diagnostics_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGIN_DIAGNOSTICS_DISPLAY_H_
#define JSK_RVIZ_PLUGIN_DIAGNOSTICS_DISPLAY_H_

#include <rviz/display.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/string_property.h>
#include <rviz/properties/editable_enum_property.h>
#include <rviz/properties/tf_frame_property.h>
#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/enum_property.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <rviz/ogre_helpers/billboard_line.h>
#include <rviz/display_context.h>
#include <rviz/frame_manager.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
#include <rviz/ogre_helpers/movable_text.h>

namespace jsk_rviz_plugins
{
  class DiagnosticsDisplay : public rviz::Display
  {
    Q_OBJECT
  public:
    DiagnosticsDisplay();
    virtual ~DiagnosticsDisplay();
  protected:
    virtual void onEnable();
    virtual void onDisable();
    virtual void onInitialize();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void updateLine();
    virtual void update(float wall_dt, float ros_dt);
    virtual void processMessage
    (const diagnostic_msgs::DiagnosticArray::ConstPtr& msg);
    
    rviz::RosTopicProperty* ros_topic_property_;
    rviz::EditableEnumProperty* diagnostics_namespace_property_;
    rviz::TfFrameProperty* frame_id_property_;
    rviz::FloatProperty* radius_property_;
    rviz::FloatProperty* line_width_property_;
    rviz::FloatProperty* font_size_property_;
    rviz::EnumProperty* axis_property_;
    ros::Subscriber sub_;
    
    double radius_;
    double line_width_;
    std::string frame_id_;
    std::string diagnostics_namespace_;
    rviz::MovableText* msg_;
    rviz::BillboardLine* line_;
    Ogre::SceneNode* orbit_node_;
    std::set<std::string> namespaces_;
    int axis_;
    double orbit_theta_;
    double font_size_;
    bool line_update_required_;
  protected Q_SLOTS:
    virtual void updateRosTopic();
    virtual void updateDiagnosticsNamespace();
    virtual void updateRadius();
    virtual void updateLineWidth();
    virtual void updateAxis();
    virtual void updateFontSize();
    virtual void fillNamespaceList();
  private:
    
  };
  
}


#endif