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Merged
jacobperron merged 1 commit into from
Sep 13, 2019
Merged

Rename enums to avoid collisions with MSVC compiler defines #49

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16 changes: 8 additions & 8 deletions include/interactive_markers/interactive_marker_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,17 +83,17 @@ class InteractiveMarkerClient
public:
enum Status
{
DEBUG = 0,
INFO,
WARN,
ERROR
STATUS_DEBUG = 0,
STATUS_INFO,
STATUS_WARN,
STATUS_ERROR
};

enum State
{
IDLE,
INITIALIZE,
RUNNING
STATE_IDLE,
STATE_INITIALIZE,
STATE_RUNNING
};

typedef std::function<void (visualization_msgs::msg::InteractiveMarkerUpdate::SharedPtr)>
Expand Down Expand Up @@ -138,7 +138,7 @@ class InteractiveMarkerClient
client_id_(node_base_interface->get_fully_qualified_name()),
clock_(clock_interface->get_clock()),
logger_(logging_interface->get_logger()),
state_(IDLE),
state_(STATE_IDLE),
tf_buffer_core_(tf_buffer_core),
target_frame_(target_frame),
topic_namespace_(topic_namespace),
Expand Down
90 changes: 46 additions & 44 deletions src/interactive_marker_client.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ InteractiveMarkerClient::~InteractiveMarkerClient()

void InteractiveMarkerClient::connect(std::string topic_namespace)
{
changeState(IDLE);
changeState(STATE_IDLE);
topic_namespace_ = topic_namespace;

// Terminate any existing connection
Expand Down Expand Up @@ -90,16 +90,16 @@ void InteractiveMarkerClient::connect(std::string topic_namespace)
update_qos,
std::bind(&InteractiveMarkerClient::processUpdate, this, _1));
} catch (rclcpp::exceptions::InvalidNodeError & ex) {
updateStatus(ERROR, "Failed to connect: " + std::string(ex.what()));
updateStatus(STATUS_ERROR, "Failed to connect: " + std::string(ex.what()));
disconnect();
return;
} catch (rclcpp::exceptions::NameValidationError & ex) {
updateStatus(ERROR, "Failed to connect: " + std::string(ex.what()));
updateStatus(STATUS_ERROR, "Failed to connect: " + std::string(ex.what()));
disconnect();
return;
}

updateStatus(INFO, "Connected on namespace: " + topic_namespace_);
updateStatus(STATUS_INFO, "Connected on namespace: " + topic_namespace_);
}

void InteractiveMarkerClient::disconnect()
Expand Down Expand Up @@ -127,44 +127,44 @@ void InteractiveMarkerClient::update()
const bool server_ready = get_interactive_markers_client_->service_is_ready();

switch (state_) {
case IDLE:
case STATE_IDLE:
if (server_ready) {
changeState(INITIALIZE);
changeState(STATE_INITIALIZE);
}
break;

case INITIALIZE:
case STATE_INITIALIZE:
if (!server_ready) {
updateStatus(WARN, "Server not available during initialization, resetting");
changeState(IDLE);
updateStatus(STATUS_WARN, "Server not available during initialization, resetting");
changeState(STATE_IDLE);
break;
}
// If there's an unexpected error, reset
if (!transformInitialMessage()) {
changeState(IDLE);
changeState(STATE_IDLE);
break;
}
if (checkInitializeFinished()) {
changeState(RUNNING);
changeState(STATE_RUNNING);
}
break;

case RUNNING:
case STATE_RUNNING:
if (!server_ready) {
updateStatus(WARN, "Server not available while running, resetting");
changeState(IDLE);
updateStatus(STATUS_WARN, "Server not available while running, resetting");
changeState(STATE_IDLE);
break;
}
// If there's an unexpected error, reset
if (!transformUpdateMessages()) {
changeState(IDLE);
changeState(STATE_IDLE);
break;
}
pushUpdates();
break;

default:
updateStatus(ERROR, "Invalid state in update: " + std::to_string(getState()));
updateStatus(STATUS_ERROR, "Invalid state in update: " + std::to_string(getState()));
}
}

Expand All @@ -175,12 +175,12 @@ void InteractiveMarkerClient::setTargetFrame(std::string target_frame)
}

target_frame_ = target_frame;
updateStatus(INFO, "Target frame is now " + target_frame_);
updateStatus(STATUS_INFO, "Target frame is now " + target_frame_);

// Call reset for change to take effect
// This will cause interactive markers to be requested again from the server
// The additional request might be avoided by doing something else, but this is easier
changeState(IDLE);
changeState(STATE_IDLE);
}

void InteractiveMarkerClient::setInitializeCallback(const InitializeCallback & cb)
Expand All @@ -206,7 +206,7 @@ void InteractiveMarkerClient::setStatusCallback(const StatusCallback & cb)
void InteractiveMarkerClient::reset()
{
std::unique_lock<std::recursive_mutex> lock(mutex_);
state_ = IDLE;
state_ = STATE_IDLE;
first_update_ = true;
initial_response_msg_.reset();
update_queue_.clear();
Expand All @@ -218,14 +218,14 @@ void InteractiveMarkerClient::reset()
void InteractiveMarkerClient::requestInteractiveMarkers()
{
if (!get_interactive_markers_client_) {
updateStatus(ERROR, "Interactive markers requested when client is disconnected");
updateStatus(STATUS_ERROR, "Interactive markers requested when client is disconnected");
return;
}
if (!get_interactive_markers_client_->wait_for_service(std::chrono::seconds(1))) {
updateStatus(WARN, "Service is not ready during request for interactive markers");
updateStatus(STATUS_WARN, "Service is not ready during request for interactive markers");
return;
}
updateStatus(INFO, "Sending request for interactive markers");
updateStatus(STATUS_INFO, "Sending request for interactive markers");

auto callback = std::bind(&InteractiveMarkerClient::processInitialMessage, this, _1);
auto request = std::make_shared<visualization_msgs::srv::GetInteractiveMarkers::Request>();
Expand All @@ -238,7 +238,7 @@ void InteractiveMarkerClient::requestInteractiveMarkers()
void InteractiveMarkerClient::processInitialMessage(
rclcpp::Client<visualization_msgs::srv::GetInteractiveMarkers>::SharedFuture future)
{
updateStatus(INFO, "Service response received for initialization");
updateStatus(STATUS_INFO, "Service response received for initialization");
auto response = future.get();
{
std::unique_lock<std::recursive_mutex> lock(mutex_);
Expand All @@ -263,20 +263,21 @@ void InteractiveMarkerClient::processUpdate(
std::ostringstream oss;
oss << "Update sequence number is out of order. " << last_update_sequence_number_ + 1 <<
" (expected) vs. " << msg->seq_num << " (received)";
updateStatus(WARN, oss.str());
// Change state to IDLE to cause reset
changeState(IDLE);
updateStatus(STATUS_WARN, oss.str());
// Change state to STATE_IDLE to cause reset
changeState(STATE_IDLE);
return;
}

updateStatus(DEBUG, "Received update with sequence number " + std::to_string(msg->seq_num));
updateStatus(
STATUS_DEBUG, "Received update with sequence number " + std::to_string(msg->seq_num));

first_update_ = false;
last_update_sequence_number_ = msg->seq_num;

if (update_queue_.size() > MAX_UPDATE_QUEUE_SIZE) {
updateStatus(
WARN,
STATUS_WARN,
"Update queue too large. Erasing message with sequence number " +
std::to_string(update_queue_.begin()->msg->seq_num));
update_queue_.pop_back();
Expand All @@ -299,7 +300,7 @@ bool InteractiveMarkerClient::transformInitialMessage()
} catch (const exceptions::TransformError & e) {
std::ostringstream oss;
oss << "Resetting due to transform error: " << e.what();
updateStatus(ERROR, oss.str());
updateStatus(STATUS_ERROR, oss.str());
return false;
}

Expand All @@ -315,7 +316,7 @@ bool InteractiveMarkerClient::transformUpdateMessages()
} catch (const exceptions::TransformError & e) {
std::ostringstream oss;
oss << "Resetting due to transform error: " << e.what();
updateStatus(ERROR, oss.str());
updateStatus(STATUS_ERROR, oss.str());
return false;
}
}
Expand All @@ -329,7 +330,7 @@ bool InteractiveMarkerClient::checkInitializeFinished()
// We haven't received a response yet, check for timeout
if ((clock_->now() - request_time_) > request_timeout_) {
updateStatus(
WARN, "Did not receive response with interactive markers, resending request...");
STATUS_WARN, "Did not receive response with interactive markers, resending request...");
requestInteractiveMarkers();
}

Expand All @@ -338,14 +339,14 @@ bool InteractiveMarkerClient::checkInitializeFinished()

const uint64_t & response_sequence_number = initial_response_msg_->msg->sequence_number;
if (!initial_response_msg_->isReady()) {
updateStatus(DEBUG, "Initialization: Waiting for TF info");
updateStatus(STATUS_DEBUG, "Initialization: Waiting for TF info");
return false;
}

// Prune old update messages
while (!update_queue_.empty() && update_queue_.back().msg->seq_num <= response_sequence_number) {
updateStatus(
DEBUG,
STATUS_DEBUG,
"Omitting update with sequence number " + std::to_string(update_queue_.back().msg->seq_num));
update_queue_.pop_back();
}
Expand All @@ -354,7 +355,7 @@ bool InteractiveMarkerClient::checkInitializeFinished()
initialize_callback_(initial_response_msg_->msg);
}

updateStatus(DEBUG, "Initialized");
updateStatus(STATUS_DEBUG, "Initialized");

return true;
}
Expand All @@ -364,7 +365,8 @@ void InteractiveMarkerClient::pushUpdates()
std::unique_lock<std::recursive_mutex> lock(mutex_);
while (!update_queue_.empty() && update_queue_.back().isReady()) {
visualization_msgs::msg::InteractiveMarkerUpdate::SharedPtr msg = update_queue_.back().msg;
updateStatus(DEBUG, "Pushing update with sequence number " + std::to_string(msg->seq_num));
updateStatus(
STATUS_DEBUG, "Pushing update with sequence number " + std::to_string(msg->seq_num));
if (update_callback_) {
update_callback_(msg);
}
Expand All @@ -378,22 +380,22 @@ void InteractiveMarkerClient::changeState(const State & new_state)
return;
}

updateStatus(DEBUG, "Change state to: " + std::to_string(new_state));
updateStatus(STATUS_DEBUG, "Change state to: " + std::to_string(new_state));

switch (new_state) {
case IDLE:
case STATE_IDLE:
reset();
break;

case INITIALIZE:
case STATE_INITIALIZE:
requestInteractiveMarkers();
break;

case RUNNING:
case STATE_RUNNING:
break;

default:
updateStatus(ERROR, "Invalid state when changing state: " + std::to_string(new_state));
updateStatus(STATUS_ERROR, "Invalid state when changing state: " + std::to_string(new_state));
return;
}
state_ = new_state;
Expand All @@ -402,16 +404,16 @@ void InteractiveMarkerClient::changeState(const State & new_state)
void InteractiveMarkerClient::updateStatus(const Status status, const std::string & msg)
{
switch (status) {
case DEBUG:
case STATUS_DEBUG:
RCLCPP_DEBUG(logger_, "%s", msg.c_str());
break;
case INFO:
case STATUS_INFO:
RCLCPP_INFO(logger_, "%s", msg.c_str());
break;
case WARN:
case STATUS_WARN:
RCLCPP_WARN(logger_, "%s", msg.c_str());
break;
case ERROR:
case STATUS_ERROR:
RCLCPP_ERROR(logger_, "%s", msg.c_str());
break;
}
Expand Down
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