/usr/include/interactive_markers/detail/single_client.h is in libinteractive-markers-dev 1.11.1-2.
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* Copyright (c) 2012, 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
*//*
* single_client.h
*
* Created on: Jul 17, 2012
* Author: gossow
*/
#ifndef SINGLE_CLIENT_H_
#define SINGLE_CLIENT_H_
#include <visualization_msgs/InteractiveMarkerInit.h>
#include <visualization_msgs/InteractiveMarkerUpdate.h>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/thread.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/function.hpp>
#include <boost/unordered_map.hpp>
#include <tf/tf.h>
#include <deque>
#include "message_context.h"
#include "state_machine.h"
#include "../interactive_marker_client.h"
namespace interactive_markers
{
class SingleClient
{
public:
SingleClient(
const std::string& server_id,
tf::Transformer& tf,
const std::string& target_frame,
const InteractiveMarkerClient::CbCollection& callbacks );
~SingleClient();
// Process message from the update channel
void process(const visualization_msgs::InteractiveMarkerUpdate::ConstPtr& msg, bool enable_autocomplete_transparency = true);
// Process message from the init channel
void process(const visualization_msgs::InteractiveMarkerInit::ConstPtr& msg, bool enable_autocomplete_transparency = true);
// true if INIT messages are not needed anymore
bool isInitialized();
// transform all messages with missing transforms
void update();
private:
// check if we can go from init state to normal operation
void checkInitFinished();
void checkKeepAlive();
enum StateT
{
INIT,
RECEIVING,
TF_ERROR
};
StateMachine<StateT> state_;
// updateTf implementation (for one queue)
void transformInitMsgs( );
void transformUpdateMsgs( );
void pushUpdates();
void errorReset( std::string error_msg );
// sequence number and time of first ever received update
uint64_t first_update_seq_num_;
// sequence number and time of last received update
uint64_t last_update_seq_num_;
ros::Time last_update_time_;
// true if the last outgoing update is too long ago
// and we've already sent a notification of that
bool update_time_ok_;
typedef MessageContext<visualization_msgs::InteractiveMarkerUpdate> UpdateMessageContext;
typedef MessageContext<visualization_msgs::InteractiveMarkerInit> InitMessageContext;
// Queue of Updates waiting for tf and numbering
typedef std::deque< UpdateMessageContext > M_UpdateMessageContext;
typedef std::deque< InitMessageContext > M_InitMessageContext;
// queue for update messages
M_UpdateMessageContext update_queue_;
// queue for init messages
M_InitMessageContext init_queue_;
tf::Transformer& tf_;
std::string target_frame_;
const InteractiveMarkerClient::CbCollection& callbacks_;
std::string server_id_;
bool warn_keepalive_;
};
}
#endif /* SINGLE_CLIENT_H_ */
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