/usr/include/interactive_markers/interactive_marker_client.h is in libinteractive-markers-dev 1.11.3-1build2.
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* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* 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 Willow Garage, Inc. 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 OWNER 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_MARKER_CLIENT
#define INTERACTIVE_MARKER_CLIENT
#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>
#include <boost/unordered_map.hpp>
#include <string>
#include <ros/subscriber.h>
#include <ros/node_handle.h>
#include <tf/tf.h>
#include <visualization_msgs/InteractiveMarkerInit.h>
#include <visualization_msgs/InteractiveMarkerUpdate.h>
#include "detail/state_machine.h"
namespace interactive_markers
{
class SingleClient;
/// Acts as a client to one or multiple Interactive Marker servers.
/// Handles topic subscription, error detection and tf transformations.
///
/// The output is an init message followed by a stream of updates
/// for each server. In case of an error (e.g. message loss, tf failure),
/// the connection to the sending server is reset.
///
/// All timestamped messages are being transformed into the target frame,
/// while for non-timestamped messages it is ensured that the necessary
/// tf transformation will be available.
class InteractiveMarkerClient : boost::noncopyable
{
public:
enum StatusT {
OK = 0,
WARN = 1,
ERROR = 2
};
typedef visualization_msgs::InteractiveMarkerUpdateConstPtr UpdateConstPtr;
typedef visualization_msgs::InteractiveMarkerInitConstPtr InitConstPtr;
typedef boost::function< void ( const UpdateConstPtr& ) > UpdateCallback;
typedef boost::function< void ( const InitConstPtr& ) > InitCallback;
typedef boost::function< void ( const std::string& ) > ResetCallback;
typedef boost::function< void ( StatusT, const std::string&, const std::string& ) > StatusCallback;
/// @param tf The tf transformer to use.
/// @param target_frame tf frame to transform timestamped messages into.
/// @param topic_ns The topic namespace (will subscribe to topic_ns/update, topic_ns/init)
InteractiveMarkerClient( tf::Transformer& tf,
const std::string& target_frame = "",
const std::string &topic_ns = "" );
/// Will cause a 'reset' call for all server ids
~InteractiveMarkerClient();
/// Subscribe to the topics topic_ns/update and topic_ns/init
void subscribe( std::string topic_ns );
/// Unsubscribe, clear queues & call reset callbacks
void shutdown();
/// Update tf info, call callbacks
void update();
/// Change the target frame and reset the connection
void setTargetFrame( std::string target_frame );
/// Set callback for init messages
void setInitCb( const InitCallback& cb );
/// Set callback for update messages
void setUpdateCb( const UpdateCallback& cb );
/// Set callback for resetting one server connection
void setResetCb( const ResetCallback& cb );
/// Set callback for status updates
void setStatusCb( const StatusCallback& cb );
void setEnableAutocompleteTransparency( bool enable ) { enable_autocomplete_transparency_ = enable;}
private:
// Process message from the init or update channel
template<class MsgConstPtrT>
void process( const MsgConstPtrT& msg );
ros::NodeHandle nh_;
enum StateT
{
IDLE,
INIT,
RUNNING
};
StateMachine<StateT> state_;
std::string topic_ns_;
ros::Subscriber update_sub_;
ros::Subscriber init_sub_;
// subscribe to the init channel
void subscribeInit();
// subscribe to the init channel
void subscribeUpdate();
void statusCb( StatusT status, const std::string& server_id, const std::string& msg );
typedef boost::shared_ptr<SingleClient> SingleClientPtr;
typedef boost::unordered_map<std::string, SingleClientPtr> M_SingleClient;
M_SingleClient publisher_contexts_;
tf::Transformer& tf_;
std::string target_frame_;
public:
// for internal usage
struct CbCollection
{
void initCb( const InitConstPtr& i ) const {
if (init_cb_) init_cb_( i ); }
void updateCb( const UpdateConstPtr& u ) const {
if (update_cb_) update_cb_( u ); }
void resetCb( const std::string& s ) const {
if (reset_cb_) reset_cb_(s); }
void statusCb( StatusT s, const std::string& id, const std::string& m ) const {
if (status_cb_) status_cb_(s,id,m); }
void setInitCb( InitCallback init_cb ) {
init_cb_ = init_cb;
}
void setUpdateCb( UpdateCallback update_cb ) {
update_cb_ = update_cb;
}
void setResetCb( ResetCallback reset_cb ) {
reset_cb_ = reset_cb;
}
void setStatusCb( StatusCallback status_cb ) {
status_cb_ = status_cb;
}
private:
InitCallback init_cb_;
UpdateCallback update_cb_;
ResetCallback reset_cb_;
StatusCallback status_cb_;
};
// handle init message
void processInit( const InitConstPtr& msg );
// handle update message
void processUpdate( const UpdateConstPtr& msg );
private:
CbCollection callbacks_;
// this is the real (external) status callback
StatusCallback status_cb_;
// this allows us to detect if a server died (in most cases)
int last_num_publishers_;
// if false, auto-completed markers will have alpha = 1.0
bool enable_autocomplete_transparency_;
};
}
#endif
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