rviz: property.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_PROPERTY_H
00031 #define RVIZ_PROPERTY_H
00032 
00033 #include "rviz/helpers/color.h"
00034 #include "forwards.h"
00035 #include "rviz/status_level.h"
00036 
00037 #include <boost/function.hpp>
00038 #include <boost/signal.hpp>
00039 #include <boost/enable_shared_from_this.hpp>
00040 #include <boost/thread/mutex.hpp>
00041 
00042 #include <ros/console.h>
00043 #include <ros/assert.h>
00044 
00045 #include <wx/string.h>
00046 #include <wx/colour.h>
00047 
00048 #include <OGRE/OgreVector3.h>
00049 #include <OGRE/OgreQuaternion.h>
00050 
00051 #include <string>
00052 #include <vector>
00053 
00054 class wxConfigBase;
00055 class wxPropertyGrid;
00056 class wxPGProperty;
00057 class wxColour;
00058 class wxPGChoices;
00059 
00060 namespace rviz
00061 {
00062 
00063 class CategoryProperty;
00064 class VisualizationManager;
00065 
00066 void setPropertyHelpText(wxPGProperty* property, const std::string& text);
00067 void setPropertyToColors(wxPGProperty* property, const wxColour& fg_color, const wxColour& bg_color, uint32_t column = 0);
00068 void setPropertyToError(wxPGProperty* property, uint32_t column = 0);
00069 void setPropertyToWarn(wxPGProperty* property, uint32_t column = 0);
00070 void setPropertyToOK(wxPGProperty* property, uint32_t column = 0);
00071 void setPropertyToDisabled(wxPGProperty* property, uint32_t column = 0);
00072 void setPropertyName(wxPGProperty* property, const wxString& name);
00073 
00077 class PropertyBase : public boost::enable_shared_from_this<PropertyBase>
00078 {
00079 public:
00080   typedef boost::signal< void (const PropertyBasePtr&) > ChangedSignal;
00081 
00082   PropertyBase();
00083   virtual ~PropertyBase();
00084   virtual void writeToGrid() = 0;
00085   virtual void readFromGrid() = 0;
00086   virtual void saveToConfig( wxConfigBase* config ) = 0;
00087   virtual void loadFromConfig( wxConfigBase* config ) = 0;
00088 
00089   virtual std::string getName() = 0;
00090   virtual std::string getPrefix() = 0;
00091   virtual void setPrefix(const std::string& prefix) = 0;
00092   virtual bool getSave() = 0;
00093 
00094   virtual void* getUserData() = 0;
00095 
00096   virtual wxPGProperty* getPGProperty() = 0;
00097 
00098   virtual CategoryPropertyWPtr getParent() = 0;
00099 
00100   virtual void addLegacyName(const std::string& name) = 0;
00101 
00102   virtual void setPGClientData();
00103   virtual void setPropertyGrid(wxPropertyGrid* grid);
00104 
00105   virtual void setUserData(void* user_data) = 0;
00106 
00107   virtual void reset()
00108   {
00109     grid_ = 0;
00110     property_ = 0;
00111   }
00112 
00113   virtual void show();
00114   virtual void hide();
00115 
00116   virtual bool isSelected();
00117 
00122   void addChangedListener( const ChangedSignal::slot_type& slot )
00123   {
00124     changed_.connect( slot );
00125   }
00126 
00130   void changed()
00131   {
00132     changed_( shared_from_this() );
00133   }
00134 
00135 protected:
00136   wxPropertyGrid* grid_;
00137   wxPGProperty* property_;
00138 
00139   ChangedSignal changed_;
00140 };
00141 
00142 class StatusProperty : public PropertyBase
00143 {
00144 public:
00145   StatusProperty(const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, void* user_data);
00146   ~StatusProperty();
00147 
00148   virtual void writeToGrid();
00149   virtual void readFromGrid() {}
00150   virtual void saveToConfig(wxConfigBase* config) {}
00151   virtual void loadFromConfig(wxConfigBase* config) {}
00152 
00153   virtual std::string getName() { return (const char*)name_.char_str(); }
00154   virtual std::string getPrefix() { return (const char*)name_.char_str(); }
00155   virtual void setPrefix(const std::string& prefix);
00156   virtual bool getSave() { return false; }
00157   virtual void* getUserData() { return user_data_; }
00158 
00159   virtual CategoryPropertyWPtr getParent() { return parent_; }
00160 
00161   virtual wxPGProperty* getPGProperty() { return 0; }
00162   virtual void addLegacyName(const std::string& name) {}
00163 
00164   virtual void setPGClientData();
00165 
00166   virtual void setUserData(void* user_data) { user_data_ = user_data; }
00167 
00168   void setStatus(StatusLevel status, const std::string& name, const std::string& text);
00169   void deleteStatus(const std::string& name);
00170   void clear();
00171 
00172   void disable();
00173   void enable();
00174 
00175   StatusLevel getTopLevelStatus();
00176 
00177 private:
00178   void updateTopLevelStatus();
00179 
00180   wxString name_;
00181   wxString prefix_;
00182   CategoryPropertyWPtr parent_;
00183   void* user_data_;
00184 
00185   wxPGProperty* top_property_;
00186 
00187   struct Status
00188   {
00189     Status()
00190     : level(status_levels::Ok)
00191     , property(0)
00192     , kill(false)
00193     {}
00194 
00195     StatusLevel level;
00196     wxString name;
00197     wxString text;
00198     wxPGProperty* property;
00199     bool kill;
00200   };
00201   typedef std::map<std::string, Status> M_StringToStatus;
00202   boost::mutex status_mutex_;
00203   M_StringToStatus statuses_;
00204 
00205   bool enabled_;
00206   bool prefix_changed_;
00207 
00208   StatusLevel top_status_;
00209 };
00210 
00220 template<typename T>
00221 class Property : public PropertyBase
00222 {
00223 public:
00224   typedef boost::function<T (void)> Getter;
00225   typedef boost::function<void (const T&)> Setter;
00226 
00227 public:
00239   Property( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00240   : name_( wxString::FromAscii( name.c_str() ) )
00241   , prefix_( wxString::FromAscii( prefix.c_str() ) )
00242   , parent_( parent )
00243   , save_( true )
00244   , user_data_( 0 )
00245   , getter_( getter )
00246   , setter_( setter )
00247   {
00248     if ( setter_ == 0 )
00249     {
00250       save_ = false;
00251     }
00252   }
00253 
00257   virtual ~Property()
00258   {
00259   }
00260 
00265   T get() { return getter_(); }
00270   void set( const T& val )
00271   {
00272     setter_( val );
00273 
00274     changed();
00275   }
00276 
00277   bool hasGetter() { return getter_ != 0; }
00278   bool hasSetter() { return setter_ != 0; }
00279 
00284   void setSave( bool save ) { save_ = save; }
00288   bool getSave() { return save_; }
00289 
00294   virtual std::string getName() { return (const char*)name_.mb_str(); }
00299   virtual std::string getPrefix() { return (const char*)prefix_.mb_str(); }
00300 
00305   virtual wxPGProperty* getPGProperty()
00306   {
00307     return property_;
00308   }
00309 
00313   void* getUserData() { return user_data_; }
00318   void setUserData(void* user_data)
00319   {
00320     user_data_ = user_data;
00321   }
00322 
00323   virtual CategoryPropertyWPtr getParent() { return parent_; }
00324 
00325   virtual void addLegacyName(const std::string& name)
00326   {
00327     legacy_names_.push_back(wxString::FromAscii(name.c_str()));
00328   }
00329 
00330   virtual void setToError()
00331   {
00332     setPropertyToError(property_);
00333   }
00334 
00335   virtual void setToWarn()
00336   {
00337     setPropertyToWarn(property_);
00338   }
00339 
00340   virtual void setToOK()
00341   {
00342     setPropertyToOK(property_);
00343   }
00344 
00345   virtual void setToDisabled()
00346   {
00347     setPropertyToDisabled(property_);
00348   }
00349 
00350   virtual void setHelpText(const std::string& text)
00351   {
00352     help_text_ = text;
00353     changed();
00354   }
00355 
00356   virtual void setPrefix(const std::string& prefix)
00357   {
00358     prefix_ = wxString::FromAscii(prefix.c_str());
00359     setPropertyName(property_, prefix_ + name_);
00360   }
00361 
00362 protected:
00363   wxString name_;
00364   wxString prefix_;
00365   CategoryPropertyWPtr parent_;
00366 
00367   bool save_;
00368 
00369   void* user_data_;
00370 
00371   typedef std::vector<wxString> V_wxString;
00372   V_wxString legacy_names_;
00373 
00374   std::string help_text_;
00375 
00376 private:
00377   Getter getter_;
00378   Setter setter_;
00379 };
00380 
00381 class BoolProperty : public Property<bool>
00382 {
00383 public:
00384   BoolProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00385   : Property<bool>( name, prefix, parent, getter, setter )
00386   {
00387   }
00388 
00389   virtual void writeToGrid();
00390   virtual void readFromGrid();
00391   virtual void saveToConfig( wxConfigBase* config );
00392   virtual void loadFromConfig( wxConfigBase* config );
00393 };
00394 
00395 class IntProperty : public Property<int>
00396 {
00397 public:
00398   IntProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00399   : Property<int>( name, prefix, parent, getter, setter )
00400   {
00401   }
00402 
00403   void setMin( int min );
00404   void setMax( int max );
00405 
00406   virtual void writeToGrid();
00407   virtual void readFromGrid();
00408   virtual void saveToConfig( wxConfigBase* config );
00409   virtual void loadFromConfig( wxConfigBase* config );
00410 };
00411 
00412 class FloatProperty : public Property<float>
00413 {
00414 public:
00415   FloatProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00416   : Property<float>( name, prefix, parent, getter, setter )
00417   {
00418   }
00419 
00420   void setMin( float min );
00421   void setMax( float max );
00422 
00423   virtual void writeToGrid();
00424   virtual void readFromGrid();
00425   virtual void saveToConfig( wxConfigBase* config );
00426   virtual void loadFromConfig( wxConfigBase* config );
00427 };
00428 
00429 class DoubleProperty : public Property<double>
00430 {
00431 public:
00432   DoubleProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00433   : Property<double>( name, prefix, parent, getter, setter )
00434   {
00435   }
00436 
00437   void setMin( double min );
00438   void setMax( double max );
00439 
00440   virtual void writeToGrid();
00441   virtual void readFromGrid();
00442   virtual void saveToConfig( wxConfigBase* config );
00443   virtual void loadFromConfig( wxConfigBase* config );
00444 };
00445 
00446 class StringProperty : public Property<std::string>
00447 {
00448 public:
00449   StringProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00450   : Property<std::string>( name, prefix, parent, getter, setter )
00451   {
00452   }
00453 
00454   virtual void writeToGrid();
00455   virtual void readFromGrid();
00456   virtual void saveToConfig( wxConfigBase* config );
00457   virtual void loadFromConfig( wxConfigBase* config );
00458 };
00459 
00460 class ROSTopicProperty;
00461 class ROSTopicStringProperty : public StringProperty
00462 {
00463 public:
00464   ROSTopicStringProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00465   : StringProperty( name, prefix, parent, getter, setter )
00466   {
00467   }
00468 
00469   void setMessageType(const std::string& message_type);
00470 
00471   virtual void writeToGrid();
00472 
00473 private:
00474   std::string message_type_;
00475   ROSTopicProperty* ros_topic_property_;
00476 };
00477 
00478 class ColorProperty : public Property<Color>
00479 {
00480 public:
00481   ColorProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00482   : Property<Color>( name, prefix, parent, getter, setter )
00483   {
00484   }
00485 
00486   virtual void writeToGrid();
00487   virtual void readFromGrid();
00488   virtual void saveToConfig( wxConfigBase* config );
00489   virtual void loadFromConfig( wxConfigBase* config );
00490 };
00491 
00492 class EnumProperty : public Property<int>
00493 {
00494 public:
00495   EnumProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter );
00496 
00497   void addOption( const std::string& name, int value );
00498   void clear ();
00499 
00500   virtual void writeToGrid();
00501   virtual void readFromGrid();
00502   virtual void saveToConfig( wxConfigBase* config );
00503   virtual void loadFromConfig( wxConfigBase* config );
00504 
00505 private:
00506   boost::shared_ptr<wxPGChoices> choices_;
00507 
00508   boost::mutex mutex_;
00509 };
00510 
00511 class EditEnumProperty : public Property<std::string>
00512 {
00513 public:
00514   EditEnumProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter );
00515 
00516   void addOption( const std::string& name );
00517   void clear ();
00518 
00519   void setOptionCallback(const EditEnumOptionCallback& cb);
00520 
00521   virtual void writeToGrid();
00522   virtual void readFromGrid();
00523   virtual void saveToConfig( wxConfigBase* config );
00524   virtual void loadFromConfig( wxConfigBase* config );
00525 
00526 private:
00527   boost::shared_ptr<wxPGChoices> choices_;
00528   EditEnumOptionCallback option_cb_;
00529   EditEnumPGProperty* ee_property_;
00530 
00531   boost::mutex mutex_;
00532 };
00533 
00534 class TFFramePGProperty;
00535 class TFFrameProperty : public EditEnumProperty
00536 {
00537 public:
00538   TFFrameProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00539   : EditEnumProperty( name, prefix, parent, getter, setter )
00540   {
00541   }
00542 
00543   virtual void writeToGrid();
00544 
00545 private:
00546   TFFramePGProperty* tf_frame_property_;
00547 };
00548 
00549 
00550 class CategoryProperty : public Property<bool>
00551 {
00552 public:
00553   CategoryProperty( const std::string& label, const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter, bool checkbox )
00554   : Property<bool>( name, prefix, parent, getter, setter )
00555   , label_(wxString::FromAscii(label.c_str()))
00556   , checkbox_(checkbox)
00557   {
00558   }
00559 
00560   void setLabel( const std::string& label );
00561   void expand();
00562   void collapse();
00563 
00564   virtual void writeToGrid();
00565   virtual void readFromGrid();
00566   virtual void saveToConfig( wxConfigBase* config );
00567   virtual void loadFromConfig( wxConfigBase* config );
00568 
00569   virtual void setToError();
00570   virtual void setToWarn();
00571   virtual void setToOK();
00572   virtual void setToDisabled();
00573 
00574 private:
00575   wxString label_;
00576   bool checkbox_;
00577 };
00578 
00579 class Vector3Property : public Property<Ogre::Vector3>
00580 {
00581 public:
00582   Vector3Property( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00583   : Property<Ogre::Vector3>( name, prefix, parent, getter, setter )
00584   , composed_parent_( NULL )
00585   , x_( NULL )
00586   , y_( NULL )
00587   , z_( NULL )
00588   {
00589   }
00590 
00591   virtual ~Vector3Property();
00592 
00593   virtual void writeToGrid();
00594   virtual void readFromGrid();
00595   virtual void saveToConfig( wxConfigBase* config );
00596   virtual void loadFromConfig( wxConfigBase* config );
00597   virtual void setPGClientData();
00598   virtual void reset();
00599   virtual void show();
00600   virtual void hide();
00601   virtual void setPrefix(const std::string& prefix);
00602 
00603   virtual void setToError()
00604   {
00605     setPropertyToError(composed_parent_);
00606     setPropertyToError(x_);
00607     setPropertyToError(y_);
00608     setPropertyToError(z_);
00609   }
00610 
00611   virtual void setToWarn()
00612   {
00613     setPropertyToWarn(composed_parent_);
00614     setPropertyToWarn(x_);
00615     setPropertyToWarn(y_);
00616     setPropertyToWarn(z_);
00617   }
00618 
00619   virtual void setToOK()
00620   {
00621     setPropertyToOK(composed_parent_);
00622     setPropertyToOK(x_);
00623     setPropertyToOK(y_);
00624     setPropertyToOK(z_);
00625   }
00626 
00627   virtual void setToDisabled()
00628   {
00629     setPropertyToDisabled(composed_parent_);
00630     setPropertyToDisabled(x_);
00631     setPropertyToDisabled(y_);
00632     setPropertyToDisabled(z_);
00633   }
00634 
00635 protected:
00636   wxPGProperty* composed_parent_;
00637   wxPGProperty* x_;
00638   wxPGProperty* y_;
00639   wxPGProperty* z_;
00640 };
00641 
00642 class QuaternionProperty : public Property<Ogre::Quaternion>
00643 {
00644 public:
00645   QuaternionProperty( const std::string& name, const std::string& prefix, const CategoryPropertyWPtr& parent, const Getter& getter, const Setter& setter )
00646   : Property<Ogre::Quaternion>( name, prefix, parent, getter, setter )
00647   , composed_parent_( NULL )
00648   , x_( NULL )
00649   , y_( NULL )
00650   , z_( NULL )
00651   , w_( NULL )
00652   {
00653   }
00654 
00655   virtual ~QuaternionProperty();
00656 
00657   virtual void writeToGrid();
00658   virtual void readFromGrid();
00659   virtual void saveToConfig( wxConfigBase* config );
00660   virtual void loadFromConfig( wxConfigBase* config );
00661   virtual void setPGClientData();
00662   virtual void reset();
00663   virtual void show();
00664   virtual void hide();
00665   virtual void setPrefix(const std::string& prefix);
00666 
00667   virtual void setToError()
00668   {
00669     setPropertyToError(composed_parent_);
00670     setPropertyToError(x_);
00671     setPropertyToError(y_);
00672     setPropertyToError(z_);
00673     setPropertyToError(w_);
00674   }
00675 
00676   virtual void setToWarn()
00677   {
00678     setPropertyToWarn(composed_parent_);
00679     setPropertyToWarn(x_);
00680     setPropertyToWarn(y_);
00681     setPropertyToWarn(z_);
00682     setPropertyToWarn(w_);
00683   }
00684 
00685   virtual void setToOK()
00686   {
00687     setPropertyToOK(composed_parent_);
00688     setPropertyToOK(x_);
00689     setPropertyToOK(y_);
00690     setPropertyToOK(z_);
00691     setPropertyToOK(w_);
00692   }
00693 
00694   virtual void setToDisabled()
00695   {
00696     setPropertyToDisabled(composed_parent_);
00697     setPropertyToDisabled(x_);
00698     setPropertyToDisabled(y_);
00699     setPropertyToDisabled(z_);
00700     setPropertyToDisabled(w_);
00701   }
00702 
00703 protected:
00704   wxPGProperty* composed_parent_;
00705   wxPGProperty* x_;
00706   wxPGProperty* y_;
00707   wxPGProperty* z_;
00708   wxPGProperty* w_;
00709 };
00710 
00711 
00712 } // namespace rviz
00713 
00714 #endif