visualization_manager.h

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/*
 * Copyright (c) 2008, 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 "helpers/color.h"
#include "properties/forwards.h"

#include <wx/event.h>
#include <wx/stopwatch.h>

#include <boost/signal.hpp>
#include <boost/thread.hpp>

#include <vector>
#include <map>
#include <set>

#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <ros/time.h>

namespace Ogre
{
class Root;
class SceneManager;
class SceneNode;
class Camera;
class RaySceneQuery;
}

namespace tf
{
class TransformListener;
}

class wxTimerEvent;
class wxTimer;
class wxPropertyGrid;
class wxPropertyGridEvent;
class wxConfigBase;
class wxKeyEvent;
class wxIdleEvent;

namespace rviz
{

class PropertyManager;
class SelectionManager;
class RenderPanel;
class Display;
class Tool;
class ViewportMouseEvent;
class WindowManagerInterface;
class PluginManager;
class PluginStatus;
class FrameManager;
class ViewController;
typedef boost::shared_ptr<FrameManager> FrameManagerPtr;

typedef std::vector<std::string> V_string;

class DisplayWrapper;
typedef std::vector<DisplayWrapper*> V_DisplayWrapper;

typedef boost::signal<void (DisplayWrapper*)> DisplayWrapperSignal;
typedef boost::signal<void (const V_DisplayWrapper&)> DisplayWrappersSignal;
typedef boost::signal<void (const V_string&)> FramesChangedSignal;
typedef boost::signal<void (const boost::shared_ptr<wxConfigBase>&)> ConfigSignal;
typedef boost::signal<void (Tool*)> ToolSignal;
typedef boost::signal<void (const std::string&, const std::string&)> ViewControllerTypeAddedSignal;
typedef boost::signal<void (ViewController*)> ViewControllerSignal;
typedef boost::signal<void (void)> TimeSignal;

class DisplayTypeInfo;
typedef boost::shared_ptr<DisplayTypeInfo> DisplayTypeInfoPtr;

class VisualizationManager : public wxEvtHandler
{
public:
  VisualizationManager(RenderPanel* render_panel, WindowManagerInterface* wm = 0);
  virtual ~VisualizationManager();

  void initialize(const StatusCallback& cb = StatusCallback());
  void startUpdate();

  DisplayWrapper* createDisplay( const std::string& package, const std::string& class_name, const std::string& name, bool enabled );

  void removeDisplay( DisplayWrapper* display );
  void removeDisplay( const std::string& name );
  void removeAllDisplays();

  template< class T >
  T* createTool( const std::string& name, char shortcut_key )
  {
    T* tool = new T( name, shortcut_key, this );
    addTool( tool );

    return tool;
  }

  void addTool( Tool* tool );
  Tool* getCurrentTool() { return current_tool_; }
  Tool* getTool( int index );
  void setCurrentTool( Tool* tool );
  void setDefaultTool( Tool* tool );
  Tool* getDefaultTool() { return default_tool_; }

  void loadGeneralConfig( const boost::shared_ptr<wxConfigBase>& config, const StatusCallback& cb = StatusCallback() );
  void saveGeneralConfig( const boost::shared_ptr<wxConfigBase>& config );
  void loadDisplayConfig( const boost::shared_ptr<wxConfigBase>& config, const StatusCallback& cb = StatusCallback() );
  void saveDisplayConfig( const boost::shared_ptr<wxConfigBase>& config );

  void setTargetFrame( const std::string& frame );
  std::string getTargetFrame();

  void setFixedFrame( const std::string& frame );
  const std::string& getFixedFrame() { return fixed_frame_; }

  DisplayWrapper* getDisplayWrapper( const std::string& name );

  DisplayWrapper* getDisplayWrapper( Display* display );

  PropertyManager* getPropertyManager() { return property_manager_; }
  PropertyManager* getToolPropertyManager() { return tool_property_manager_; }

  bool isValidDisplay( const DisplayWrapper* display );

  tf::TransformListener* getTFClient();
  Ogre::SceneManager* getSceneManager() { return scene_manager_; }

  RenderPanel* getRenderPanel() { return render_panel_; }

  typedef std::set<std::string> S_string;
  void getDisplayNames(S_string& displays);
  V_DisplayWrapper& getDisplays() { return displays_; }

  void resetDisplays();

  double getWallClock();
  double getROSTime();
  double getWallClockElapsed();
  double getROSTimeElapsed();

  void handleChar( wxKeyEvent& event );
  void handleMouseEvent( ViewportMouseEvent& event );

  void setBackgroundColor(const Color& c);
  const Color& getBackgroundColor();

  void resetTime();

  ViewController* getCurrentViewController() { return view_controller_; }
  std::string getCurrentViewControllerType();
  bool setCurrentViewControllerType(const std::string& type);

  SelectionManager* getSelectionManager() { return selection_manager_; }

  void lockRender() { render_mutex_.lock(); }
  void unlockRender() { render_mutex_.unlock(); }
  void queueRender();

  WindowManagerInterface* getWindowManager() { return window_manager_; }

  ros::CallbackQueueInterface* getUpdateQueue() { return ros::getGlobalCallbackQueue(); }
  ros::CallbackQueueInterface* getThreadedQueue() { return &threaded_queue_; }

  PluginManager* getPluginManager() { return plugin_manager_; }
  FrameManager* getFrameManager() { return frame_manager_.get(); }

protected:
  bool addDisplay(DisplayWrapper* wrapper, bool enabled);

  void addViewController(const std::string& class_name, const std::string& name);

  void onUpdate( wxTimerEvent& event );
  void onIdle(wxIdleEvent& event);

  void updateRelativeNode();

  void incomingROSTime();

  void updateTime();
  void updateFrames();

  void onDisplayCreated(DisplayWrapper* wrapper);

  void createColorMaterials();

  void threadedQueueThreadFunc();

  void onPluginUnloading(const PluginStatus& status);

  Ogre::Root* ogre_root_;                                 
  Ogre::SceneManager* scene_manager_;                     

  wxTimer* update_timer_;                                 
  ros::Time last_update_ros_time_;                        
  ros::WallTime last_update_wall_time_;

  ros::CallbackQueue threaded_queue_;
  boost::thread_group threaded_queue_threads_;
  ros::NodeHandle update_nh_;
  ros::NodeHandle threaded_nh_;
  volatile bool shutting_down_;


  V_DisplayWrapper displays_;                          

  typedef std::vector< Tool* > V_Tool;
  V_Tool tools_;
  Tool* current_tool_;
  Tool* default_tool_;

  std::string target_frame_;                              
  std::string fixed_frame_;                               

  PropertyManager* property_manager_;
  PropertyManager* tool_property_manager_;
  TFFramePropertyWPtr target_frame_property_;
  EditEnumPropertyWPtr fixed_frame_property_;
  StatusPropertyWPtr status_property_;

  V_string available_frames_;

  RenderPanel* render_panel_;

  ros::WallTime wall_clock_begin_;
  ros::Time ros_time_begin_;
  ros::WallDuration wall_clock_elapsed_;
  ros::Duration ros_time_elapsed_;

  Color background_color_;
  ColorPropertyWPtr background_color_property_;

  float time_update_timer_;
  float frame_update_timer_;

  ViewController* view_controller_;

  SelectionManager* selection_manager_;

  boost::mutex render_mutex_;
  uint32_t render_requested_;
  uint64_t frame_count_;
  ros::WallTime last_render_;

  WindowManagerInterface* window_manager_;

  PluginManager* plugin_manager_;
  FrameManagerPtr frame_manager_;

  bool disable_update_;
  bool target_frame_is_fixed_frame_;

public:
  FramesChangedSignal& getFramesChangedSignal() { return frames_changed_; }
  DisplayWrapperSignal& getDisplayAddingSignal() { return display_adding_; }
  DisplayWrapperSignal& getDisplayAddedSignal() { return display_added_; }
  DisplayWrapperSignal& getDisplayRemovingSignal() { return display_removing_; }
  DisplayWrapperSignal& getDisplayRemovedSignal() { return display_removed_; }
  DisplayWrappersSignal& getDisplaysRemovingSignal() { return displays_removing_; }
  DisplayWrappersSignal& getDisplaysRemovedSignal() { return displays_removed_; }
  ConfigSignal& getDisplaysConfigLoadedSignal() { return displays_config_loaded_; }
  ConfigSignal& getDisplaysConfigSavingSignal() { return displays_config_saving_; }
  ConfigSignal& getGeneralConfigLoadedSignal() { return general_config_loaded_; }
  ConfigSignal& getGeneralConfigSavingSignal() { return general_config_saving_; }
  ToolSignal& getToolAddedSignal() { return tool_added_; }
  ToolSignal& getToolChangedSignal() { return tool_changed_; }
  ViewControllerTypeAddedSignal& getViewControllerTypeAddedSignal() { return view_controller_type_added_; }
  ViewControllerSignal& getViewControllerTypeChangedSignal() { return view_controller_type_changed_; }
  TimeSignal& getTimeChangedSignal() { return time_changed_; }

private:
  FramesChangedSignal frames_changed_;
  DisplayWrapperSignal display_adding_;
  DisplayWrapperSignal display_added_;
  DisplayWrapperSignal display_removing_;
  DisplayWrapperSignal display_removed_;
  DisplayWrappersSignal displays_removing_;
  DisplayWrappersSignal displays_removed_;
  ConfigSignal displays_config_loaded_;
  ConfigSignal displays_config_saving_;
  ConfigSignal general_config_loaded_;
  ConfigSignal general_config_saving_;
  ToolSignal tool_added_;
  ToolSignal tool_changed_;
  ViewControllerTypeAddedSignal view_controller_type_added_;
  ViewControllerSignal view_controller_type_changed_;
  TimeSignal time_changed_;
};

}

#endif /* RVIZ_VISUALIZATION_MANAGER_H_ */

---

rviz
Author(s): Josh Faust
autogenerated on Fri Jan 11 09:35:56 2013