Program Listing for File occupancy_map_display.hpp

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// Copyright (c) 2012, Willow Garage, Inc.
// Copyright (c) 2018, Bosch Software Innovations GmbH. All rights reserved.
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#ifndef OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_MAP_DISPLAY_HPP_
#define OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_MAP_DISPLAY_HPP_

#include <memory>
#include <string>
#include <vector>

#ifndef Q_MOC_RUN

#include <OgreTexture.h>
#include <OgreMaterial.h>
#include <OgreVector3.h>
#include <OgreSharedPtr.h>

#endif  // Q_MOC_RUN

#include "nav_msgs/msg/map_meta_data.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "map_msgs/msg/occupancy_grid_update.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/qos.hpp"
#include "octomap_msgs/msg/octomap.hpp"

#include "rviz_common/message_filter_display.hpp"

#include "rviz_default_plugins/displays/map/swatch.hpp"
#include "rviz_default_plugins/visibility_control.hpp"

namespace Ogre
{
class ManualObject;
}

namespace rviz_common
{
namespace properties
{

class EnumProperty;
class FloatProperty;
class IntProperty;
class Property;
class QuaternionProperty;
class VectorProperty;

}  // namespace properties
}  // namespace rviz_common

namespace rviz_default_plugins
{
namespace displays
{
class AlphaSetter;
}
}

namespace octomap_rviz_plugins
{
using rviz_default_plugins::displays::Swatch;

static constexpr std::size_t MAX_OCTREE_DEPTH = sizeof(uint16_t) * 8;

class OccupancyMapDisplay : public
  rviz_common::MessageFilterDisplay<octomap_msgs::msg::Octomap>
{
  Q_OBJECT

public:
  // TODO(botteroa-si): Constructor for testing, remove once ros_nodes can be mocked and call
  // initialize() instead
  explicit OccupancyMapDisplay(rviz_common::DisplayContext * context);
  OccupancyMapDisplay();
  ~OccupancyMapDisplay() override;

  void onInitialize() override;
  void fixedFrameChanged() override;
  void reset() override;

  float getResolution() {return resolution_;}
  size_t getWidth() {return width_;}
  size_t getHeight() {return height_;}

public Q_SLOTS:
  void showMap();

Q_SIGNALS:
  void mapUpdated();

protected Q_SLOTS:
  void updateAlpha();
  void updateDrawUnder() const;
  void updatePalette();
  void updateTreeDepth();
  void transformMap();
  void updateMapUpdateTopic();

protected:
  void updateTopic() override;
  void update(float wall_dt, float ros_dt) override;

  void subscribe() override;
  void unsubscribe() override;

  void onEnable() override;

  void incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update);

  bool updateDataOutOfBounds(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update) const;
  void updateMapDataInMemory(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update);

  void clear();

  void subscribeToUpdateTopic();
  void unsubscribeToUpdateTopic();

  void showValidMap();
  void resetSwatchesIfNecessary(size_t width, size_t height, float resolution);
  void createSwatches();
  void doubleSwatchNumber(
    size_t & swatch_width, size_t & swatch_height,
    int & number_swatches) const;
  void tryCreateSwatches(
    size_t width,
    size_t height,
    float resolution,
    size_t swatch_width,
    size_t swatch_height,
    int number_swatches);
  size_t getEffectiveDimension(size_t map_dimension, size_t swatch_dimension, size_t position);
  void updateSwatches() const;

  std::vector<std::shared_ptr<Swatch>> swatches_;
  std::vector<Ogre::TexturePtr> palette_textures_;
  std::vector<bool> color_scheme_transparency_;
  bool loaded_;

  float resolution_;
  size_t width_;
  size_t height_;
  std::string frame_;
  nav_msgs::msg::OccupancyGrid current_map_;

  rclcpp::Subscription<map_msgs::msg::OccupancyGridUpdate>::SharedPtr update_subscription_;
  rclcpp::QoS update_profile_;

  rviz_common::properties::RosTopicProperty * update_topic_property_;
  rviz_common::properties::QosProfileProperty * update_profile_property_;
  rviz_common::properties::FloatProperty * resolution_property_;
  rviz_common::properties::IntProperty * width_property_;
  rviz_common::properties::IntProperty * height_property_;
  rviz_common::properties::VectorProperty * position_property_;
  rviz_common::properties::QuaternionProperty * orientation_property_;
  rviz_common::properties::FloatProperty * alpha_property_;
  rviz_common::properties::Property * draw_under_property_;
  rviz_common::properties::EnumProperty * color_scheme_property_;
  rviz_common::properties::BoolProperty * transform_timestamp_property_;
  rviz_common::properties::IntProperty * tree_depth_property_;

  uint32_t update_messages_received_;
  uint32_t octree_depth_{MAX_OCTREE_DEPTH};
};

template<typename OcTreeType>
class TemplatedOccupancyMapDisplay : public OccupancyMapDisplay
{
protected:
  void processMessage(const octomap_msgs::msg::Octomap::ConstSharedPtr msg) override;
};

}  // namespace octomap_rviz_plugins

#endif  // OCTOMAP_RVIZ_PLUGINS__OCCUPANCY_MAP_DISPLAY_HPP_