00001 // -*- mode: c++; -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 #ifndef JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_ 00036 #define JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_ 00037 #include "std_msgs/Float32.h" 00038 #include <rviz/display.h> 00039 #include "overlay_utils.h" 00040 #include <OGRE/OgreColourValue.h> 00041 #include <OGRE/OgreTexture.h> 00042 #include <OGRE/OgreMaterial.h> 00043 #include <rviz/properties/int_property.h> 00044 #include <rviz/properties/float_property.h> 00045 #include <rviz/properties/color_property.h> 00046 #include <rviz/properties/bool_property.h> 00047 #include <rviz/properties/ros_topic_property.h> 00048 00049 namespace jsk_rviz_plugin 00050 { 00051 class PieChartDisplay 00052 : public rviz::Display 00053 { 00054 Q_OBJECT 00055 public: 00056 PieChartDisplay(); 00057 virtual ~PieChartDisplay(); 00058 protected: 00059 virtual void subscribe(); 00060 virtual void unsubscribe(); 00061 virtual void onEnable(); 00062 virtual void onDisable(); 00063 virtual void onInitialize(); 00064 virtual void processMessage(const std_msgs::Float32::ConstPtr& msg); 00065 virtual void drawPlot(double val); 00066 00067 // properties 00068 rviz::RosTopicProperty* update_topic_property_; 00069 rviz::IntProperty* size_property_; 00070 rviz::IntProperty* left_property_; 00071 rviz::IntProperty* top_property_; 00072 rviz::ColorProperty* fg_color_property_; 00073 rviz::ColorProperty* bg_color_property_; 00074 rviz::ColorProperty* text_color_property_; 00075 rviz::FloatProperty* fg_alpha_property_; 00076 rviz::FloatProperty* fg_alpha2_property_; 00077 rviz::FloatProperty* bg_alpha_property_; 00078 rviz::FloatProperty* text_alpha_property_; 00079 rviz::IntProperty* text_size_property_; 00080 rviz::FloatProperty* max_value_property_; 00081 rviz::FloatProperty* min_value_property_; 00082 rviz::BoolProperty* show_caption_property_; 00083 rviz::BoolProperty* auto_color_change_property_; 00084 rviz::ColorProperty* max_color_property_; 00085 00086 ros::Subscriber sub_; 00087 int left_; 00088 int top_; 00089 uint16_t texture_size_; 00090 QColor fg_color_; 00091 QColor bg_color_; 00092 QColor text_color_; 00093 QColor max_color_; 00094 double text_alpha_; 00095 int text_size_; 00096 bool show_caption_; 00097 bool auto_color_change_; 00098 int caption_offset_; 00099 double fg_alpha_; 00100 double fg_alpha2_; 00101 double bg_alpha_; 00102 double max_value_; 00103 double min_value_; 00104 OverlayObject::Ptr overlay_; 00105 00106 boost::mutex mutex_; 00107 00108 protected Q_SLOTS: 00109 void updateTopic(); 00110 void updateSize(); 00111 void updateTop(); 00112 void updateLeft(); 00113 void updateBGColor(); 00114 void updateTextColor(); 00115 void updateTextAlpha(); 00116 void updateTextSize(); 00117 void updateFGColor(); 00118 void updateFGAlpha(); 00119 void updateFGAlpha2(); 00120 void updateBGAlpha(); 00121 void updateMinValue(); 00122 void updateMaxValue(); 00123 void updateShowCaption(); 00124 void updateAutoColorChange(); 00125 void updateMaxColor(); 00126 00127 private: 00128 }; 00129 00130 } 00131 00132 #endif