00001 /* 00002 * Copyright (c) 2008, 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 00030 #ifndef RVIZ_MARKER_DISPLAY_H 00031 #define RVIZ_MARKER_DISPLAY_H 00032 00033 #include <map> 00034 #include <set> 00035 00036 #include <boost/thread/mutex.hpp> 00037 #include <boost/shared_ptr.hpp> 00038 00039 #include <tf/message_filter.h> 00040 00041 #include <message_filters/subscriber.h> 00042 00043 #include <visualization_msgs/Marker.h> 00044 #include <visualization_msgs/MarkerArray.h> 00045 00046 #include "rviz/display.h" 00047 #include "rviz/properties/bool_property.h" 00048 #include "rviz/selection/forwards.h" 00049 00050 namespace Ogre 00051 { 00052 class SceneManager; 00053 class SceneNode; 00054 } 00055 00056 namespace rviz 00057 { 00058 class IntProperty; 00059 class MarkerBase; 00060 class MarkerNamespace; 00061 class MarkerSelectionHandler; 00062 class Object; 00063 class RosTopicProperty; 00064 00065 typedef boost::shared_ptr<MarkerSelectionHandler> MarkerSelectionHandlerPtr; 00066 typedef boost::shared_ptr<MarkerBase> MarkerBasePtr; 00067 typedef std::pair<std::string, int32_t> MarkerID; 00068 00075 class MarkerDisplay: public Display 00076 { 00077 Q_OBJECT 00078 public: 00079 MarkerDisplay(); 00080 virtual ~MarkerDisplay(); 00081 00082 virtual void onInitialize(); 00083 00084 virtual void update(float wall_dt, float ros_dt); 00085 00086 virtual void fixedFrameChanged(); 00087 virtual void reset(); 00088 00089 void deleteMarker(MarkerID id); 00090 00091 void setMarkerStatus(MarkerID id, StatusLevel level, const std::string& text); 00092 void deleteMarkerStatus(MarkerID id); 00093 00094 protected: 00095 virtual void onEnable(); 00096 virtual void onDisable(); 00097 00100 virtual void subscribe(); 00101 00104 virtual void unsubscribe(); 00105 00107 void incomingMarkerArray( const visualization_msgs::MarkerArray::ConstPtr& array ); 00108 00109 ros::Subscriber array_sub_; 00110 00111 RosTopicProperty* marker_topic_property_; 00112 IntProperty* queue_size_property_; 00113 00114 private Q_SLOTS: 00115 void updateQueueSize(); 00116 void updateTopic(); 00117 00118 private: 00120 void deleteMarkersInNamespace( const std::string& ns ); 00121 00125 void clearMarkers(); 00126 00131 void processMessage( const visualization_msgs::Marker::ConstPtr& message ); 00136 void processAdd( const visualization_msgs::Marker::ConstPtr& message ); 00141 void processDelete( const visualization_msgs::Marker::ConstPtr& message ); 00142 00146 void incomingMarker(const visualization_msgs::Marker::ConstPtr& marker); 00147 00148 void failedMarker(const visualization_msgs::Marker::ConstPtr& marker, tf::FilterFailureReason reason); 00149 00150 typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker; 00151 typedef std::set<MarkerBasePtr> S_MarkerBase; 00152 M_IDToMarker markers_; 00153 S_MarkerBase markers_with_expiration_; 00154 S_MarkerBase frame_locked_markers_; 00155 typedef std::vector<visualization_msgs::Marker::ConstPtr> V_MarkerMessage; 00156 V_MarkerMessage message_queue_; 00157 00158 boost::mutex queue_mutex_; 00159 00160 Ogre::SceneNode* scene_node_; 00161 00162 message_filters::Subscriber<visualization_msgs::Marker> sub_; 00163 tf::MessageFilter<visualization_msgs::Marker>* tf_filter_; 00164 00165 typedef QHash<QString, MarkerNamespace*> M_Namespace; 00166 M_Namespace namespaces_; 00167 00168 Property* namespaces_category_; 00169 00170 friend class MarkerNamespace; 00171 }; 00172 00175 class MarkerNamespace: public BoolProperty 00176 { 00177 Q_OBJECT 00178 public: 00179 MarkerNamespace( const QString& name, Property* parent_property, MarkerDisplay* owner ); 00180 bool isEnabled() const { return getBool(); } 00181 00182 public Q_SLOTS: 00183 void onEnableChanged(); 00184 00185 private: 00186 MarkerDisplay* owner_; 00187 }; 00188 00189 } // namespace rviz 00190 00191 #endif /* RVIZ_MARKER_DISPLAY_H */