overlay_menu_display.h

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// -*- mode: c++; -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
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#ifndef JSK_RVIZ_PLUGIN_OVERLAY_MENU_DISPLAY_H_
#define JSK_RVIZ_PLUGIN_OVERLAY_MENU_DISPLAY_H_

#ifndef Q_MOC_RUN
#include <rviz/display.h>
#include <OGRE/OgreTexture.h>
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgreMaterial.h>

#include <QPainter>

#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/float_property.h>

#include <std_msgs/ColorRGBA.h>
#include <jsk_rviz_plugins/OverlayMenu.h>

#include "overlay_utils.h"
#endif

namespace jsk_rviz_plugins
{
  class OverlayMenuDisplay : public rviz::Display
  {
    Q_OBJECT
  public:
    OverlayMenuDisplay();
    virtual ~OverlayMenuDisplay();

    enum AnimationState
    {
      CLOSED,
      OPENED,
      OPENING,
      CLOSING,
    };

    // methods for OverlayPickerTool
    virtual bool isInRegion(int x, int y);
    virtual void movePosition(int x, int y);
    virtual void setPosition(int x, int y);
    virtual int getX() { return left_; };
    virtual int getY() { return top_; };

  protected:
    boost::mutex mutex_;
    OverlayObject::Ptr overlay_;
    ros::Subscriber sub_;
    rviz::RosTopicProperty* update_topic_property_;
    rviz::IntProperty* left_property_;
    rviz::IntProperty* top_property_;
    rviz::BoolProperty* keep_centered_property_;
    rviz::BoolProperty* overtake_fg_color_properties_property_;
    rviz::BoolProperty* overtake_bg_color_properties_property_;
    rviz::ColorProperty* bg_color_property_;
    rviz::FloatProperty* bg_alpha_property_;
    rviz::ColorProperty* fg_color_property_;
    rviz::FloatProperty* fg_alpha_property_;
    AnimationState animation_state_;
    bool require_update_texture_;
    bool keep_centered_;
    int left_, top_;
    jsk_rviz_plugins::OverlayMenu::ConstPtr current_menu_;
    jsk_rviz_plugins::OverlayMenu::ConstPtr next_menu_;
    double animation_t_;
    bool overtake_fg_color_properties_;
    bool overtake_bg_color_properties_;
    QColor bg_color_;
    QColor fg_color_;

    virtual void prepareOverlay();
    virtual void openingAnimation();
    virtual std::string getMenuString(
      const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg,
      size_t index);
    virtual QFont font();
    virtual QFontMetrics fontMetrics();
    virtual int drawAreaWidth(
      const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg);
    virtual int drawAreaHeight(
      const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg);
    virtual bool isNeedToResize();
    virtual bool isNeedToRedraw();
    virtual void redraw();
    virtual void onInitialize();
    virtual void onEnable();
    virtual void onDisable();
    virtual void update(float wall_dt, float ros_dt);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void processMessage
    (const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg);
    virtual void setMenuLocation();
  protected Q_SLOTS:
    void updateTopic();
    void updateLeft();
    void updateTop();
    void updateKeepCentered();
    void updateOvertakeFGColorProperties();
    void updateOvertakeBGColorProperties();
    void updateFGColor();
    void updateFGAlpha();
    void updateBGColor();
    void updateBGAlpha();
  };

}

#endif