Program Listing for File draw_polygon_plugin.h

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#ifndef MAPVIZ_PLUGINS__DRAW_POLYGON_PLUGIN_H_
#define MAPVIZ_PLUGINS__DRAW_POLYGON_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>

// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>

// Mapviz libraries
#include <mapviz/map_canvas.h>

// Messages
#include <geometry_msgs/msg/polygon_stamped.hpp>

// C++ standard libraries
#include <string>
#include <vector>

// QT autogenerated files
#include "ui_draw_polygon_config.h"

namespace mapviz_plugins
{
class DrawPolygonPlugin : public mapviz::MapvizPlugin
{
  Q_OBJECT

  public:
  DrawPolygonPlugin();
  ~DrawPolygonPlugin() override;

  bool Initialize(QGLWidget* canvas) override;
  void Shutdown() override {}

  void Draw(double x, double y, double scale) override;

  void Transform() override {};

  void LoadConfig(const YAML::Node& node, const std::string& path) override;
  void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;

  QWidget* GetConfigWidget(QWidget* parent) override;

  protected:
  void PrintError(const std::string& message) override;
  void PrintInfo(const std::string& message) override;
  void PrintWarning(const std::string& message) override;
  bool eventFilter(QObject *object, QEvent* event) override;
  bool handleMousePress(QMouseEvent *);
  bool handleMouseRelease(QMouseEvent *);
  bool handleMouseMove(QMouseEvent *);

  protected Q_SLOTS:
  void PublishPolygon();
  void Clear();
  void SelectFrame();
  void FrameEdited();

  private:
  Ui::draw_polygon_config ui_;
  QWidget* config_widget_;
  mapviz::MapCanvas* map_canvas_;

  std::string polygon_topic_;
  rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr polygon_pub_;

  std::vector<tf2::Vector3> vertices_;
  std::vector<tf2::Vector3> transformed_vertices_;

  int selected_point_;
  bool is_mouse_down_;
  QPointF mouse_down_pos_;
  qint64 mouse_down_time_;

  qint64 max_ms_;
  qreal max_distance_;
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__DRAW_POLYGON_PLUGIN_H_