texture.cpp

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/*
 * Copyright (c) 2010, 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 textures 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
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#include <rve_render_client/texture.h>
#include <rve_render_client/client_context.h>

#include <rve_interfaces/Texture.h>

#include <ros/assert.h>

#include <map>

namespace rve_render_client
{

typedef std::map<rve_common::UUID, TextureWPtr> M_Texture;
M_Texture g_textures;

typedef std::map<std::string, rve_common::UUID> M_ResourceToID;
M_ResourceToID g_texture_resource_to_id;

void destroyTexture(Texture* texture)
{
  while (!texture->contexts_.empty())
  {
    ClientContext* context = texture->contexts_.begin()->first;
    context->removeObject(texture);
  }

  g_textures.erase(texture->getID());

  delete texture;
}

TexturePtr createTexture(uint32_t num_mips)
{
  TexturePtr texture(new Texture(num_mips), destroyTexture);
  g_textures.insert(std::make_pair(texture->getID(), texture));
  return texture;
}

TexturePtr createTexture(ClientContext* context, uint32_t num_mips)
{
  TexturePtr texture = createTexture(num_mips);
  context->addObject(texture.get());
  return texture;
}

TexturePtr loadTexture(const std::string& resource_path, uint32_t num_mips)
{
  M_ResourceToID::iterator it = g_texture_resource_to_id.find(resource_path);
  if (it != g_texture_resource_to_id.end())
  {
    TextureWPtr texw = g_textures[it->second];
    TexturePtr tex = texw.lock();
    if (tex)
    {
      return tex;
    }

    g_texture_resource_to_id.erase(it);
  }

  TexturePtr tex = createTexture(num_mips);
  tex->loadResource(resource_path);
  g_texture_resource_to_id.insert(std::make_pair(resource_path, tex->getID()));

  return tex;
}

TexturePtr loadTexture(ClientContext* context, const std::string& resource_path, uint32_t num_mips)
{
  TexturePtr tex = loadTexture(resource_path, num_mips);
  context->addObject(tex.get());
  return tex;
}

TexturePtr getTexture(const rve_common::UUID& id)
{
  M_Texture::iterator it = g_textures.find(id);
  if (it == g_textures.end())
  {
    return TexturePtr();
  }

  return it->second.lock();
}

Texture::Texture(uint32_t num_mips)
: id_(rve_common::UUID::generate())
, num_mips_(num_mips)
{
}

void Texture::create(ClientContext* context)
{
  ContextInfo info;
  info.context = context;
  info.proxy_index = context->lookupInterface("texture");
  contexts_[context] = info;

  rve_interfaces::TextureProxy* proxy = context->getInterface<rve_interfaces::TextureProxy>(info.proxy_index);
  proxy->createAsync(getID(), num_mips_);
}

void Texture::destroy(ClientContext* context)
{
  M_ContextInfo::iterator it = contexts_.find(context);
  ROS_ASSERT(it != contexts_.end());

  ContextInfo& info = it->second;
  rve_interfaces::TextureProxy* proxy = context->getInterface<rve_interfaces::TextureProxy>(info.proxy_index);
  proxy->destroyAsync(getID());
  contexts_.erase(it);
}

void Texture::setFromImage(const sensor_msgs::ImageConstPtr& image)
{
  resource_.clear();
  image_ = image;
  send();
}

void Texture::loadResource(const std::string& resource_path)
{
  resource_ = resource_path;
  image_.reset();
  send();
}

void Texture::send()
{
  M_ContextInfo::iterator it = contexts_.begin();
  M_ContextInfo::iterator end = contexts_.end();
  for (; it != end; ++it)
  {
    ContextInfo& info = it->second;
    rve_interfaces::TextureProxy* proxy = info.context->getInterface<rve_interfaces::TextureProxy>(info.proxy_index);

    if (image_)
    {
      proxy->setImageAsync(getID(), *image_);
    }
    else if (!resource_.empty())
    {
      proxy->setFileAsync(getID(), resource_);
    }
  }
}

} // namespace rve_render_client