interactive_marker_display.hpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * Copyright (c) 2019, Open Source Robotics Foundation, 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 copyright holder 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
// TODO(JafarAbdi): Remove this file once the lag issue is fixed upstream https://github.com/ros2/rviz/issues/548
// This file is copied from https://github.com/ros2/rviz, the only difference is the addition of the private members
// pnode_, private_executor_, and private_executor_thread_ to fix the lag in the motion planning display interactive
// marker cause by Rviz having only a single thread executor
 
#pragma once
 
#include <chrono>
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include <rclcpp/version.h>
 
#include <visualization_msgs/msg/interactive_marker.hpp>
#include <visualization_msgs/msg/interactive_marker_update.hpp>
#include <visualization_msgs/msg/interactive_marker_init.hpp>
 
#ifndef Q_MOC_RUN
#include <interactive_markers/interactive_marker_client.hpp>
#endif
 
#include <rviz_common/display.hpp>
 
#include <rviz_default_plugins/displays/interactive_markers/interactive_marker.hpp>
 
namespace rviz_common
{
class BoolProperty;
class Object;
}  // namespace rviz_common
 
namespace rviz_default_plugins
{
class InteractiveMarkerNamespaceProperty;
 
namespace displays
{
class MarkerBase;

class InteractiveMarkerDisplay : public rviz_common::Display
{
  Q_OBJECT
 
public:
  InteractiveMarkerDisplay();
  ~InteractiveMarkerDisplay() override
  {
    private_executor_->cancel();
    if (private_executor_thread_.joinable())
      private_executor_thread_.join();
    private_executor_.reset();
  }
 
  // Overrides from Display.
  // rviz_common 16.0.1 (Rolling) removed the deprecated (float, float) overload
  // in favor of (std::chrono::nanoseconds, std::chrono::nanoseconds); see
  // ros2/rviz#1533. Remove this branch when Kilted goes EOL.
  // For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
  // For Kilted and older
#else
  void update(float wall_dt, float ros_dt) override;
#endif
 
  void reset() override;
 
protected:
  // Overrides from Display
  void fixedFrameChanged() override;
 
  void onInitialize() override;
 
  void onEnable() override;
 
  void onDisable() override;
 
protected Q_SLOTS:
  void namespaceChanged();
  void updateShowDescriptions();
  void updateShowAxes();
  void updateShowVisualAids();
  void updateEnableTransparency();
  void publishFeedback(visualization_msgs::msg::InteractiveMarkerFeedback& feedback);
  void onStatusUpdate(rviz_common::properties::StatusProperty::Level level, const std::string& name,
                      const std::string& text);
 
private:
  void subscribe();

  void unsubscribe();

  void initializeCallback(const visualization_msgs::srv::GetInteractiveMarkers::Response::SharedPtr& /*msg*/);

  void updateCallback(const visualization_msgs::msg::InteractiveMarkerUpdate::ConstSharedPtr& msg);

  void resetCallback();

  void statusCallback(interactive_markers::InteractiveMarkerClient::Status /*status*/, const std::string& message);
 
  void updateMarkers(const std::vector<visualization_msgs::msg::InteractiveMarker>& markers);
 
  void updatePoses(const std::vector<visualization_msgs::msg::InteractiveMarkerPose>& marker_poses);

  void eraseAllMarkers();


  void eraseMarkers(const std::vector<std::string>& names);
 
  std::map<std::string, InteractiveMarker::SharedPtr> interactive_markers_map_;
 
  // Properties
  InteractiveMarkerNamespaceProperty* interactive_marker_namespace_property_;
  rviz_common::properties::BoolProperty* show_descriptions_property_;
  rviz_common::properties::BoolProperty* show_axes_property_;
  rviz_common::properties::BoolProperty* show_visual_aids_property_;
  rviz_common::properties::BoolProperty* enable_transparency_property_;
 
  std::unique_ptr<interactive_markers::InteractiveMarkerClient> interactive_marker_client_;
 
  std::shared_ptr<rclcpp::Node> pnode_;
  std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> private_executor_;
  std::thread private_executor_thread_;
};  // class InteractiveMarkerDisplay
 
}  // namespace displays
}  // namespace rviz_default_plugins