Program Listing for File route_plugin.h
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// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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#ifndef MAPVIZ_PLUGINS__ROUTE_PLUGIN_H_
#define MAPVIZ_PLUGINS__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>
#include <marti_nav_msgs/msg/route_position.hpp>
#include <mapviz/map_canvas.h>
#include <swri_route_util/route.h>
// C++ standard libraries
#include <list>
#include <string>
#include <vector>
// QT autogenerated files
#include "ui_route_config.h"
namespace mapviz_plugins
{
class RoutePlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
enum DrawStyle
{
LINES = 0,
POINTS = 1
};
RoutePlugin();
~RoutePlugin() 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;
void DrawStopWaypoint(double x, double y);
void DrawRoute(const swri_route_util::Route &route);
void DrawRoutePoint(const swri_route_util::RoutePoint &point);
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 SelectTopic();
void SelectPositionTopic();
void TopicEdited();
void PositionTopicEdited();
void SetDrawStyle(QString style);
void DrawIcon() override;
private:
Ui::route_config ui_;
QWidget* config_widget_;
DrawStyle draw_style_;
std::string topic_;
rmw_qos_profile_t qos_;
std::string position_topic_;
rmw_qos_profile_t position_qos_;
rclcpp::Subscription<marti_nav_msgs::msg::Route>::SharedPtr route_sub_;
rclcpp::Subscription<marti_nav_msgs::msg::RoutePosition>::SharedPtr position_sub_;
swri_route_util::Route src_route_;
// marti_nav_msgs::RoutePositionConstPtr src_route_position_;
marti_nav_msgs::msg::RoutePosition::SharedPtr src_route_position_;
void connectRouteCallback(const std::string& topic, const rmw_qos_profile_t& qos);
void connectPositionCallback(const std::string& topic, const rmw_qos_profile_t& qos);
void RouteCallback(const marti_nav_msgs::msg::Route::SharedPtr msg);
void PositionCallback(const marti_nav_msgs::msg::RoutePosition::SharedPtr msg);
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__ROUTE_PLUGIN_H_