menu

源码

/*
 * 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.
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 *       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
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#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();
}

源码分析

#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;

这次的头文件包含要多一些，看名字就知道作用，还引入两个命名空间。

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

MenuHandler menu_handler;

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

• 1 实例化InteractiveMarkerServer，使用shared_ptr可以使server在程序结束之后自动释放所有资源，另外server还将有一些shared_ptr的成员函数。
• 2 后面实例化了EntryHandle ，上面那个还不知道是什么意思，谁看懂了告诉我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();
}

这个是用来返回消息的函数。
我们看到第一句获取了handle = feedback->menu_entry_id;然后获取了handle的状态，并存储在state。这里的menu_handler应该就是菜单，解释了之前的那个实例化。
下面是判断有没有被选择。并且配置选择状态和是否显示。
然后再次运行服务，ros运行2秒后sleep。然后显示信息，服务器上传改动。

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();
}

这个也是用来负责显示选择的。

其实通过上面两个可以看出，服务器坚挺到feedback,feedback中会包含选择的信息。函数的作用是，把原来打钩的地方显示成没有勾，再把该打的勾打上。
然后申请重新运行服务器，再让服务器提交改变信息。

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;
}

这个前面见过了，新建一个marker，是一个灰色方块。

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();
}

这个就是用来建立一个控制，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;
}

新建了一个可交互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 );
}

这里将可交互marker和灰框组装了起来，我不明白之前的makeboxcontrol函数干吗用了。

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

这个明显是后面用的，被选择之后的处理函数，显示一个信息。

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 );
}

前四句就做出来一个层层镶套的菜单，然后在最后一个绑定了之前那个函数。

下面一句就是在菜单里添加一个新的栏目，并且开启选择框，原来cd是checkbox的意思。后面又新增加一个栏目，循环添加了很多选项。

后面就是主函数了：

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，然后初始化服务器。
初始化菜单，新建可交互方块。
然后让服务器更新变化。

好像上面那个makeboxcontrol那个函数压根就没用到。