Program Listing for File string_plugin.h
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// Copyright (c) 2015, Southwest Research Institute® (SwRI®)
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#ifndef MAPVIZ_PLUGINS__STRING_PLUGIN_H_
#define MAPVIZ_PLUGINS__STRING_PLUGIN_H_
#include <mapviz/mapviz_plugin.h>
#include <QObject>
#include <QString>
#include <QColor>
#include <QWidget>
#include <QGLWidget>
#include <QPainter>
#include <QFont>
#include <QStaticText>
#include <rclcpp/rclcpp.hpp>
#include <marti_common_msgs/msg/string_stamped.hpp>
#include <std_msgs/msg/string.hpp>
#include <string>
// QT autogenerated files
#include "ui_string_config.h"
namespace mapviz_plugins
{
class StringPlugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
enum Anchor {
TOP_LEFT,
TOP_CENTER,
TOP_RIGHT,
CENTER_LEFT,
CENTER,
CENTER_RIGHT,
BOTTOM_LEFT,
BOTTOM_CENTER,
BOTTOM_RIGHT
};
enum Units {
PIXELS,
PERCENT
};
StringPlugin();
~StringPlugin() override = default;
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;
}
void SetText(const QString& text);
protected:
void PaintText(QPainter* painter);
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 SelectColor();
void SelectFont();
void SelectTopic();
void TopicEdited();
void SetAnchor(QString anchor);
void SetUnits(QString units);
void SetOffsetX(int offset);
void SetOffsetY(int offset);
private:
Ui::string_config ui_;
QWidget* config_widget_;
std::string topic_;
rmw_qos_profile_t qos_;
Anchor anchor_;
Units units_;
int offset_x_;
int offset_y_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr string_sub_;
rclcpp::Subscription<marti_common_msgs::msg::StringStamped>::SharedPtr string_stamped_sub_;
bool has_message_;
bool has_painted_;
QColor color_;
QFont font_;
QStaticText message_;
void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
std::string AnchorToString(Anchor anchor);
std::string UnitsToString(Units units);
static const char* ANCHOR_KEY;
static const char* COLOR_KEY;
static const char* FONT_KEY;
static const char* OFFSET_X_KEY;
static const char* OFFSET_Y_KEY;
static const char* TOPIC_KEY;
static const char* UNITS_KEY;
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__STRING_PLUGIN_H_