map_canvas.h

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#ifndef MAPVIZ_MAP_CANVAS_H_
#define MAPVIZ_MAP_CANVAS_H_

// C++ standard libraries
#include <cstring>
#include <list>
#include <string>
#include <vector>

#include <boost/shared_ptr.hpp>

// QT libraries
#include <QGLWidget>
#include <QMouseEvent>
#include <QWheelEvent>
#include <QColor>
#include <QTimer>

// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

#include <mapviz/mapviz_plugin.h>

namespace mapviz
{
  class MapCanvas : public QGLWidget
  {
    Q_OBJECT

  public:
    explicit MapCanvas(QWidget *parent = 0);
    ~MapCanvas();

    void InitializeTf(boost::shared_ptr<tf::TransformListener> tf);

    void AddPlugin(MapvizPluginPtr plugin, int order);
    void RemovePlugin(MapvizPluginPtr plugin);
    void SetFixedFrame(const std::string& frame);
    void SetTargetFrame(const std::string& frame);
    void ToggleFixOrientation(bool on);
    void ToggleRotate90(bool on);
    void ToggleEnableAntialiasing(bool on);
    void ToggleUseLatestTransforms(bool on);
    void UpdateView();
    void ReorderDisplays();
    void ResetLocation();
    QPointF MapGlCoordToFixedFrame(const QPointF& point);
    QPointF FixedFrameToMapGlCoord(const QPointF& point);

    double frameRate() const;

    float ViewScale() const { return view_scale_; }
    float OffsetX() const { return offset_x_; }
    float OffsetY() const { return offset_y_; }

    void SetViewScale(float scale)
    {
      view_scale_ = scale;
      UpdateView();
    }

    void SetOffsetX(float x)
    {
      offset_x_ = x;
      UpdateView();
    }

    void SetOffsetY(float y)
    {
      offset_y_ = y;
      UpdateView();
    }

    void SetBackground(const QColor& color)
    {
      bg_color_ = color;
      update();
    }

    void CaptureFrames(bool enabled)
    {
      capture_frames_ = enabled;
      update();
    }

    bool CopyCaptureBuffer(uchar* buffer)
    {
      if (!capture_buffer_.empty())
      {
        memcpy(&buffer[0], &capture_buffer_[0], capture_buffer_.size());
        return true;
      }

      return false;
    }

    bool CopyCaptureBuffer(std::vector<uint8_t>& buffer)
    {
      buffer.clear();
      if (!capture_buffer_.empty())
      {
        buffer.resize(capture_buffer_.size());
        memcpy(&buffer[0], &capture_buffer_[0], buffer.size());

        return true;
      }

      return false;
    }

    void CaptureFrame(bool force = false);

  Q_SIGNALS:
    void Hover(double x, double y, double scale);

  public Q_SLOTS:
    void setFrameRate(const double fps);

  protected:
    void initializeGL();
    void initGlBlending();
    void pushGlMatrices();
    void popGlMatrices();
    void resizeGL(int w, int h);
    void paintEvent(QPaintEvent* event);
    void wheelEvent(QWheelEvent* e);
    void mousePressEvent(QMouseEvent* e);
    void mouseReleaseEvent(QMouseEvent* e);
    void mouseMoveEvent(QMouseEvent* e);
    void keyPressEvent(QKeyEvent* e);
    void leaveEvent(QEvent* e);

    void Recenter();
    void TransformTarget(QPainter* painter);
    void Zoom(float factor);

    void InitializePixelBuffers();

    bool has_pixel_buffers_;
    int32_t pixel_buffer_size_;
    GLuint pixel_buffer_ids_[2];
    int32_t pixel_buffer_index_;
    bool capture_frames_;

    bool initialized_;
    bool fix_orientation_;
    bool rotate_90_;
    bool enable_antialiasing_;

    QTimer frame_rate_timer_;

    QColor bg_color_;

    Qt::MouseButton mouse_button_;
    bool mouse_pressed_;
    int mouse_x_;
    int mouse_y_;
    // Used when right-click dragging to zoom
    int mouse_previous_y_;

    bool mouse_hovering_;
    int mouse_hover_x_;
    int mouse_hover_y_;

    // Offset based on previous mouse drags
    double offset_x_;
    double offset_y_;

    // Offset based on current mouse drag
    double drag_x_;
    double drag_y_;

    // The center of the view
    float view_center_x_;
    float view_center_y_;

    // View scale in meters per pixel
    float view_scale_;

    // The bounds of the view
    float view_left_;
    float view_right_;
    float view_top_;
    float view_bottom_;

    // The bounds of the scene
    float scene_left_;
    float scene_right_;
    float scene_top_;
    float scene_bottom_;

    std::string fixed_frame_;
    std::string target_frame_;

    boost::shared_ptr<tf::TransformListener> tf_;
    tf::StampedTransform transform_;
    QTransform qtransform_;
    std::list<MapvizPluginPtr> plugins_;

    std::vector<uint8_t> capture_buffer_;
  };
}

#endif  // MAPVIZ_MAP_CANVAS_H_