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* Migrate MarkerArrayDisplay * Fix uncrustify * Extract common code in marker displays into marker_common * Add visual test * Add visual test for MarkerArray messages in MarkerDisplay * Implement review comments * [REMOVE BEFORE MERGE] Fix moved file includes
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rviz_default_plugins/include/rviz_default_plugins/displays/marker/marker_common.hpp
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| /* | ||
| * Copyright (c) 2008, Willow Garage, Inc. | ||
| * Copyright (c) 2018, Bosch Software Innovations GmbH. | ||
| * 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. | ||
| */ | ||
|
|
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| #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_COMMON_HPP_ | ||
| #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_COMMON_HPP_ | ||
|
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| #include <map> | ||
| #include <memory> | ||
| #include <mutex> | ||
| #include <set> | ||
| #include <string> | ||
| #include <vector> | ||
| #include <utility> | ||
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| #include <OgreSceneNode.h> | ||
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| #include "visualization_msgs/msg/marker.hpp" | ||
| #include "visualization_msgs/msg/marker_array.hpp" | ||
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| #include "rviz_common/properties/bool_property.hpp" | ||
| #include "rviz_common/properties/status_property.hpp" | ||
| #include "rviz_common/interaction/forwards.hpp" | ||
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| #include "rviz_default_plugins/visibility_control.hpp" | ||
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| namespace rviz_common | ||
| { | ||
| class Display; | ||
| class DisplayContext; | ||
| class QueueSizeProperty; | ||
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| namespace properties | ||
| { | ||
| class IntProperty; | ||
| } | ||
| } // namespace rviz_common | ||
|
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| using rviz_common::properties::StatusLevel; | ||
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| namespace rviz_default_plugins | ||
| { | ||
| namespace displays | ||
| { | ||
| class MarkerNamespace; | ||
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| namespace markers | ||
| { | ||
| class MarkerBase; | ||
| class MarkerSelectionHandler; | ||
| class MarkerFactory; | ||
| } | ||
|
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| typedef std::shared_ptr<markers::MarkerSelectionHandler> MarkerSelectionHandlerPtr; | ||
| typedef std::shared_ptr<markers::MarkerBase> MarkerBasePtr; | ||
| typedef std::pair<std::string, int32_t> MarkerID; | ||
|
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| /** | ||
| * \class MarkerCommon | ||
| * Common code shared by MarkerDisplay and MarkerArrayDisplay | ||
| */ | ||
| class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerCommon | ||
| { | ||
| public: | ||
| explicit MarkerCommon(rviz_common::Display * display); | ||
| ~MarkerCommon(); | ||
|
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| void initialize(rviz_common::DisplayContext * context, Ogre::SceneNode * scene_node); | ||
| void load(const rviz_common::Config & config); | ||
|
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| void update(float wall_dt, float ros_dt); | ||
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| void deleteMarker(MarkerID id); | ||
|
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| /** @brief Add a new message to the queue, will be drawn on the next update(). */ | ||
| void addMessage(visualization_msgs::msg::Marker::ConstSharedPtr marker); | ||
| void addMessage(visualization_msgs::msg::MarkerArray::ConstSharedPtr array); | ||
|
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| /** | ||
| * \brief Processes a marker message | ||
| * @param message The message to process | ||
| */ | ||
| void processMessage(visualization_msgs::msg::Marker::ConstSharedPtr message); | ||
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| /** | ||
| * \brief Removes all the markers | ||
| */ | ||
| void clearMarkers(); | ||
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| /** @brief Delete all known markers to this plugin, regardless of id or namespace **/ | ||
| void deleteAllMarkers(); | ||
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| void setMarkerStatus(MarkerID id, StatusLevel level, const std::string & text); | ||
| void deleteMarkerStatus(MarkerID id); | ||
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| private: | ||
| /** @brief Delete all the markers within the given namespace. */ | ||
| void deleteMarkersInNamespace(const std::string & ns); | ||
|
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| /** | ||
| * \brief Processes an "Add" marker message | ||
| * @param message The message to process | ||
| */ | ||
| void processAdd(visualization_msgs::msg::Marker::ConstSharedPtr message); | ||
| /** | ||
| * \brief Processes a "Delete" marker message | ||
| * @param message The message to process | ||
| */ | ||
| void processDelete(visualization_msgs::msg::Marker::ConstSharedPtr message); | ||
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| typedef std::vector<visualization_msgs::msg::Marker::ConstSharedPtr> V_MarkerMessage; | ||
| V_MarkerMessage takeSnapshotOfMessageQueue(); | ||
| void processNewMessages(const V_MarkerMessage & local_queue); | ||
| void removeExpiredMarkers(); | ||
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| void updateMarkersWithLockedFrame() const; | ||
| QHash<QString, MarkerNamespace *>::const_iterator getMarkerNamespace( | ||
| const visualization_msgs::msg::Marker::ConstSharedPtr & message); | ||
| MarkerBasePtr createOrGetOldMarker( | ||
| const visualization_msgs::msg::Marker::ConstSharedPtr & message); | ||
| MarkerBasePtr createMarker(const visualization_msgs::msg::Marker::ConstSharedPtr & message); | ||
| void configureMarker( | ||
| const visualization_msgs::msg::Marker::ConstSharedPtr & message, MarkerBasePtr & marker); | ||
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| typedef std::map<MarkerID, MarkerBasePtr> M_IDToMarker; | ||
| typedef std::set<MarkerBasePtr> S_MarkerBase; | ||
| M_IDToMarker markers_; ///< Map of marker id to the marker info structure | ||
| S_MarkerBase markers_with_expiration_; | ||
| S_MarkerBase frame_locked_markers_; | ||
| ///< Marker message queue. Messages are added to this as they are received, and then processed | ||
| ///< in our update() function | ||
| V_MarkerMessage message_queue_; | ||
| std::mutex queue_mutex_; | ||
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| typedef QHash<QString, MarkerNamespace *> M_Namespace; | ||
| M_Namespace namespaces_; | ||
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| rviz_common::properties::Property * namespaces_category_; | ||
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| typedef std::map<QString, bool> M_EnabledState; | ||
| M_EnabledState namespace_config_enabled_state_; | ||
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| std::unique_ptr<markers::MarkerFactory> marker_factory_; | ||
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| rviz_common::Display * display_; | ||
| rviz_common::DisplayContext * context_; | ||
| Ogre::SceneNode * scene_node_; | ||
|
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| friend class MarkerNamespace; | ||
| }; | ||
|
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| /** @brief Manager of a single marker namespace. Keeps a hash from | ||
| * marker IDs to MarkerBasePtr, and creates or destroys them when necessary. */ | ||
| class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerNamespace : public rviz_common::properties::BoolProperty | ||
| { | ||
| Q_OBJECT | ||
|
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| public: | ||
| MarkerNamespace( | ||
| const QString & name, | ||
| rviz_common::properties::Property * parent_property, | ||
| MarkerCommon * owner | ||
| ); | ||
| bool isEnabled() const {return getBool();} | ||
|
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| public Q_SLOTS: | ||
| void onEnableChanged(); | ||
|
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| private: | ||
| MarkerCommon * owner_; | ||
| }; | ||
|
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| } // namespace displays | ||
| } // namespace rviz_default_plugins | ||
|
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| #endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MARKER__MARKER_COMMON_HPP_ |
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