mapviz.h

Go to the documentation of this file.

// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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 MAPVIZ_MAPVIZ_H_
#define MAPVIZ_MAPVIZ_H_
 
// C++ standard libraries
#include <string>
#include <vector>
#include <map>
 
#include <boost/shared_ptr.hpp>
 
// QT libraries
#include <QtGui/QtGui>
#include <QDialog>
#include <QMenu>
#include <QTimer>
#include <QString>
#include <QShowEvent>
#include <QCloseEvent>
#include <QListWidgetItem>
#include <QModelIndex>
#include <QColor>
#include <QWidget>
#include <QStringList>
#include <QMainWindow>
 
// ROS libraries
#include <ros/ros.h>
#include <pluginlib/class_loader.h>
#include <tf/transform_listener.h>
#include <yaml-cpp/yaml.h>
#include <std_srvs/Empty.h>
 
// Auto-generated UI files
#include "ui_mapviz.h"
#include "ui_pluginselect.h"
 
#include <swri_transform_util/transform_manager.h>
#include <mapviz/AddMapvizDisplay.h>
#include <mapviz/mapviz_plugin.h>
#include <mapviz/map_canvas.h>
#include <mapviz/video_writer.h>
 
#include "stopwatch.h"
 
namespace mapviz
{
  class Mapviz : public QMainWindow
  {
    Q_OBJECT
 
  public:
    Mapviz(bool is_standalone, int argc, char** argv, QWidget *parent = 0, Qt::WindowFlags flags = 0);
    ~Mapviz();
 
    void Initialize();
 
  public Q_SLOTS:
    void AutoSave();
    void OpenConfig();
    void SaveConfig();
    void SaveConfigAs();
    void ClearConfig();
    void SelectNewDisplay();
    void RemoveDisplay();
    void RemoveDisplay(QListWidgetItem* item);
    void ReorderDisplays();
    void FixedFrameSelected(const QString& text);
    void TargetFrameSelected(const QString& text);
    void UpdateFrames();
    void SpinOnce();
    void UpdateSizeHints();
    void ToggleConfigPanel(bool on);
    void ToggleStatusBar(bool on);
    void ToggleCaptureTools(bool on);
    void ToggleFixOrientation(bool on);
    void ToggleRotate90(bool on);
    void ToggleEnableAntialiasing(bool on);
    void ToggleShowPlugin(QListWidgetItem* item, bool visible);
    void ToggleRecord(bool on);
    void SetImageTransport(QAction* transport_action);
    void UpdateImageTransportMenu();
    void CaptureVideoFrame();
    void StopRecord();
    void Screenshot();
    void Force720p(bool on);
    void Force480p(bool on);
    void SetResizable(bool on);
    void SelectBackgroundColor(const QColor &color);
    void SetCaptureDirectory();
    void Hover(double x, double y, double scale);
    void Recenter();
    void HandleProfileTimer();
    void ClearHistory();
 
  Q_SIGNALS:
    void FrameGrabbed(QImage);
    void ImageTransportChanged();
 
  protected:
    Ui::mapviz ui_;
 
    QMenu* image_transport_menu_;
 
    QTimer frame_timer_;
    QTimer spin_timer_;
    QTimer save_timer_;
    QTimer record_timer_;
    QTimer profile_timer_;
 
    QLabel* xy_pos_label_;
    QLabel* lat_lon_pos_label_;
 
    QWidget* spacer1_;
    QWidget* spacer2_;
    QWidget* spacer3_;
    QPushButton* recenter_button_;
    QPushButton* rec_button_;
    QPushButton* stop_button_;
    QPushButton* screenshot_button_;
 
    int    argc_;
    char** argv_;
 
    bool is_standalone_;
    bool initialized_;
    bool force_720p_;
    bool force_480p_;
    bool resizable_;
    QColor background_;
 
    std::string save_location_;
 
    std::string capture_directory_;
    QThread video_thread_;
    VideoWriter* vid_writer_;
 
    bool updating_frames_;
 
    ros::NodeHandle* node_;
    ros::ServiceServer add_display_srv_;
    boost::shared_ptr<tf::TransformListener> tf_;
    swri_transform_util::TransformManagerPtr tf_manager_;
 
    pluginlib::ClassLoader<MapvizPlugin>* loader_;
    MapCanvas* canvas_;
    std::map<QListWidgetItem*, MapvizPluginPtr> plugins_;
 
    Stopwatch meas_spin_;
 
    void Open(const std::string& filename);
    void Save(const std::string& filename);
 
    MapvizPluginPtr CreateNewDisplay(
        const std::string& name,
        const std::string& type,
        bool visible,
        bool collapsed,
        int draw_order = 0);
 
    bool AddDisplay(
      AddMapvizDisplay::Request& req,
      AddMapvizDisplay::Response& resp);
 
    void ClearDisplays();
    void AdjustWindowSize();
 
    virtual void showEvent(QShowEvent* event);
    virtual void closeEvent(QCloseEvent* event);
 
    static const QString ROS_WORKSPACE_VAR;
    static const QString MAPVIZ_CONFIG_FILE;
    static const std::string IMAGE_TRANSPORT_PARAM;
  };
}
 
#endif  // MAPVIZ_MAPVIZ_H_