tablet_controller_panel.cpp

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// -*- mode: c++ -*-
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#include "tablet_controller_panel.h"
#include <Eigen/Core>
#include <Eigen/Geometry>
namespace jsk_rviz_plugins
{
  TabletCmdVelArea::TabletCmdVelArea(QWidget* parent, ros::Publisher& pub_cmd_vel):
    QWidget(parent), mouse_x_(-1), mouse_y_(-1), pub_cmd_vel_(pub_cmd_vel)
  {
    setBackgroundRole(QPalette::Base);
    setAutoFillBackground(true);
  }

  QSize TabletCmdVelArea::minimumSizeHint() const
  {
    return QSize(300, 300);
  }

  QSize TabletCmdVelArea::sizeHint() const
  {
    return QSize(300, 300);
  }

  void TabletCmdVelArea::mouseMoveEvent(QMouseEvent* event){
    mouse_x_ = event->x();
    mouse_y_ = event->y();
    repaint();
  }
  void TabletCmdVelArea::mousePressEvent(QMouseEvent* event){
    mouse_x_ = event->x();
    mouse_y_ = event->y();
    repaint();
  }
  void TabletCmdVelArea::mouseReleaseEvent(QMouseEvent* event){
    mouse_x_ = -1;
    mouse_y_ = -1;
    repaint();
    publishCmdVel(0, 0, 0);
  }
  
  void TabletCmdVelArea::paintEvent(QPaintEvent* event)
  {
    QSize widget_size = size();
    int line_width = 20;
    int width = widget_size.width() - line_width * 2;
    int height = widget_size.height() - line_width * 2;
    // out circle
    int radius = std::min(width, height) / 2;
    int center_x = width / 2 + line_width;
    int center_y = height / 2 + line_width;
    QPainter painter(this);
    painter.setRenderHint(QPainter::Antialiasing);
    QPen pen;
    pen.setColor(QColor(130, 177, 255));
    pen.setWidth(10);
    painter.setPen(pen);
    painter.drawArc(center_x - radius, center_y - radius,
                    radius * 2, radius * 2, 0, (360 + 1) * 16);
    // position of mouse
    QPen inner_pen;
    inner_pen.setColor(QColor(33, 150, 243));
    int inner_size = 40;
    inner_pen.setWidth(inner_size);
    painter.setPen(inner_pen);
    if (mouse_x_ == -1 && mouse_y_ == -1) {
      mouse_x_ = center_x;
      mouse_y_ = center_y;
    }
    else {
      publishVelocity(mouse_x_, mouse_y_, center_x, center_y);
    }
    painter.drawArc(mouse_x_ - inner_size / 2,
                    mouse_y_ - inner_size / 2, 
                    inner_size, inner_size, 0, (360 + 1) * 16);
  }

  void TabletCmdVelArea::publishVelocity(
    int mouse_x, int mouse_y, int cx, int cy)
  {
    double diff_x = mouse_x - cx;
    double diff_y = mouse_y - cy;
    Eigen::Vector3d ex(0, -1, 0);
    Eigen::Vector3d vel(diff_x / cx, diff_y / cy, 0);
    
    int sign = 1;
    if (ex.cross(vel).dot(Eigen::Vector3d(0, 0, -1)) < 0) {
      sign = -1;
    }
    double dot = ex.dot(vel) / ex.norm() / vel.norm();
    if (dot < -1) {
      dot = -1.0;
    }
    else if (dot > 1) {
      dot = 1.0;
    }
    double theta = sign * acos(dot);
    if (!std::isnan(theta)) {
      Eigen::Vector3d vel_refined(-vel[1], -vel[0], 0);
      
      publishCmdVel(vel_refined[0] * 0.2 , vel_refined[1] * 0.2, theta * 0.2);
    }
  }

  void TabletCmdVelArea::publishCmdVel(double x, double y, double theta)
  {
    ROS_INFO("(%f, %f)", x, y);
    ROS_INFO("theta: %f", theta);
    geometry_msgs::Twist twist;
    twist.linear.x = x;
    twist.linear.y = y;
    twist.angular.z = theta;
    pub_cmd_vel_.publish(twist);
  }

  QString TabletControllerPanel::defaultButtonStyleSheet()
  {
    return "QPushButton {background-color: #FF5252; color: white; font-size: 30pt;}";
  }

  QString TabletControllerPanel::executeButtonStyleSheet()
  {
    return "QPushButton {background-color: white; color: #424242; font-size: 30pt;}";
  }

  QString TabletControllerPanel::radioButtonStyleSheet()
  {
    return "QRadioButton {font-size: 20pt; color: #424242;}";
  }
  
  QString TabletControllerPanel::listStyleSheet()
  {
    return "QListWidget {font-size: 20pt; color: #424242;}";
  }
  
  TabletControllerPanel::TabletControllerPanel(QWidget* parent): rviz::Panel(parent)
  {
    ros::NodeHandle nh;
    pub_start_demo_ = nh.advertise<jsk_rviz_plugins::StringStamped>(
      "/Tablet/StartDemo", 1);
    pub_spot_ = nh.advertise<jsk_rviz_plugins::StringStamped>(
      "/Tablet/MoveToSpot", 1);
    sub_spots_ = nh.subscribe("/spots_marker_array",
                              1, &TabletControllerPanel::spotCallback, this);
    pub_cmd_vel_ = nh.advertise<geometry_msgs::Twist>(
      "/navigation/unsafe_vel", 1);
    layout_ = new QVBoxLayout();
    layout_->addStretch();
    task_button_ = new QPushButton("Task", this);
    task_button_->setMinimumHeight(100);
    task_button_->setStyleSheet(defaultButtonStyleSheet());

    connect(task_button_, SIGNAL(released()), this, SLOT(taskButtonClicked()));
    layout_->addWidget(task_button_);
    layout_->addSpacing(10);
    spot_button_ = new QPushButton("Move to spot", this);
    spot_button_->setMinimumHeight(100);
    spot_button_->setStyleSheet(defaultButtonStyleSheet());
    connect(spot_button_, SIGNAL(released()), this, SLOT(spotButtonClicked()));
    layout_->addWidget(spot_button_);
    layout_->addSpacing(10);
    cmd_vel_area_ = new TabletCmdVelArea(this, pub_cmd_vel_);
    layout_->addWidget(cmd_vel_area_);
    
    
    setLayout(layout_);
    setBackgroundRole(QPalette::Base);
    setAutoFillBackground(true);
  }

  TabletControllerPanel::~TabletControllerPanel()
  {

  }

  void TabletControllerPanel::load(const rviz::Config& config)
  {
    rviz::Panel::load(config);
  }
  
  void TabletControllerPanel::save(rviz::Config config) const
  {
    rviz::Panel::save(config);
  }

  // callbacks
  void TabletControllerPanel::spotCallback(
    const visualization_msgs::MarkerArray::ConstPtr& marker)
  {
    boost::mutex::scoped_lock lock(mutex_);
    spots_.clear();
    for (size_t i = 0; i < marker->markers.size(); i++) {
      std::string text = marker->markers[i].text;
      if (!text.empty()) {
        spots_.push_back(text);
      }
    }
  }
  

  
  void TabletControllerPanel::taskButtonClicked()
  {
    task_dialog_ = new QDialog();
    task_dialog_->setBackgroundRole(QPalette::Base);
    task_dialog_->setAutoFillBackground(true);
    task_dialog_layout_ = new QVBoxLayout();
    task_radio_buttons_.clear();
    std::vector<std::string> tasks;
    tasks.push_back("/Tablet/other/GetGeorgia");
    tasks.push_back("/Tablet/chen/GoToElevator");
    tasks.push_back("/Tablet/chen/Greeting1");
    tasks.push_back("/Tablet/chen/Greeting2");
    tasks.push_back("/Tablet/chen/Greeting3");
    tasks.push_back("/Tablet/chen/Greeting4");
    tasks.push_back("/Tablet/chen/Greeting5");
    tasks.push_back("/Tablet/chen/HandOver");
    for (size_t i = 0; i < tasks.size(); i++) {
      QRadioButton* task = new QRadioButton(QString::fromStdString(tasks[i]), this);
      task->setMinimumHeight(50);
      if (i == 0) {
        task->setChecked(true);
      }
      task->setStyleSheet(radioButtonStyleSheet());
      task_radio_buttons_.push_back(task);
    }
    
    for (size_t i = 0; i < task_radio_buttons_.size(); i++) {
      task_dialog_layout_->addWidget(task_radio_buttons_[i]);
    }
    task_dialog_button_layout_ = new QHBoxLayout();
    task_execute_button_ = new QPushButton("Execute", this);
    task_execute_button_->setStyleSheet(executeButtonStyleSheet());
    task_execute_button_->setMinimumHeight(100);
    task_execute_button_->setMinimumWidth(300);
    task_dialog_button_layout_->addWidget(task_execute_button_);
    connect(task_execute_button_, SIGNAL(released()), this, SLOT(taskExecuteClicked()));
    task_cancel_button_ = new QPushButton("Cancel", this);
    task_cancel_button_->setStyleSheet(defaultButtonStyleSheet());
    task_cancel_button_->setMinimumHeight(100);
    task_cancel_button_->setMinimumWidth(300);
    connect(task_cancel_button_, SIGNAL(released()), this, SLOT(taskCancelClicked()));
    task_dialog_button_layout_->addWidget(task_cancel_button_);
    task_dialog_layout_->addLayout(task_dialog_button_layout_);
    task_dialog_->setLayout(task_dialog_layout_);
    task_dialog_->show();
    
  }

  void TabletControllerPanel::taskCancelClicked()
  {
    task_dialog_->reject();
  }

  void TabletControllerPanel::taskExecuteClicked()
  {
    for (size_t i = 0; i < task_radio_buttons_.size(); i++) {
      QRadioButton* radio = task_radio_buttons_[i];
      if (radio->isChecked()) {
        std::string task = radio->text().toStdString();
        ROS_INFO("task: %s", task.c_str());
        task_dialog_->reject();
        jsk_rviz_plugins::StringStamped command;
        command.data = task;
        command.header.stamp = ros::Time::now();
        pub_start_demo_.publish(command);
        return;
      }
    }
  }
  
  void TabletControllerPanel::spotButtonClicked()
  {
    boost::mutex::scoped_lock lock(mutex_);
    spot_dialog_ = new QDialog();
    spot_dialog_->setBackgroundRole(QPalette::Base);
    spot_dialog_->setAutoFillBackground(true);
    spot_dialog_layout_ = new QVBoxLayout();

    spot_list_ = new QListWidget();
    spot_list_->setSortingEnabled(true);
    spot_list_->setStyleSheet(listStyleSheet());
    for (size_t i = 0; i < spots_.size(); i++) {
      QListWidgetItem* item = new QListWidgetItem(
        QString::fromStdString(spots_[i]));
      item->setSizeHint(QSize(item->sizeHint().width(), 30));
      spot_list_->addItem(item);
    }
    spot_dialog_layout_->addWidget(spot_list_);
    spot_dialog_button_layout_ = new QHBoxLayout();
    spot_go_button_ = new QPushButton("Go", this);
    spot_go_button_->setStyleSheet(executeButtonStyleSheet());
    spot_go_button_->setMinimumHeight(50);
    spot_go_button_->setMinimumWidth(300);
    connect(spot_go_button_, SIGNAL(released()),
            this, SLOT(spotGoClicked()));
    spot_dialog_button_layout_->addWidget(spot_go_button_);
    
    spot_cancel_button_ = new QPushButton("Cancel", this);
    spot_cancel_button_->setMinimumHeight(50);
    spot_cancel_button_->setMinimumWidth(300);
    spot_cancel_button_->setStyleSheet(defaultButtonStyleSheet());
    connect(spot_cancel_button_, SIGNAL(released()),
            this, SLOT(spotCancelClicked()));
    spot_dialog_button_layout_->addWidget(spot_cancel_button_);
    spot_dialog_layout_->addLayout(spot_dialog_button_layout_);
    spot_dialog_->setLayout(spot_dialog_layout_);
    spot_dialog_->show();
  }

  void TabletControllerPanel::spotCancelClicked()
  {
    spot_dialog_->reject();
  }

  void TabletControllerPanel::spotGoClicked()
  {
    QListWidgetItem* item = spot_list_->currentItem();
    if (item) {
      std::string spot = item->text().toStdString();
      jsk_rviz_plugins::StringStamped spot_command;
      spot_command.data = spot;
      spot_command.header.stamp = ros::Time::now();
      pub_spot_.publish(spot_command);
    }
    spot_dialog_->reject();
  }

}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_rviz_plugins::TabletControllerPanel, rviz::Panel);