pictogram_array_display.cpp

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// -*- mode: c++ -*-
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 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
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#include "pictogram_array_display.h"

namespace jsk_rviz_plugins
{
  PictogramArrayDisplay::PictogramArrayDisplay()
  {
    setupFont();
  }

  PictogramArrayDisplay::~PictogramArrayDisplay()
  {
  }

  void PictogramArrayDisplay::onInitialize()
  {
    MFDClass::onInitialize();
    scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
  }

  void PictogramArrayDisplay::reset()
  {
    MFDClass::reset();
    for (size_t i = 0; i < pictograms_.size(); i++) {
      pictograms_[i]->setEnable(false);
    }
  }
  
  void PictogramArrayDisplay::onEnable()
  {
    subscribe();
    for (size_t i = 0; i < pictograms_.size(); i++) {
      pictograms_[i]->setEnable(false);
    }
  }

  void PictogramArrayDisplay::allocatePictograms(size_t num)
  {
    if (pictograms_.size() > num) {
      for (size_t i = num; i < pictograms_.size(); i++) {
        pictograms_[i]->setEnable(false);
      }
      pictograms_.resize(num);
    }
    else if (pictograms_.size() < num) {
      for (size_t i = pictograms_.size(); i < num; i++) {
        //pictograms_[i]->setEnable(false);
        PictogramObject::Ptr pictogram(new PictogramObject(scene_manager_,
                                                           scene_node_,
                                                           1.0));
        pictogram->setContext(context_);
        pictogram->setEnable(false);
        pictogram->start();
        pictogram->setColor(QColor(25, 255, 240));
        pictogram->setAlpha(1.0);
        pictograms_.push_back(pictogram);
      }
    }
  }
  
  void PictogramArrayDisplay::processMessage(
    const jsk_rviz_plugins::PictogramArray::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    allocatePictograms(msg->pictograms.size());
    for (size_t i = 0; i < pictograms_.size(); i++) {
      pictograms_[i]->setEnable(isEnabled());
    }
    if (!isEnabled()) {
      return;
    }
    for (size_t i = 0; i < msg->pictograms.size(); i++) {
      PictogramObject::Ptr pictogram = pictograms_[i];
      pictogram->setAction(msg->pictograms[i].action);
      if (msg->pictograms[i].action == jsk_rviz_plugins::Pictogram::DELETE) {
        continue;
      }
    
      if (msg->pictograms[i].size <= 0.0) {
        pictogram->setSize(0.5);
      }
      else {
        pictogram->setSize(msg->pictograms[i].size / 2.0);
      }
      pictogram->setColor(QColor(msg->pictograms[i].color.r * 255,
                                 msg->pictograms[i].color.g * 255,
                                 msg->pictograms[i].color.b * 255));
      pictogram->setAlpha(msg->pictograms[i].color.a);
      pictogram->setPose(msg->pictograms[i].pose,
                         msg->pictograms[i].header.frame_id);
      pictogram->setText(msg->pictograms[i].character);
      pictogram->setMode(msg->pictograms[i].mode);
      pictogram->setTTL(msg->pictograms[i].ttl);
      pictogram->setSpeed(msg->pictograms[i].speed);
    }
  }

  void PictogramArrayDisplay::update(float wall_dt, float ros_dt)
  {
    boost::mutex::scoped_lock lock(mutex_);
    for (size_t i = 0; i < pictograms_.size(); i++) {
      pictograms_[i]->update(wall_dt, ros_dt);
    }
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_rviz_plugins::PictogramArrayDisplay, rviz::Display);