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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.
 */


#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>

#include <tf/transform_broadcaster.h>
#include <tf/tf.h>

#include <math.h>

using namespace visualization_msgs;
using namespace interactive_markers;

boost::shared_ptr<InteractiveMarkerServer> server;
float marker_pos = 0;

MenuHandler menu_handler;

MenuHandler::EntryHandle h_first_entry;
MenuHandler::EntryHandle h_mode_last;


void enableCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  MenuHandler::EntryHandle handle = feedback->menu_entry_id;
  MenuHandler::CheckState state;
  menu_handler.getCheckState( handle, state );

  if ( state == MenuHandler::CHECKED )
  {
    menu_handler.setCheckState( handle, MenuHandler::UNCHECKED );
    ROS_INFO("Hiding first menu entry");
    menu_handler.setVisible( h_first_entry, false );
  }
  else
  {
    menu_handler.setCheckState( handle, MenuHandler::CHECKED );
    ROS_INFO("Showing first menu entry");
    menu_handler.setVisible( h_first_entry, true );
  }
  menu_handler.reApply( *server );
  ros::Duration(2.0).sleep();
  ROS_INFO("update");
  server->applyChanges();
}

void modeCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  menu_handler.setCheckState( h_mode_last, MenuHandler::UNCHECKED );
  h_mode_last = feedback->menu_entry_id;
  menu_handler.setCheckState( h_mode_last, MenuHandler::CHECKED );

  ROS_INFO("Switching to menu entry #%d", h_mode_last);

  menu_handler.reApply( *server );
  server->applyChanges();
}



Marker makeBox( InteractiveMarker &msg )
{
  Marker marker;

  marker.type = Marker::CUBE;
  marker.scale.x = msg.scale * 0.45;
  marker.scale.y = msg.scale * 0.45;
  marker.scale.z = msg.scale * 0.45;
  marker.color.r = 0.5;
  marker.color.g = 0.5;
  marker.color.b = 0.5;
  marker.color.a = 1.0;

  return marker;
}

InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
{
  InteractiveMarkerControl control;
  control.always_visible = true;
  control.markers.push_back( makeBox(msg) );
  msg.controls.push_back( control );

  return msg.controls.back();
}

InteractiveMarker makeEmptyMarker( bool dummyBox=true )
{
  InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_link";
  int_marker.pose.position.y = -3.0 * marker_pos++;;
  int_marker.scale = 1;

  return int_marker;
}

void makeMenuMarker( std::string name )
{
  InteractiveMarker int_marker = makeEmptyMarker();
  int_marker.name = name;

  InteractiveMarkerControl control;

  control.interaction_mode = InteractiveMarkerControl::BUTTON;
  control.always_visible = true;

  control.markers.push_back( makeBox( int_marker ) );
  int_marker.controls.push_back(control);

  server->insert( int_marker );
}

void deepCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  ROS_INFO("The deep sub-menu has been found.");
}

void initMenu()
{
  h_first_entry = menu_handler.insert( "First Entry" );
  MenuHandler::EntryHandle entry = menu_handler.insert( h_first_entry, "deep" );
  entry = menu_handler.insert( entry, "sub" );
  entry = menu_handler.insert( entry, "menu", &deepCb );
  
  menu_handler.setCheckState( menu_handler.insert( "Show First Entry", &enableCb ), MenuHandler::CHECKED );

  MenuHandler::EntryHandle sub_menu_handle = menu_handler.insert( "Switch" );

  for ( int i=0; i<5; i++ )
  {
    std::ostringstream s;
    s << "Mode " << i;
    h_mode_last = menu_handler.insert( sub_menu_handle, s.str(), &modeCb );
    menu_handler.setCheckState( h_mode_last, MenuHandler::UNCHECKED );
  }
  //check the very last entry
  menu_handler.setCheckState( h_mode_last, MenuHandler::CHECKED );
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "menu");

  server.reset( new InteractiveMarkerServer("menu","",false) );

  initMenu();

  makeMenuMarker( "marker1" );
  makeMenuMarker( "marker2" );

  menu_handler.apply( *server, "marker1" );
  menu_handler.apply( *server, "marker2" );
  server->applyChanges();

  ros::spin();

  server.reset();
}

源碼分析

#include <ros/ros.h>

#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>

#include <tf/transform_broadcaster.h>
#include <tf/tf.h>

#include <math.h>

using namespace visualization_msgs;
using namespace interactive_markers;

這次的頭文件包含要多一些，看名字就知道作用，還引入兩個命名空間。

boost::shared_ptr<InteractiveMarkerServer> server;
float marker_pos = 0;

MenuHandler menu_handler;

MenuHandler::EntryHandle h_first_entry;
MenuHandler::EntryHandle h_mode_last;

1 實例化InteractiveMarkerServer，使用shared_ptr可以使server在程序結束之后自動釋放所有資源，另外server還將有一些shared_ptr的成員函數。
2 后面實例化了EntryHandle ，上面那個還不知道是什么意思，誰看懂了告訴我MenuHandler menu_handler是怎么回事。

void enableCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  MenuHandler::EntryHandle handle = feedback->menu_entry_id;
  MenuHandler::CheckState state;
  menu_handler.getCheckState( handle, state );

  if ( state == MenuHandler::CHECKED )
  {
    menu_handler.setCheckState( handle, MenuHandler::UNCHECKED );
    ROS_INFO("Hiding first menu entry");
    menu_handler.setVisible( h_first_entry, false );
  }
  else
  {
    menu_handler.setCheckState( handle, MenuHandler::CHECKED );
    ROS_INFO("Showing first menu entry");
    menu_handler.setVisible( h_first_entry, true );
  }
  menu_handler.reApply( *server );
  ros::Duration(2.0).sleep();
  ROS_INFO("update");
  server->applyChanges();
}

這個是用來返回消息的函數。
我們看到第一句獲取了handle = feedback->menu_entry_id;然后獲取了handle的狀態，并存儲在state。這里的menu_handler應該就是菜單，解釋了之前的那個實例化。
下面是判斷有沒有被選擇。并且配置選擇狀態和是否顯示。
然后再次運行服務，ros運行2秒后sleep。然后顯示信息，服務器上傳改動。

void modeCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  menu_handler.setCheckState( h_mode_last, MenuHandler::UNCHECKED );
  h_mode_last = feedback->menu_entry_id;
  menu_handler.setCheckState( h_mode_last, MenuHandler::CHECKED );

  ROS_INFO("Switching to menu entry #%d", h_mode_last);

  menu_handler.reApply( *server );
  server->applyChanges();
}

這個也是用來負責顯示選擇的。

其實通過上面兩個可以看出，服務器堅挺到feedback,feedback中會包含選擇的信息。函數的作用是，把原來打鉤的地方顯示成沒有勾，再把該打的勾打上。
然后申請重新運行服務器，再讓服務器提交改變信息。

Marker makeBox( InteractiveMarker &msg )
{
  Marker marker;

  marker.type = Marker::CUBE;
  marker.scale.x = msg.scale * 0.45;
  marker.scale.y = msg.scale * 0.45;
  marker.scale.z = msg.scale * 0.45;
  marker.color.r = 0.5;
  marker.color.g = 0.5;
  marker.color.b = 0.5;
  marker.color.a = 1.0;

  return marker;
}

這個前面見過了，新建一個marker，是一個灰色方塊。

InteractiveMarkerControl& makeBoxControl( InteractiveMarker &msg )
{
  InteractiveMarkerControl control;
  control.always_visible = true;
  control.markers.push_back( makeBox(msg) );
  msg.controls.push_back( control );

  return msg.controls.back();
}

這個就是用來建立一個控制，把前面的marker添加在上面。

InteractiveMarker makeEmptyMarker( bool dummyBox=true )
{
  InteractiveMarker int_marker;
  int_marker.header.frame_id = "base_link";
  int_marker.pose.position.y = -3.0 * marker_pos++;;
  int_marker.scale = 1;

  return int_marker;
}

新建了一個可交互marker。

void makeMenuMarker( std::string name )
{
  InteractiveMarker int_marker = makeEmptyMarker();
  int_marker.name = name;

  InteractiveMarkerControl control;

  control.interaction_mode = InteractiveMarkerControl::BUTTON;
  control.always_visible = true;

  control.markers.push_back( makeBox( int_marker ) );
  int_marker.controls.push_back(control);

  server->insert( int_marker );
}

這里將可交互marker和灰框組裝了起來，我不明白之前的makeboxcontrol函數干嗎用了。

void deepCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
  ROS_INFO("The deep sub-menu has been found.");
}

這個明顯是后面用的，被選擇之后的處理函數，顯示一個信息。

void initMenu()
{
  h_first_entry = menu_handler.insert( "First Entry" );
  MenuHandler::EntryHandle entry = menu_handler.insert( h_first_entry, "deep" );
  entry = menu_handler.insert( entry, "sub" );
  entry = menu_handler.insert( entry, "menu", &deepCb );
  
  menu_handler.setCheckState( menu_handler.insert( "Show First Entry", &enableCb ), MenuHandler::CHECKED );

  MenuHandler::EntryHandle sub_menu_handle = menu_handler.insert( "Switch" );

  for ( int i=0; i<5; i++ )
  {
    std::ostringstream s;
    s << "Mode " << i;
    h_mode_last = menu_handler.insert( sub_menu_handle, s.str(), &modeCb );
    menu_handler.setCheckState( h_mode_last, MenuHandler::UNCHECKED );
  }
  //check the very last entry
  menu_handler.setCheckState( h_mode_last, MenuHandler::CHECKED );
}

前四句就做出來一個層層鑲套的菜單，然后在最后一個綁定了之前那個函數。

下面一句就是在菜單里添加一個新的欄目，并且開啟選擇框，原來cd是checkbox的意思。后面又新增加一個欄目，循環添加了很多選項。

后面就是主函數了：

int main(int argc, char** argv)
{
  ros::init(argc, argv, "menu");

  server.reset( new InteractiveMarkerServer("menu","",false) );

  initMenu();

  makeMenuMarker( "marker1" );
  makeMenuMarker( "marker2" );

  menu_handler.apply( *server, "marker1" );
  menu_handler.apply( *server, "marker2" );
  server->applyChanges();

  ros::spin();

  server.reset();
}

首先初始化ROS，然后初始化服務器。
初始化菜單，新建可交互方塊。
然后讓服務器更新變化。

好像上面那個makeboxcontrol那個函數壓根就沒用到。

三个男躁一个女,国精产品一区一手机的秘密,麦子交换系列最经典十句话,欧美国产综合欧美视频

RViz學習筆記（七） - 交互式marker：menu.cpp分析

RViz學習筆記（七） - 交互式marker：menu.cpp分析

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