Program Listing for File plan_route_plugin.h

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

// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// 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 Southwest Research Institute® (SwRI®) 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__PLAN_ROUTE_PLUGIN_H_
#define MAPVIZ_PLUGINS__PLAN_ROUTE_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>
#include <swri_route_util/route.h>

// Messages
#include <geometry_msgs/msg/pose.hpp>
#include <marti_nav_msgs/msg/route.hpp>
#include <marti_nav_msgs/srv/plan_route.hpp>

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

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

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

  public:
  PlanRoutePlugin();
  ~PlanRoutePlugin() override;

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

  void Draw(double x, double y, double scale) override;
  void Paint(QPainter* painter, 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;

  bool SupportsPainting() override
  {
    return true;
  }

  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 PublishRoute();
  void PlanRoute();
  void Clear();
  void VisibilityChanged(bool);

  private:
  // void Retry(const ros::TimerEvent& e);
  void Retry();

  void ClientCallback(rclcpp::Client<marti_nav_msgs::srv::PlanRoute>::SharedFuture future);

  Ui::plan_route_config ui_{};
  QWidget* config_widget_;
  mapviz::MapCanvas* map_canvas_;

  std::string route_topic_;

  rclcpp::Publisher<marti_nav_msgs::msg::Route>::SharedPtr route_pub_;
  rclcpp::TimerBase::SharedPtr retry_timer_;

  bool failed_service_;
  swri_route_util::RoutePtr route_preview_;

  std::vector<geometry_msgs::msg::Pose> waypoints_;

  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__PLAN_ROUTE_PLUGIN_H_