00001 // -*- mode: c++; -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 #ifndef JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_ 00036 #define JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_ 00037 #include "std_msgs/Float32.h" 00038 #ifndef Q_MOC_RUN 00039 #include <rviz/display.h> 00040 #include "overlay_utils.h" 00041 #include <OGRE/OgreColourValue.h> 00042 #include <OGRE/OgreTexture.h> 00043 #include <OGRE/OgreMaterial.h> 00044 #include <rviz/properties/int_property.h> 00045 #include <rviz/properties/float_property.h> 00046 #include <rviz/properties/color_property.h> 00047 #include <rviz/properties/bool_property.h> 00048 #include <rviz/properties/ros_topic_property.h> 00049 #endif 00050 00051 namespace jsk_rviz_plugins 00052 { 00053 class PieChartDisplay 00054 : public rviz::Display 00055 { 00056 Q_OBJECT 00057 public: 00058 PieChartDisplay(); 00059 virtual ~PieChartDisplay(); 00060 00061 // methods for OverlayPickerTool 00062 virtual bool isInRegion(int x, int y); 00063 virtual void movePosition(int x, int y); 00064 virtual void setPosition(int x, int y); 00065 virtual int getX() { return left_; }; 00066 virtual int getY() { return top_; }; 00067 00068 protected: 00069 virtual void subscribe(); 00070 virtual void unsubscribe(); 00071 virtual void onEnable(); 00072 virtual void onDisable(); 00073 virtual void onInitialize(); 00074 virtual void processMessage(const std_msgs::Float32::ConstPtr& msg); 00075 virtual void drawPlot(double val); 00076 virtual void update(float wall_dt, float ros_dt); 00077 // properties 00078 rviz::RosTopicProperty* update_topic_property_; 00079 rviz::IntProperty* size_property_; 00080 rviz::IntProperty* left_property_; 00081 rviz::IntProperty* top_property_; 00082 rviz::ColorProperty* fg_color_property_; 00083 rviz::ColorProperty* bg_color_property_; 00084 rviz::ColorProperty* text_color_property_; 00085 rviz::FloatProperty* fg_alpha_property_; 00086 rviz::FloatProperty* fg_alpha2_property_; 00087 rviz::FloatProperty* bg_alpha_property_; 00088 rviz::FloatProperty* text_alpha_property_; 00089 rviz::IntProperty* text_size_property_; 00090 rviz::FloatProperty* max_value_property_; 00091 rviz::FloatProperty* min_value_property_; 00092 rviz::BoolProperty* show_caption_property_; 00093 rviz::BoolProperty* auto_color_change_property_; 00094 rviz::ColorProperty* max_color_property_; 00095 00096 ros::Subscriber sub_; 00097 int left_; 00098 int top_; 00099 uint16_t texture_size_; 00100 QColor fg_color_; 00101 QColor bg_color_; 00102 QColor max_color_; 00103 int text_size_; 00104 bool show_caption_; 00105 bool auto_color_change_; 00106 int caption_offset_; 00107 double fg_alpha_; 00108 double fg_alpha2_; 00109 double bg_alpha_; 00110 double max_value_; 00111 double min_value_; 00112 float data_; 00113 bool update_required_; 00114 bool first_time_; 00115 OverlayObject::Ptr overlay_; 00116 00117 boost::mutex mutex_; 00118 00119 protected Q_SLOTS: 00120 void updateTopic(); 00121 void updateSize(); 00122 void updateTop(); 00123 void updateLeft(); 00124 void updateBGColor(); 00125 void updateTextSize(); 00126 void updateFGColor(); 00127 void updateFGAlpha(); 00128 void updateFGAlpha2(); 00129 void updateBGAlpha(); 00130 void updateMinValue(); 00131 void updateMaxValue(); 00132 void updateShowCaption(); 00133 void updateAutoColorChange(); 00134 void updateMaxColor(); 00135 00136 private: 00137 }; 00138 00139 } 00140 00141 #endif