nav_grid_of_doubles_display.cpp

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#include <robot_nav_rviz_plugins/nav_grid_display.h>
#include <nav_grid_iterators/sub_grid.h>
#include <nav_2d_msgs/NavGridOfDoubles.h>
#include <nav_2d_msgs/NavGridOfDoublesUpdate.h>
#include <nav_2d_utils/bounds.h>
#include <nav_grid_pub_sub/nav_grid_subscriber.h>
#include <limits>
#include <string>

namespace robot_nav_rviz_plugins
{
class NavGridOfDoublesDisplay: public NavGridDisplay
{
public:
  NavGridOfDoublesDisplay()
    : NavGridDisplay(ros::message_traits::datatype<nav_2d_msgs::NavGridOfDoubles>(), true)
    , sub_(double_data_)  // set up the subscriber to update into `double_data_` which is translated to `panel_data_`
    , first_data_(true)
  {
    // These properties can be defined here (and not the parent class) since they don't require qt events
    min_property_ = new rviz::FloatProperty("Min Value", 0.0, "Minimum value in the grid (not editable)", this);
    min_property_->setReadOnly(true);
    max_property_ = new rviz::FloatProperty("Max Value", 0.0, "Maximum value in the grid (not editable)", this);
    max_property_->setReadOnly(true);

    resetExtremeValues();
    updateIgnore();
  }

  void onSubscribe(const std::string& topic) override
  {
    resetExtremeValues();
    sub_.init(update_nh_, std::bind(&NavGridOfDoublesDisplay::newDataCallback, this, std::placeholders::_1),
              topic, true, true);
  }

  void onUnsubscribe() override
  {
    sub_.deactivate();
  }

  void updateIgnore()
  {
    ignore_value_ = ignore_property_->getFloat();
    resetExtremeValues();
  }
protected:
  void resetExtremeValues()
  {
    min_value_ = std::numeric_limits<double>::max();
    max_value_ = -min_value_;
  }

  void newDataCallback(const nav_core2::UIntBounds& bounds)
  {
    if (bounds.isEmpty())
    {
      return;
    }

    nav_grid::NavGridInfo info = double_data_.getInfo();

    if (first_data_)
    {
      panel_data_.setInfo(info);
      first_data_ = false;
    }
    else
    {
      panel_data_.updateInfo(info);
    }
    nav_core2::UIntBounds full_bounds = nav_2d_utils::getFullUIntBounds(info);

    bool extremes_changed = false;
    if (bounds == full_bounds)
    {
      // If the update covers the whole grid, start extreme value calculation from scratch
      resetExtremeValues();
    }

    // Search the updated area for new min/max values while ignoring `ignore_value_`.
    IgnoreType ignore_type = getIgnoreType();
    for (const nav_grid::Index& i : nav_grid_iterators::SubGrid(&info, bounds))
    {
      double value = double_data_(i);
      if ((ignore_type == IgnoreType::VALUE && value == ignore_value_) ||
          (ignore_type == IgnoreType::LIMIT && value >= ignore_value_))
      {
        continue;
      }
      else if (value < min_value_)
      {
        min_value_ = value;
        extremes_changed = true;
      }
      else if (value > max_value_)
      {
        max_value_ = value;
        extremes_changed = true;
      }
    }

    nav_core2::UIntBounds updated_bounds;
    // If the extremes changed, then all the values need to be rescaled
    if (extremes_changed)
    {
      updated_bounds.merge(full_bounds);
      min_property_->setValue(min_value_);
      max_property_->setValue(max_value_);
    }
    else
    {
      updated_bounds.merge(bounds);
    }

    double denominator = max_value_ - min_value_;
    // Ensure safe division
    if (denominator == 0)
    {
      denominator = 1;
    }

    for (const nav_grid::Index& i : nav_grid_iterators::SubGrid(&info, updated_bounds))
    {
      if ((ignore_type == IgnoreType::VALUE && double_data_(i) == ignore_value_) ||
          (ignore_type == IgnoreType::LIMIT && double_data_(i) >= ignore_value_))
      {
        panel_data_.setValue(i, 0);
      }
      else
      {
        double ratio = (double_data_(i) - min_value_) / denominator;
        panel_data_.setValue(i, 1 + static_cast<unsigned char>(254 * ratio));
      }
    }

    Q_EMIT mapUpdated(updated_bounds);
  }

  nav_grid::VectorNavGrid<double> double_data_;
  nav_grid_pub_sub::NavGridOfDoublesSubscriber sub_;
  double min_value_, max_value_, ignore_value_;
  rviz::FloatProperty* min_property_;
  rviz::FloatProperty* max_property_;

  bool first_data_;
};
}  // namespace robot_nav_rviz_plugins

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(robot_nav_rviz_plugins::NavGridOfDoublesDisplay, rviz::Display)