plotter_2d_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGIN_PLOTTER_2D_H_
#define JSK_RVIZ_PLUGIN_PLOTTER_2D_H_

#include "std_msgs/Float32.h"
#ifndef Q_MOC_RUN
#include <rviz/display.h>
#include "overlay_utils.h"
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgreTexture.h>
#include <OGRE/OgreMaterial.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/ros_topic_property.h>
#endif

namespace jsk_rviz_plugins
{

  class Plotter2DDisplay
    : public rviz::Display
  {
    Q_OBJECT
  public:
    Plotter2DDisplay();
    virtual ~Plotter2DDisplay();
    // 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:
    // methods
    virtual void update(float wall_dt, float ros_dt);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void onEnable();
    virtual void onDisable();
    virtual void initializeBuffer();
    virtual void onInitialize();
    virtual void processMessage(const std_msgs::Float32::ConstPtr& msg);
    virtual void drawPlot();
    // properties
    rviz::RosTopicProperty* update_topic_property_;
    rviz::BoolProperty* show_value_property_;
    rviz::ColorProperty* fg_color_property_;
    rviz::ColorProperty* bg_color_property_;
    rviz::FloatProperty* fg_alpha_property_;
    rviz::FloatProperty* bg_alpha_property_;
    rviz::FloatProperty* update_interval_property_;
    rviz::BoolProperty* show_border_property_;
    rviz::IntProperty* buffer_length_property_;
    rviz::IntProperty* width_property_;
    rviz::IntProperty* height_property_;
    rviz::IntProperty* left_property_;
    rviz::IntProperty* top_property_;
    rviz::IntProperty* line_width_property_;
    rviz::BoolProperty* auto_color_change_property_;
    rviz::ColorProperty* max_color_property_;
    rviz::BoolProperty* show_caption_property_;
    rviz::IntProperty* text_size_property_;
    rviz::BoolProperty* auto_scale_property_;
    rviz::FloatProperty* max_value_property_;
    rviz::FloatProperty* min_value_property_;
    
    OverlayObject::Ptr overlay_;
    QColor fg_color_;
    QColor max_color_;
    QColor bg_color_;
   
    double fg_alpha_;
    double bg_alpha_;
    bool auto_scale_;
    bool show_border_;
    bool auto_color_change_;
    bool show_value_;
    bool show_caption_;
    bool draw_required_;
    float last_time_;
    float update_interval_;
    
    int buffer_length_;
    std::vector<double> buffer_;
    uint16_t texture_width_;
    uint16_t texture_height_;
    int left_;
    int top_;
    int line_width_;
    int text_size_;
    int caption_offset_;
    double min_value_;
    double max_value_;
    
    // ROS variables
    boost::mutex mutex_;
    ros::Subscriber sub_;
                        
  protected Q_SLOTS:
    void updateTopic();
    void updateShowValue();
    void updateBufferSize();
    void updateBGColor();
    void updateFGColor();
    void updateFGAlpha();
    void updateBGAlpha();
    void updateWidth();
    void updateHeight();
    void updateTop();
    void updateLeft();
    void updateLineWidth();
    void updateShowBorder();
    void updateAutoColorChange();
    void updateMaxColor();
    void updateUpdateInterval();
    void updateShowCaption();
    void updateTextSize();
    void updateAutoScale();
    void updateMinValue();
    void updateMaxValue();
  private:
  };
}

#endif