/usr/include/interactive_markers/menu_handler.h is in libinteractive-markers-dev 1.11.1-2.
This file is owned by root:root, with mode 0o644.
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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_MENU_HANDLER
#define INTERACTIVE_MARKER_MENU_HANDLER
#include <visualization_msgs/MenuEntry.h>
#include <interactive_markers/interactive_marker_server.h>
#include <boost/function.hpp>
#include <boost/unordered_map.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::InteractiveMarkerFeedbackConstPtr FeedbackConstPtr;
typedef boost::function< void ( const FeedbackConstPtr& ) > FeedbackCallback;
enum CheckState {
NO_CHECKBOX,
CHECKED,
UNCHECKED
};
MenuHandler( );
/// Insert top-level entry with feedback function
EntryHandle insert( const std::string &title, const FeedbackCallback &feedback_cb );
/// Insert top-level entry with custom (client-side) command
EntryHandle insert( const std::string &title,
const uint8_t command_type = visualization_msgs::MenuEntry::FEEDBACK,
const std::string &command="" );
/// Insert second-level entry with feedback function
EntryHandle insert( EntryHandle parent, const std::string &title,
const FeedbackCallback &feedback_cb );
/// Insert second-level entry with custom (client-side) command
EntryHandle insert( EntryHandle parent, const std::string &title,
const uint8_t command_type = visualization_msgs::MenuEntry::FEEDBACK,
const std::string &command="" );
/// Specify if an entry should be visible or hidden
bool setVisible( EntryHandle handle, bool visible );
/// Specify if an entry is checked or can't be checked at all
bool setCheckState( EntryHandle handle, CheckState check_state );
/// Get the current state of an entry
/// @return true if the entry exists
bool getCheckState( EntryHandle handle, CheckState &check_state ) const;
/// Copy current menu state into the marker given by the specified name &
/// divert callback for MENU_SELECT feedback to this manager
bool apply( InteractiveMarkerServer &server, const std::string &marker_name );
/// Re-apply to all markers that this was applied to previously
bool reApply( InteractiveMarkerServer &server );
/// Get the title for the given menu entry
/// @return true if the entry exists
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::InteractiveMarkerFeedbackConstPtr &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::MenuEntry>& entries_out,
EntryHandle parent_handle );
visualization_msgs::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_;
boost::unordered_map<EntryHandle, EntryContext> entry_contexts_;
EntryHandle current_handle_;
std::set<std::string> managed_markers_;
};
}
#endif
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