stdr_gui_robot.h

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/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 3 of the License, or
   (at your option) any later version.
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
   
   Authors : 
   * Manos Tsardoulias, etsardou@gmail.com
   * Aris Thallas, aris.thallas@gmail.com
   * Chris Zalidis, zalidis@gmail.com 
******************************************************************************/

#ifndef STDR_GUI_ROBOT_CONTAINER
#define STDR_GUI_ROBOT_CONTAINER

#include "stdr_gui/stdr_tools.h"
#include "stdr_gui/stdr_gui_sensors/stdr_gui_laser.h"
#include "stdr_gui/stdr_gui_sensors/stdr_gui_rfid.h"
#include "stdr_gui/stdr_gui_sensors/stdr_gui_co2.h"
#include "stdr_gui/stdr_gui_sensors/stdr_gui_thermal.h"
#include "stdr_gui/stdr_gui_sensors/stdr_gui_sound.h"
#include "stdr_gui/stdr_gui_sensors/stdr_gui_sonar.h"

namespace stdr_gui
{
  class CGuiRobot
  {
    //------------------------------------------------------------------------//
    private:
    
      bool show_label_;
      bool show_circles_;
      bool robot_initialized_;
      
      bool started_;
      
      ros::Subscriber speeds_subscriber_;
      
      float linear_speed_;
      float angular_speed_;
      
      float radius_;
      float resolution_;
      
      std::vector<CGuiLaser*>   lasers_;
      std::vector<CGuiSonar*>   sonars_;
      std::vector<CGuiRfid*>    rfids_;
      std::vector<CGuiCO2*>     co2_sensors_;
      std::vector<CGuiThermal*> thermal_sensors_;
      std::vector<CGuiSound*>   sound_sensors_;
      
      std::string frame_id_;
      geometry_msgs::Pose2D initial_pose_;
      geometry_msgs::Pose2D current_pose_;
      
      stdr_msgs::FootprintMsg footprint_;
      
      QImage visualization;
      
      void drawSelf(QImage *m);
      
      char visualization_status_;
    //------------------------------------------------------------------------//
    public:
    
      CGuiRobot(const stdr_msgs::RobotIndexedMsg& msg);
      
      ~CGuiRobot(void);
      
      std::string getFrameId(void);
      
      void draw(QImage *m,float ocgd,tf::TransformListener *listener);
      
      void drawLabel(QImage *m,float ocgd);
      
      bool checkEventProximity(QPoint p);
      
      void setShowLabel(bool b);
      
      void toggleShowLabel(void);
      
      bool getShowLabel(void);
      
      void toggleShowCircles(void);
      
      QPoint getCurrentPose(void);
      
      void destroy(void);
      
      int getLasersNumber(void);
      
      int getSonarsNumber(void);
      
      char getVisualizationStatus(void);
      
      void toggleVisualizationStatus(void);
      
      char getLaserVisualizationStatus(std::string frame_id);
      
      void toggleLaserVisualizationStatus(std::string frame_id);
      
      char getRfidReaderVisualizationStatus(std::string frame_id);
      char getCO2SensorVisualizationStatus(std::string frame_id);
      char getThermalSensorVisualizationStatus(std::string frame_id);
      char getSoundSensorVisualizationStatus(std::string frame_id);
      
      void toggleRfidReaderVisualizationStatus(std::string frame_id);
      void toggleCO2SensorVisualizationStatus(std::string frame_id);
      void toggleThermalSensorVisualizationStatus(std::string frame_id);
      void toggleSoundSensorVisualizationStatus(std::string frame_id);
      
      char getSonarVisualizationStatus(std::string frame_id);
      
      void toggleSonarVisualizationStatus(std::string frame_id);
      
      QImage getVisualization(float ocgd);
      
      geometry_msgs::Pose2D getCurrentPoseM(void);
      
      void speedsCallback(const geometry_msgs::Twist& msg);
      
      std::pair<float,float> getSpeeds(void);
      
      void setEnvironmentalTags(stdr_msgs::RfidTagVector env_tags);
      void setEnvironmentalCO2Sources(stdr_msgs::CO2SourceVector env_co2_sources);
      void setEnvironmentalThermalSources(stdr_msgs::ThermalSourceVector env_thermal_sources);
      void setEnvironmentalSoundSources(stdr_msgs::SoundSourceVector env_sound_sources);
  };  
}

#endif