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00036 #include "pie_chart_display.h"
00037
00038 #include <OGRE/OgreMaterialManager.h>
00039 #include <OGRE/OgreTextureManager.h>
00040 #include <OGRE/OgreTexture.h>
00041 #include <OGRE/OgreTechnique.h>
00042 #include <OGRE/OgreHardwarePixelBuffer.h>
00043 #include <rviz/uniform_string_stream.h>
00044 #include <rviz/display_context.h>
00045 #include <QPainter>
00046
00047 namespace jsk_rviz_plugins
00048 {
00049
00050 PieChartDisplay::PieChartDisplay()
00051 : rviz::Display(), update_required_(false), first_time_(true), data_(0.0)
00052 {
00053 update_topic_property_ = new rviz::RosTopicProperty(
00054 "Topic", "",
00055 ros::message_traits::datatype<std_msgs::Float32>(),
00056 "std_msgs::Float32 topic to subscribe to.",
00057 this, SLOT( updateTopic() ));
00058 size_property_ = new rviz::IntProperty("size", 128,
00059 "size of the plotter window",
00060 this, SLOT(updateSize()));
00061 left_property_ = new rviz::IntProperty("left", 128,
00062 "left of the plotter window",
00063 this, SLOT(updateLeft()));
00064 top_property_ = new rviz::IntProperty("top", 128,
00065 "top of the plotter window",
00066 this, SLOT(updateTop()));
00067 fg_color_property_ = new rviz::ColorProperty("foreground color",
00068 QColor(25, 255, 240),
00069 "color to draw line",
00070 this, SLOT(updateFGColor()));
00071 fg_alpha_property_
00072 = new rviz::FloatProperty("foreground alpha", 0.7,
00073 "alpha belnding value for foreground",
00074 this, SLOT(updateFGAlpha()));
00075 fg_alpha2_property_
00076 = new rviz::FloatProperty("foreground alpha 2", 0.4,
00077 "alpha belnding value for foreground for indicator",
00078 this, SLOT(updateFGAlpha2()));
00079 bg_color_property_ = new rviz::ColorProperty("background color",
00080 QColor(0, 0, 0),
00081 "background color",
00082 this, SLOT(updateBGColor()));
00083 bg_alpha_property_
00084 = new rviz::FloatProperty("backround alpha", 0.0,
00085 "alpha belnding value for background",
00086 this, SLOT(updateBGAlpha()));
00087 text_size_property_
00088 = new rviz::IntProperty("text size", 14,
00089 "text size",
00090 this, SLOT(updateTextSize()));
00091 show_caption_property_
00092 = new rviz::BoolProperty("show caption", true,
00093 "show caption",
00094 this, SLOT(updateShowCaption()));
00095 max_value_property_
00096 = new rviz::FloatProperty("max value", 1.0,
00097 "max value of pie chart",
00098 this, SLOT(updateMaxValue()));
00099 min_value_property_
00100 = new rviz::FloatProperty("min value", 0.0,
00101 "min value of pie chart",
00102 this, SLOT(updateMinValue()));
00103 auto_color_change_property_
00104 = new rviz::BoolProperty("auto color change",
00105 false,
00106 "change the color automatically",
00107 this, SLOT(updateAutoColorChange()));
00108 max_color_property_
00109 = new rviz::ColorProperty("max color",
00110 QColor(255, 0, 0),
00111 "only used if auto color change is set to True.",
00112 this, SLOT(updateMaxColor()));
00113
00114 }
00115
00116 PieChartDisplay::~PieChartDisplay()
00117 {
00118 if (overlay_->isVisible()) {
00119 overlay_->hide();
00120 }
00121 delete update_topic_property_;
00122 delete fg_color_property_;
00123 delete bg_color_property_;
00124 delete fg_alpha_property_;
00125 delete fg_alpha2_property_;
00126 delete bg_alpha_property_;
00127 delete top_property_;
00128 delete left_property_;
00129 delete size_property_;
00130 delete min_value_property_;
00131 delete max_value_property_;
00132 delete text_size_property_;
00133 delete show_caption_property_;
00134 }
00135
00136 void PieChartDisplay::onInitialize()
00137 {
00138 static int count = 0;
00139 rviz::UniformStringStream ss;
00140 ss << "PieChartDisplayObject" << count++;
00141 overlay_.reset(new OverlayObject(ss.str()));
00142 onEnable();
00143 updateSize();
00144 updateLeft();
00145 updateTop();
00146 updateFGColor();
00147 updateBGColor();
00148 updateFGAlpha();
00149 updateFGAlpha2();
00150 updateBGAlpha();
00151 updateMinValue();
00152 updateMaxValue();
00153 updateTextSize();
00154 updateShowCaption();
00155 updateAutoColorChange();
00156 updateMaxColor();
00157 overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_);
00158 overlay_->hide();
00159 }
00160
00161 void PieChartDisplay::update(float wall_dt, float ros_dt)
00162 {
00163 if (update_required_) {
00164 update_required_ = false;
00165 overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_);
00166 drawPlot(data_);
00167 overlay_->setPosition(left_, top_);
00168 overlay_->setDimensions(overlay_->getTextureWidth(),
00169 overlay_->getTextureHeight());
00170 }
00171 }
00172
00173 void PieChartDisplay::processMessage(const std_msgs::Float32::ConstPtr& msg)
00174 {
00175 boost::mutex::scoped_lock lock(mutex_);
00176
00177 if (!overlay_->isVisible()) {
00178 return;
00179 }
00180 if (data_ != msg->data || first_time_) {
00181 first_time_ = false;
00182 data_ = msg->data;
00183 update_required_ = true;
00184 }
00185 }
00186
00187 void PieChartDisplay::drawPlot(double val)
00188 {
00189 QColor fg_color(fg_color_);
00190
00191 if (auto_color_change_) {
00192 double r
00193 = std::min(1.0, fabs((val - min_value_) / (max_value_ - min_value_)));
00194 if (r > 0.6) {
00195 double r2 = (r - 0.6) / 0.4;
00196 fg_color.setRed((max_color_.red() - fg_color_.red()) * r2
00197 + fg_color_.red());
00198 fg_color.setGreen((max_color_.green() - fg_color_.green()) * r2
00199 + fg_color_.green());
00200 fg_color.setBlue((max_color_.blue() - fg_color_.blue()) * r2
00201 + fg_color_.blue());
00202 }
00203 }
00204
00205
00206 QColor fg_color2(fg_color);
00207 QColor bg_color(bg_color_);
00208 fg_color.setAlpha(fg_alpha_);
00209 fg_color2.setAlpha(fg_alpha2_);
00210 bg_color.setAlpha(bg_alpha_);
00211 int width = overlay_->getTextureWidth();
00212 int height = overlay_->getTextureHeight();
00213 {
00214 ScopedPixelBuffer buffer = overlay_->getBuffer();
00215 QImage Hud = buffer.getQImage(*overlay_, bg_color);
00216 QPainter painter( &Hud );
00217 painter.setRenderHint(QPainter::Antialiasing, true);
00218
00219 const int outer_line_width = 5;
00220 const int value_line_width = 10;
00221 const int value_indicator_line_width = 2;
00222 const int value_padding = 5;
00223
00224 const int value_aabb_offset
00225 = outer_line_width + value_padding + value_line_width / 2;
00226
00227 painter.setPen(QPen(fg_color, outer_line_width, Qt::SolidLine));
00228
00229 painter.drawEllipse(outer_line_width / 2, outer_line_width / 2,
00230 width - outer_line_width ,
00231 height - outer_line_width - caption_offset_);
00232
00233 painter.setPen(QPen(fg_color2, value_indicator_line_width, Qt::SolidLine));
00234 painter.drawEllipse(value_aabb_offset, value_aabb_offset,
00235 width - value_aabb_offset * 2,
00236 height - value_aabb_offset * 2 - caption_offset_);
00237
00238 const double ratio = (val - min_value_) / (max_value_ - min_value_);
00239 const double ratio_angle = ratio * 360.0;
00240 const double start_angle_offset = -90;
00241 painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine));
00242 painter.drawArc(QRectF(value_aabb_offset, value_aabb_offset,
00243 width - value_aabb_offset * 2,
00244 height - value_aabb_offset * 2 - caption_offset_),
00245 start_angle_offset * 16 ,
00246 ratio_angle * 16);
00247 QFont font = painter.font();
00248 font.setPointSize(text_size_);
00249 font.setBold(true);
00250 painter.setFont(font);
00251 painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine));
00252 std::ostringstream s;
00253 s << std::fixed << std::setprecision(2) << val;
00254 painter.drawText(0, 0, width, height - caption_offset_,
00255 Qt::AlignCenter | Qt::AlignVCenter,
00256 s.str().c_str());
00257
00258
00259 if (show_caption_) {
00260 painter.drawText(0, height - caption_offset_, width, caption_offset_,
00261 Qt::AlignCenter | Qt::AlignVCenter,
00262 getName());
00263 }
00264
00265
00266 painter.end();
00267
00268 }
00269 }
00270
00271
00272 void PieChartDisplay::subscribe()
00273 {
00274 std::string topic_name = update_topic_property_->getTopicStd();
00275 if (topic_name.length() > 0 && topic_name != "/") {
00276 ros::NodeHandle n;
00277 sub_ = n.subscribe(topic_name, 1, &PieChartDisplay::processMessage, this);
00278 }
00279 }
00280
00281
00282 void PieChartDisplay::unsubscribe()
00283 {
00284 sub_.shutdown();
00285 }
00286
00287 void PieChartDisplay::onEnable()
00288 {
00289 subscribe();
00290 overlay_->show();
00291 first_time_ = true;
00292 }
00293
00294 void PieChartDisplay::onDisable()
00295 {
00296 unsubscribe();
00297 overlay_->hide();
00298 }
00299
00300 void PieChartDisplay::updateSize()
00301 {
00302 boost::mutex::scoped_lock lock(mutex_);
00303 texture_size_ = size_property_->getInt();
00304 }
00305
00306 void PieChartDisplay::updateTop()
00307 {
00308 top_ = top_property_->getInt();
00309 }
00310
00311 void PieChartDisplay::updateLeft()
00312 {
00313 left_ = left_property_->getInt();
00314 }
00315
00316 void PieChartDisplay::updateBGColor()
00317 {
00318 bg_color_ = bg_color_property_->getColor();
00319 }
00320
00321 void PieChartDisplay::updateFGColor()
00322 {
00323 fg_color_ = fg_color_property_->getColor();
00324 }
00325
00326 void PieChartDisplay::updateFGAlpha()
00327 {
00328 fg_alpha_ = fg_alpha_property_->getFloat() * 255.0;
00329 }
00330
00331 void PieChartDisplay::updateFGAlpha2()
00332 {
00333 fg_alpha2_ = fg_alpha2_property_->getFloat() * 255.0;
00334 }
00335
00336
00337 void PieChartDisplay::updateBGAlpha()
00338 {
00339 bg_alpha_ = bg_alpha_property_->getFloat() * 255.0;
00340 }
00341
00342 void PieChartDisplay::updateMinValue()
00343 {
00344 min_value_ = min_value_property_->getFloat();
00345 }
00346
00347 void PieChartDisplay::updateMaxValue()
00348 {
00349 max_value_ = max_value_property_->getFloat();
00350 }
00351
00352 void PieChartDisplay::updateTextSize()
00353 {
00354 boost::mutex::scoped_lock lock(mutex_);
00355 text_size_ = text_size_property_->getInt();
00356 QFont font;
00357 font.setPointSize(text_size_);
00358 caption_offset_ = QFontMetrics(font).height();
00359
00360 }
00361
00362 void PieChartDisplay::updateShowCaption()
00363 {
00364 show_caption_ = show_caption_property_->getBool();
00365 }
00366
00367
00368 void PieChartDisplay::updateTopic()
00369 {
00370 unsubscribe();
00371 subscribe();
00372 }
00373
00374 void PieChartDisplay::updateAutoColorChange()
00375 {
00376 auto_color_change_ = auto_color_change_property_->getBool();
00377 if (auto_color_change_) {
00378 max_color_property_->show();
00379 }
00380 else {
00381 max_color_property_->hide();
00382 }
00383 }
00384
00385 void PieChartDisplay::updateMaxColor()
00386 {
00387 max_color_ = max_color_property_->getColor();
00388 }
00389
00390
00391 }
00392
00393 #include <pluginlib/class_list_macros.h>
00394 PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::PieChartDisplay, rviz::Display )