pie_chart_display.h

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// -*- mode: c++; -*-
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#ifndef JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_
#define JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_
#include "std_msgs/Float32.h"
#ifndef Q_MOC_RUN
#include <rviz/display.h>
#include "overlay_utils.h"
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgreTexture.h>
#include <OGRE/OgreMaterial.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/bool_property.h>
#include <rviz/properties/ros_topic_property.h>
#endif

namespace jsk_rviz_plugins
{
  class PieChartDisplay
    : public rviz::Display
  {
    Q_OBJECT
  public:
    PieChartDisplay();
    virtual ~PieChartDisplay();
    
    // 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:
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void onEnable();
    virtual void onDisable();
    virtual void onInitialize();
    virtual void processMessage(const std_msgs::Float32::ConstPtr& msg);
    virtual void drawPlot(double val);
    virtual void update(float wall_dt, float ros_dt);
    // properties
    rviz::RosTopicProperty* update_topic_property_;
    rviz::IntProperty* size_property_;
    rviz::IntProperty* left_property_;
    rviz::IntProperty* top_property_;
    rviz::ColorProperty* fg_color_property_;
    rviz::ColorProperty* bg_color_property_;
    rviz::ColorProperty* text_color_property_;
    rviz::FloatProperty* fg_alpha_property_;
    rviz::FloatProperty* fg_alpha2_property_;
    rviz::FloatProperty* bg_alpha_property_;
    rviz::FloatProperty* text_alpha_property_;
    rviz::IntProperty* text_size_property_;
    rviz::FloatProperty* max_value_property_;
    rviz::FloatProperty* min_value_property_;
    rviz::BoolProperty* show_caption_property_;
    rviz::BoolProperty* auto_color_change_property_;
    rviz::ColorProperty* max_color_property_;
    rviz::ColorProperty* med_color_property_;
    rviz::FloatProperty* max_color_threshold_property_;
    rviz::FloatProperty* med_color_threshold_property_;
    rviz::BoolProperty* clockwise_rotate_property_;

    ros::Subscriber sub_;
    int left_;
    int top_;
    uint16_t texture_size_;
    QColor fg_color_;
    QColor bg_color_;
    QColor max_color_;
    QColor med_color_;
    int text_size_;
    bool show_caption_;
    bool auto_color_change_;
    int caption_offset_;
    double fg_alpha_;
    double fg_alpha2_;
    double bg_alpha_;
    double max_value_;
    double min_value_;
    double max_color_threshold_;
    double med_color_threshold_;
    float data_;
    bool update_required_;
    bool first_time_;
    OverlayObject::Ptr overlay_;
    bool clockwise_rotate_;
    
    boost::mutex mutex_;
                       
  protected Q_SLOTS:
    void updateTopic();
    void updateSize();
    void updateTop();
    void updateLeft();
    void updateBGColor();
    void updateTextSize();
    void updateFGColor();
    void updateFGAlpha();
    void updateFGAlpha2();
    void updateBGAlpha();
    void updateMinValue();
    void updateMaxValue();
    void updateShowCaption();
    void updateAutoColorChange();
    void updateMaxColor();
    void updateMedColor();
    void updateMaxColorThreshold();
    void updateMedColorThreshold();
    void updateClockwiseRotate();

  private:
  };

}

#endif