULT_FEEDBACK_CB );
00092 
00099   bool setPose( const std::string &name,
00100       const geometry_msgs::Pose &pose,
00101       const std_msgs::Header &header=std_msgs::Header() );
00102 
00107   bool erase( const std::string &name );
00108 
00111   void clear();
00112 
00123   bool setCallback( const std::string &name, FeedbackCallback feedback_cb,
00124       uint8_t feedback_type=DEFAULT_FEEDBACK_CB );
00125 
00128   void applyChanges();
00129 
00134   bool get( std::string name, visualization_msgs::InteractiveMarker &int_marker ) const;
00135 
00136 private:
00137 
00138   struct MarkerContext
00139   {
00140     ros::Time last_feedback;
00141     std::string last_client_id;
00142     FeedbackCallback default_feedback_cb;
00143     boost::unordered_map<uint8_t,FeedbackCallback> feedback_cbs;
00144     visualization_msgs::InteractiveMarker int_marker;
00145   };
00146 
00147   typedef boost::unordered_map< std::string, MarkerContext > M_MarkerContext;
00148 
00149   // represents an update to a single marker
00150   struct UpdateContext
00151   {
00152     enum {
00153       FULL_UPDATE,
00154       POSE_UPDATE,
00155       ERASE
00156     } update_type;
00157     visualization_msgs::InteractiveMarker int_marker;
00158     FeedbackCallback default_feedback_cb;
00159     boost::unordered_map<uint8_t,FeedbackCallback> feedback_cbs;
00160   };
00161 
00162   typedef boost::unordered_map< std::string, UpdateContext > M_UpdateContext;
00163 
00164   // main loop when spinning our own thread
00165   // - process callbacks in our callback queue
00166   // - process pending goals
00167   void spinThread();
00168 
00169   // update marker pose & call user callback
00170   void processFeedback( const FeedbackConstPtr& feedback );
00171 
00172   // send an empty update to keep the client GUIs happy
00173   void keepAlive();
00174 
00175   // increase sequence number & publish an update
00176   void publish( visualization_msgs::InteractiveMarkerUpdate &update );
00177 
00178   // publish the current complete state to the latched "init" topic.
00179   void publishInit();
00180 
00181   // Update pose, schedule update without locking
00182   void doSetPose( M_UpdateContext::iterator update_it,
00183       const std::string &name,
00184       const geometry_msgs::Pose &pose,
00185       const std_msgs::Header &header );
00186 
00187   // contains the current state of all markers
00188   M_MarkerContext marker_contexts_;
00189 
00190   // updates that have to be sent on the next publish
00191   M_UpdateContext pending_updates_;
00192 
00193   // topic namespace to use
00194   std::string topic_ns_;
00195   
00196   mutable boost::recursive_mutex mutex_;
00197 
00198   // these are needed when spinning up a dedicated thread
00199   boost::scoped_ptr<boost::thread> spin_thread_;
00200   ros::NodeHandle node_handle_;
00201   ros::CallbackQueue callback_queue_;
00202   volatile bool need_to_terminate_;
00203 
00204   // this is needed when running in non-threaded mode
00205   ros::Timer keep_alive_timer_;
00206 
00207   ros::Publisher init_pub_;
00208   ros::Publisher update_pub_;
00209   ros::Subscriber feedback_sub_;
00210 
00211   uint64_t seq_num_;
00212 
00213   std::string server_id_;
00214 };
00215 
00216 }
00217 
00218 #endif


interactive_markers
Author(s): David Gossow
autogenerated on Fri Aug 28 2015 11:11:26