.. _program_listing_file__tmp_ws_src_interactive_markers_include_interactive_markers_menu_handler.hpp:

Program Listing for File menu_handler.hpp
=========================================

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

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

.. code-block:: cpp

   // Copyright (c) 2011, Willow Garage, 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__MENU_HANDLER_HPP_
   #define INTERACTIVE_MARKERS__MENU_HANDLER_HPP_
   
   #include <functional>
   #include <set>
   #include <string>
   #include <unordered_map>
   #include <vector>
   
   #include "visualization_msgs/msg/menu_entry.hpp"
   
   #include "interactive_markers/interactive_marker_server.hpp"
   #include "interactive_markers/visibility_control.hpp"
   
   namespace interactive_markers
   {
   
   // Simple non-intrusive helper class which creates a menu and maps its
   // entries to function callbacks
   class MenuHandler
   {
   public:
     typedef uint32_t EntryHandle;
   
     typedef visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr FeedbackConstPtr;
     typedef std::function<void (const FeedbackConstPtr &)> FeedbackCallback;
   
     enum CheckState
     {
       NO_CHECKBOX,
       CHECKED,
       UNCHECKED
     };
   
     INTERACTIVE_MARKERS_PUBLIC
     MenuHandler();
   
     INTERACTIVE_MARKERS_PUBLIC
     EntryHandle insert(const std::string & title, const FeedbackCallback & feedback_cb);
   
     INTERACTIVE_MARKERS_PUBLIC
     EntryHandle insert(
       const std::string & title,
       const uint8_t command_type = visualization_msgs::msg::MenuEntry::FEEDBACK,
       const std::string & command = "");
   
     INTERACTIVE_MARKERS_PUBLIC
     EntryHandle insert(
       EntryHandle parent, const std::string & title,
       const FeedbackCallback & feedback_cb);
   
     INTERACTIVE_MARKERS_PUBLIC
     EntryHandle insert(
       EntryHandle parent, const std::string & title,
       const uint8_t command_type = visualization_msgs::msg::MenuEntry::FEEDBACK,
       const std::string & command = "");
   
     INTERACTIVE_MARKERS_PUBLIC
     bool setVisible(EntryHandle handle, bool visible);
   
     INTERACTIVE_MARKERS_PUBLIC
     bool setCheckState(EntryHandle handle, CheckState check_state);
   
     INTERACTIVE_MARKERS_PUBLIC
     bool getCheckState(EntryHandle handle, CheckState & check_state) const;
   
     INTERACTIVE_MARKERS_PUBLIC
     bool apply(InteractiveMarkerServer & server, const std::string & marker_name);
   
     INTERACTIVE_MARKERS_PUBLIC
     bool reApply(InteractiveMarkerServer & server);
   
     INTERACTIVE_MARKERS_PUBLIC
     bool getTitle(EntryHandle handle, std::string & title) const;
   
   private:
     struct EntryContext
     {
       std::string title;
       std::string command;
       uint8_t command_type;
       std::vector<EntryHandle> sub_entries;
       bool visible;
       CheckState check_state;
       FeedbackCallback feedback_cb;
     };
   
     // Call registered callback functions for given feedback command
     void processFeedback(
       const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr & feedback);
   
     // Create and push MenuEntry objects from handles_in onto
     // entries_out.  Calls itself recursively to add the entire menu
     // tree.
     bool pushMenuEntries(
       std::vector<EntryHandle> & handles_in,
       std::vector<visualization_msgs::msg::MenuEntry> & entries_out,
       EntryHandle parent_handle);
   
     visualization_msgs::msg::MenuEntry makeEntry(
       EntryContext & context, EntryHandle handle,
       EntryHandle parent_handle);
   
     // Insert without adding a top-level entry
     EntryHandle doInsert(
       const std::string & title,
       const uint8_t command_type,
       const std::string & command,
       const FeedbackCallback & feedback_cb);
   
     std::vector<EntryHandle> top_level_handles_;
   
     std::unordered_map<EntryHandle, EntryContext> entry_contexts_;
   
     EntryHandle current_handle_;
   
     std::set<std::string> managed_markers_;
   };  // class MenuHandler
   
   }  // namespace interactive_markers
   
   #endif  // INTERACTIVE_MARKERS__MENU_HANDLER_HPP_