visualization_manager.h

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/*
 * Copyright (c) 2012, 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.
 */
 
 
#ifndef RVIZ_VISUALIZATION_MANAGER_H_
#define RVIZ_VISUALIZATION_MANAGER_H_
 
#include <deque>
 
#include <ros/time.h>
#include <tf2_ros/transform_listener.h>
 
#include <rviz/bit_allocator.h>
#include <rviz/config.h>
#include <rviz/display_context.h>
#include <rviz/rviz_export.h>
 
class QKeyEvent;
class QTimer;
 
namespace Ogre
{
class Root;
class SceneManager;
class SceneNode;
class Light;
} // namespace Ogre
 
namespace ros
{
class CallbackQueueInterface;
}
 
namespace rviz
{
class ColorProperty;
class Display;
class DisplayFactory;
class DisplayGroup;
class FrameManager;
class Property;
class BoolProperty;
class IntProperty;
class PropertyTreeModel;
class RenderPanel;
class SelectionManager;
class StatusList;
class TfFrameProperty;
class ViewportMouseEvent;
class WindowManagerInterface;
class Tool;
class OgreRenderQueueClearer;
 
class VisualizationManagerPrivate;
 
class RVIZ_EXPORT VisualizationManager : public DisplayContext
{
  Q_OBJECT
public:
  explicit VisualizationManager(
      RenderPanel* render_panel,
      WindowManagerInterface* wm = nullptr,
      std::shared_ptr<tf2_ros::Buffer> tf_buffer = std::shared_ptr<tf2_ros::Buffer>(),
      std::shared_ptr<tf2_ros::TransformListener> tf_listener =
          std::shared_ptr<tf2_ros::TransformListener>());
 
  ~VisualizationManager() override;
 
  void initialize();
 
  void startUpdate();
 
  /*
   * \brief Stop the update timers. No Displays will be updated and no ROS
   *        callbacks will be called during this period.
   */
  void stopUpdate();
 
  Display* createDisplay(const QString& class_lookup_name, const QString& name, bool enabled);
 
  void addDisplay(Display* display, bool enabled);
 
  void removeAllDisplays();
 
  void load(const Config& config);
 
  void save(Config config) const;
 
  QString getFixedFrame() const override;
 
  void setFixedFrame(const QString& frame);
 
  std::shared_ptr<tf2_ros::Buffer> getTF2BufferPtr() const;
 
  Ogre::SceneManager* getSceneManager() const override
  {
    return scene_manager_;
  }
 
  RenderPanel* getRenderPanel() const
  {
    return render_panel_;
  }
 
  double getWallClock();
 
  double getROSTime();
 
  double getWallClockElapsed();
 
  double getROSTimeElapsed();
 
  void handleChar(QKeyEvent* event, RenderPanel* panel) override;
 
  void handleMouseEvent(const ViewportMouseEvent& event) override;
 
  void resetTime();
 
  SelectionManager* getSelectionManager() const override
  {
    return selection_manager_;
  }
 
  ToolManager* getToolManager() const override
  {
    return tool_manager_;
  }
 
  ViewManager* getViewManager() const override
  {
    return view_manager_;
  }
 
  void lockRender();
 
  void unlockRender();
 
  void queueRender() override;
 
  WindowManagerInterface* getWindowManager() const override
  {
    return window_manager_;
  }
 
  ros::CallbackQueueInterface* getUpdateQueue() override;
 
  ros::CallbackQueueInterface* getThreadedQueue() override;
 
  FrameManager* getFrameManager() const override
  {
    return frame_manager_;
  }
 
  uint64_t getFrameCount() const override
  {
    return frame_count_;
  }
 
  void notifyConfigChanged();
 
  DisplayFactory* getDisplayFactory() const override
  {
    return display_factory_;
  }
 
  PropertyTreeModel* getDisplayTreeModel() const
  {
    return display_property_tree_model_;
  }
 
  void emitStatusUpdate(const QString& message);
 
  DisplayGroup* getRootDisplayGroup() const override
  {
    return root_display_group_;
  }
 
  uint32_t getDefaultVisibilityBit() const override
  {
    return default_visibility_bit_;
  }
 
  BitAllocator* visibilityBits() override
  {
    return &visibility_bit_allocator_;
  }
 
  void setStatus(const QString& message) override;
 
  virtual void setHelpPath(const QString& help_path)
  {
    help_path_ = help_path;
  }
  virtual QString getHelpPath() const
  {
    return help_path_;
  }
 
Q_SIGNALS:
 
  void preUpdate();
 
  void configChanged();
 
  void statusUpdate(const QString& message);
 
  void escapePressed();
 
protected Q_SLOTS:
  void onUpdate();
 
  void onToolChanged(Tool* /*unused*/);
 
protected:
  void updateTime();
  void updateFrames();
 
  void createColorMaterials();
 
  void threadedQueueThreadFunc();
 
  Ogre::Root* ogre_root_;             
  Ogre::SceneManager* scene_manager_; 
 
  QTimer* update_timer_; 
  ros::Time last_update_ros_time_; 
  ros::WallTime last_update_wall_time_;
 
  volatile bool shutting_down_;
 
  PropertyTreeModel* display_property_tree_model_;
  DisplayGroup* root_display_group_;
 
  ToolManager* tool_manager_;
  ViewManager* view_manager_;
 
  Property* global_options_;
  TfFrameProperty* fixed_frame_property_; 
  StatusList* global_status_;
  IntProperty* fps_property_;
  BoolProperty* default_light_enabled_property_;
 
  RenderPanel* render_panel_;
 
  ros::WallTime wall_clock_begin_;
  ros::Time ros_time_begin_;
  ros::WallDuration wall_clock_elapsed_;
  ros::Duration ros_time_elapsed_;
 
  ColorProperty* background_color_property_;
 
  float time_update_timer_;
  float frame_update_timer_;
 
  SelectionManager* selection_manager_;
 
  uint32_t render_requested_;
  uint64_t frame_count_;
 
  WindowManagerInterface* window_manager_;
 
  FrameManager* frame_manager_;
 
  OgreRenderQueueClearer* ogre_render_queue_clearer_;
 
private Q_SLOTS:
  void updateFixedFrame();
  void updateBackgroundColor();
  void updateFps();
  void updateDefaultLightVisible();
 
private:
  DisplayFactory* display_factory_;
  VisualizationManagerPrivate* private_;
  uint32_t default_visibility_bit_;
  BitAllocator visibility_bit_allocator_;
  QString help_path_;
  Ogre::Light* directional_light_;
};
 
} // namespace rviz
 
#endif /* RVIZ_VISUALIZATION_MANAGER_H_ */