display.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef DISPLAY_H
#define DISPLAY_H

#include <string>

#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
# include <ros/ros.h>
#endif

#include "rviz/properties/status_property.h"
#include "rviz/properties/bool_property.h"

#include <QIcon>
#include <QSet>

class QDockWidget;
class QWidget;

namespace Ogre
{
class SceneManager;
class SceneNode;
}

// needed for timeSignal
Q_DECLARE_METATYPE(ros::Time);

namespace rviz
{

class StatusList;
class DisplayContext;
class PanelDockWidget;

class Display: public BoolProperty
{
Q_OBJECT
public:
  Display();
  virtual ~Display();

  void initialize( DisplayContext* context );

  virtual QVariant getViewData( int column, int role ) const;

  virtual Qt::ItemFlags getViewFlags( int column ) const;

  virtual QString getClassId() const { return class_id_; }

  virtual void setClassId( const QString& class_id ) { class_id_ = class_id; }

  virtual void load( const Config& config );

  virtual void save( Config config ) const;

  virtual void setTopic( const QString &topic, const QString &datatype ) { }

  bool isEnabled() const;

  void setFixedFrame( const QString& fixed_frame );

  virtual void update( float wall_dt, float ros_dt ) {}

  virtual void reset();

  virtual void setStatus( StatusProperty::Level level, const QString& name, const QString& text );

  void setStatusStd( StatusProperty::Level level, const std::string& name, const std::string& text )
    {
      setStatus( level, QString::fromStdString( name ), QString::fromStdString( text ));
    }

  virtual void deleteStatus( const QString& name );

  void deleteStatusStd( const std::string& name ) { deleteStatus( QString::fromStdString( name )); }

  void setVisibilityBits( uint32_t bits );
  void unsetVisibilityBits( uint32_t bits );
  uint32_t getVisibilityBits() { return visibility_bits_; }

  Ogre::SceneNode* getSceneNode() const { return scene_node_; }

  void setAssociatedWidget( QWidget* widget );

  QWidget* getAssociatedWidget() const { return associated_widget_; }

  PanelDockWidget* getAssociatedWidgetPanel() { return associated_widget_panel_; }

  void setName( const QString& name );

  void emitTimeSignal( ros::Time time );

Q_SIGNALS:

  void timeSignal( rviz::Display* display, ros::Time time );

public Q_SLOTS:
  void setEnabled( bool enabled );

  void queueRender();

  virtual void setIcon( const QIcon& icon );

protected:

  virtual void onInitialize() {}

  virtual void onEnable() {}

  virtual void onDisable() {}

  virtual void clearStatuses();

  virtual void fixedFrameChanged() {}

  bool initialized() const { return initialized_; }

  DisplayContext* context_;

  Ogre::SceneManager* scene_manager_;

  Ogre::SceneNode* scene_node_;

  ros::NodeHandle update_nh_;

  ros::NodeHandle threaded_nh_;

  QString fixed_frame_;

public Q_SLOTS:
  virtual void onEnableChanged();

private Q_SLOTS:
  void setStatusInternal( int level, const QString& name, const QString& text );
  void deleteStatusInternal( const QString& name );
  void clearStatusesInternal();
  void associatedPanelVisibilityChange( bool visible );
  void disable();

private:
  StatusList* status_;
  QString class_id_;
  bool initialized_;
  uint32_t visibility_bits_;
  QWidget* associated_widget_;
  PanelDockWidget* associated_widget_panel_;
};

} // end namespace rviz

#endif // DISPLAY_H