Program Listing for File occupancy_grid_plugin.h

↰ Return to documentation for file (/tmp/ws/src/mapviz/mapviz_plugins/include/mapviz_plugins/occupancy_grid_plugin.h)

// *****************************************************************************
//
// Copyright (c) 2018, Eurecat
// 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 Eurecat 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 <COPYRIGHT HOLDER> 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 MAPVIZ_PLUGINS__OCCUPANCY_GRID_PLUGIN_H_
#define MAPVIZ_PLUGINS__OCCUPANCY_GRID_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

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

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

#include <mapviz/map_canvas.h>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <map_msgs/msg/occupancy_grid_update.hpp>

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

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

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

  typedef std::array<uchar, 256*4> Palette;

public:
  OccupancyGridPlugin();
  ~OccupancyGridPlugin() override = default;

  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;

protected Q_SLOTS:

  void SelectTopicGrid();
  void TopicGridEdited();
  void upgradeCheckBoxToggled(bool);
  void colorSchemeUpdated(const QString &);

  void DrawIcon() override;

  void FrameChanged(std::string);

private:
  Ui::occupancy_grid_config ui_;
  QWidget* config_widget_;

  nav_msgs::msg::OccupancyGrid::SharedPtr grid_;

  rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr grid_sub_;
  rclcpp::Subscription<map_msgs::msg::OccupancyGridUpdate>::SharedPtr update_sub_;

  bool transformed_;
  swri_transform_util::Transform transform_;

  GLuint texture_id_;

  QPointF map_origin_;
  float texture_x_, texture_y_;
  std::vector<uchar> raw_buffer_;
  std::vector<uchar> color_buffer_;
  uint32_t texture_size_;

  Palette map_palette_;
  Palette costmap_palette_;

  void Callback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg);
  void CallbackUpdate(const map_msgs::msg::OccupancyGridUpdate::SharedPtr msg);
  void updateTexture();
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__OCCUPANCY_GRID_PLUGIN_H_