Program Listing for File pie_chart_display.h

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// -*- mode: c++; -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, Team Spatzenhirn
 *  Copyright (c) 2014, JSK Lab
 *  All rights reserved.
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#ifndef JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_
#include <std_msgs/msg/float32.hpp>
#ifndef Q_MOC_RUN
#include <rviz_common/ros_topic_display.hpp>
#include "overlay_utils.hpp"
#include <OgreColourValue.h>
#include <OgreTexture.h>
#include <OgreMaterial.h>
#include <rviz_common/properties/int_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/properties/color_property.hpp>
#endif

namespace rviz_2d_overlay_plugins
{
  class PieChartDisplay
    : public rviz_common::RosTopicDisplay<std_msgs::msg::Float32>
  {
    Q_OBJECT
  public:
    PieChartDisplay();
    virtual ~PieChartDisplay();

    // methods for OverlayPickerTool
    virtual bool isInRegion(int x, int y);
    virtual void movePosition(int x, int y);
    virtual void setPosition(int x, int y);
    virtual int getX() { return left_; };
    virtual int getY() { return top_; };

  protected:
    virtual void onEnable();
    virtual void onDisable();
    virtual void onInitialize();
    virtual void processMessage(std_msgs::msg::Float32::ConstSharedPtr msg);
    virtual void drawPlot(double val);
    virtual void update(float wall_dt, float ros_dt);
    // properties
    rviz_common::properties::IntProperty* size_property_;
    rviz_common::properties::IntProperty* left_property_;
    rviz_common::properties::IntProperty* top_property_;
    rviz_common::properties::ColorProperty* fg_color_property_;
    rviz_common::properties::ColorProperty* bg_color_property_;
    rviz_common::properties::FloatProperty* fg_alpha_property_;
    rviz_common::properties::FloatProperty* fg_alpha2_property_;
    rviz_common::properties::FloatProperty* bg_alpha_property_;
    rviz_common::properties::IntProperty* text_size_property_;
    rviz_common::properties::FloatProperty* max_value_property_;
    rviz_common::properties::FloatProperty* min_value_property_;
    rviz_common::properties::BoolProperty* show_caption_property_;
    rviz_common::properties::BoolProperty* auto_color_change_property_;
    rviz_common::properties::ColorProperty* max_color_property_;
    rviz_common::properties::ColorProperty* med_color_property_;
    rviz_common::properties::FloatProperty* max_color_threshold_property_;
    rviz_common::properties::FloatProperty* med_color_threshold_property_;
    rviz_common::properties::BoolProperty* clockwise_rotate_property_;

    int left_;
    int top_;
    uint16_t texture_size_;
    QColor fg_color_;
    QColor bg_color_;
    QColor max_color_;
    QColor med_color_;
    int text_size_;
    bool show_caption_;
    bool auto_color_change_;
    int caption_offset_;
    double fg_alpha_;
    double fg_alpha2_;
    double bg_alpha_;
    double max_value_;
    double min_value_;
    double max_color_threshold_;
    double med_color_threshold_;
    float data_;
    bool update_required_;
    bool first_time_;
    rviz_2d_overlay_plugins::OverlayObject::SharedPtr overlay_;
    bool clockwise_rotate_;

    std::mutex mutex_;

  protected Q_SLOTS:
    void updateSize();
    void updateTop();
    void updateLeft();
    void updateBGColor();
    void updateTextSize();
    void updateFGColor();
    void updateFGAlpha();
    void updateFGAlpha2();
    void updateBGAlpha();
    void updateMinValue();
    void updateMaxValue();
    void updateShowCaption();
    void updateAutoColorChange();
    void updateMaxColor();
    void updateMedColor();
    void updateMaxColorThreshold();
    void updateMedColorThreshold();
    void updateClockwiseRotate();

  private:
  };

}

#endif