Enhancements in enums

[VictorLamoine]

Let's say I have a service to publish a marker with a given color and size.

My service would look like:

Pose where_to_draw
uint32 color
uint32 size
---

The service implementation needs to convert the unsigned int color to a rviz visual tool color; this can be done with

static_cast<rviz_visual_tools::colors>(req.color)

But this results in undefined behavior if req.color is not represented in the enum. A work-around would be to define something like KEEP_ME_AT_THE_END_ENUM_SIZE to be able to determine if color is in the allowed range. This only works for contingous enums starting from 0.

We would like to avoid a big switch case for each color.

Did you face this issue? How did you solve it? What do you think?

[davetcoleman]

I'm not sure if this answers your question, but my rviz_visual_tools::color type is a quick way to choose a color, but it is limiting to what colors you can choose from. For this reason, most of the publish functions also accept const std_msgs::ColorRGBA &color.

But if you must use an int, I have a function for that helpful for libraries such as OMPL:

 /** \brief Used by interfaces that do not directly depend on Rviz Visual Tools, such as OMPL */
colors intToRvizColor(std::size_t color);

[VictorLamoine]

Well it's been a long time but your answer didn't fall on deaf ears! https://gitlab.com/InstitutMaupertuis/ros_additive_manufacturing/merge_requests/28/diffs

Thank you for your help