mapviz_plugin.h

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#ifndef MAPVIZ_MAPVIZ_PLUGIN_H_
#define MAPVIZ_MAPVIZ_PLUGIN_H_

// C++ standard libraries
#include <string>

#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>

// QT libraries
#include <QWidget>
#include <QGLWidget>
#include <QObject>

// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <swri_transform_util/transform.h>
#include <swri_transform_util/transform_manager.h>
#include <swri_yaml_util/yaml_util.h>

#include <mapviz/widgets.h>

#include "stopwatch.h"

namespace mapviz
{
  class MapvizPlugin : public QObject
  {
    Q_OBJECT;
  public:
    virtual ~MapvizPlugin() {}

    virtual bool Initialize(
        boost::shared_ptr<tf::TransformListener> tf_listener,
        swri_transform_util::TransformManagerPtr tf_manager,
        QGLWidget* canvas)
    {
      tf_ = tf_listener;
      tf_manager_ = tf_manager;
      return Initialize(canvas);
    }

    virtual void Shutdown() = 0;

    virtual void ClearHistory() {}

    virtual void Draw(double x, double y, double scale) = 0;

    virtual void Paint(QPainter* painter, double x, double y, double scale) {};

    void SetUseLatestTransforms(bool value)
    {
      if (value != use_latest_transforms_)
      {
        use_latest_transforms_ = value;
        Q_EMIT UseLatestTransformsChanged(use_latest_transforms_);
      }
    }

    void SetName(const std::string& name) { name_ = name; }

    std::string Name() const { return name_; }

    void SetType(const std::string& type) { type_ = type; }

    std::string Type() const { return type_; }

    int DrawOrder() const { return draw_order_; }

    void SetDrawOrder(int order)
    {
      if (draw_order_ != order)
      {
        draw_order_ = order;
        Q_EMIT DrawOrderChanged(draw_order_);
      }
    }

    virtual void SetNode(const ros::NodeHandle& node)
    {
      node_ = node;
    }

    void DrawPlugin(double x, double y, double scale)
    {
      if (visible_ && initialized_)
      {
        meas_transform_.start();
        Transform();
        meas_transform_.stop();

        meas_draw_.start();
        Draw(x, y, scale);
        meas_draw_.stop();
      }
    }
    
    void PaintPlugin(QPainter* painter, double x, double y, double scale)
    {
      if (visible_ && initialized_)
      {
        meas_transform_.start();
        Transform();
        meas_transform_.stop();
         
        meas_paint_.start();
        Paint(painter, x, y, scale);
        meas_paint_.start();
      }
    }

    void SetTargetFrame(std::string frame_id)
    {
      if (frame_id != target_frame_)
      {
        target_frame_ = frame_id;

        meas_transform_.start();
        Transform();
        meas_transform_.stop();

        Q_EMIT TargetFrameChanged(target_frame_);
      }
    }

    bool Visible() const { return visible_; }

    void SetVisible(bool visible)
    {
      if (visible_ != visible)
      {
        visible_ = visible;
        Q_EMIT VisibleChanged(visible_);
      }
    }

    bool GetTransform(const ros::Time& stamp, swri_transform_util::Transform& transform, bool use_latest_transforms = true)
    {
      if (!initialized_)
        return false;

      ros::Time time = stamp;

      if (use_latest_transforms_ && use_latest_transforms)
      {
        time = ros::Time();
      }

      ros::Duration elapsed = ros::Time::now() - time;

      if (time != ros::Time() && elapsed > tf_->getCacheLength())
      {
        return false;
      }

      if (tf_manager_->GetTransform(target_frame_, source_frame_, time, transform))
      {
        return true;
      }
      else if (elapsed.toSec() < 0.1)
      {
        // If the stamped transform failed because it is too recent, find the
        // most recent transform in the cache instead.
        if (tf_manager_->GetTransform(target_frame_, source_frame_,  ros::Time(), transform))
        {
          return true;
        }
      }

      return false;
    }
    
    bool GetTransform(const std::string& source, const ros::Time& stamp, swri_transform_util::Transform& transform)
    {
      if (!initialized_)
        return false;

      ros::Time time = stamp;

      if (use_latest_transforms_)
      {
        time = ros::Time();
      }

      ros::Duration elapsed = ros::Time::now() - time;

      if (time != ros::Time() && elapsed > tf_->getCacheLength())
      {
        return false;
      }

      if (tf_manager_->GetTransform(target_frame_, source, time, transform))
      {
        return true;
      }
      else if (elapsed.toSec() < 0.1)
      {
        // If the stamped transform failed because it is too recent, find the
        // most recent transform in the cache instead.
        if (tf_manager_->GetTransform(target_frame_, source,  ros::Time(), transform))
        {
          return true;
        }
      }

      return false;
    }

    virtual void Transform() = 0;

    virtual void LoadConfig(const YAML::Node& load, const std::string& path) = 0;
    virtual void SaveConfig(YAML::Emitter& emitter, const std::string& path) = 0;

    virtual QWidget* GetConfigWidget(QWidget* parent) { return NULL; }

    virtual void PrintError(const std::string& message) = 0;
    virtual void PrintInfo(const std::string& message) = 0;
    virtual void PrintWarning(const std::string& message) = 0;

    void SetIcon(IconWidget* icon) { icon_ = icon; }

    void PrintMeasurements()
    {
      std::string header = type_ + " (" + name_ + ")";
      meas_transform_.printInfo(header + " Transform()");
      meas_paint_.printInfo(header + " Paint()");
      meas_draw_.printInfo(header + " Draw()");
    }

    static void PrintErrorHelper(QLabel *status_label, const std::string& message, double throttle = 0.0);
    static void PrintInfoHelper(QLabel *status_label, const std::string& message, double throttle = 0.0);
    static void PrintWarningHelper(QLabel *status_label, const std::string& message, double throttle = 0.0);

  public Q_SLOTS:
    virtual void DrawIcon() {}

    virtual bool SupportsPainting()
    {
      return false;
    }

  Q_SIGNALS:
    void DrawOrderChanged(int draw_order);
    void SizeChanged();
    void TargetFrameChanged(const std::string& target_frame);
    void UseLatestTransformsChanged(bool use_latest_transforms);
    void VisibleChanged(bool visible);


  protected:
    bool initialized_;
    bool visible_;

    QGLWidget* canvas_;
    IconWidget* icon_;

    ros::NodeHandle node_;

    boost::shared_ptr<tf::TransformListener> tf_;
    swri_transform_util::TransformManagerPtr tf_manager_;
    
    std::string target_frame_;
    std::string source_frame_;
    std::string type_;
    std::string name_;

    bool use_latest_transforms_;

    int draw_order_;

    virtual bool Initialize(QGLWidget* canvas) = 0;

    MapvizPlugin() :
      initialized_(false),
      visible_(true),
      canvas_(NULL),
      icon_(NULL),
      tf_(),
      target_frame_(""),
      source_frame_(""),
      use_latest_transforms_(false),
      draw_order_(0) {}

   private:
    // Collect basic profiling info to know how much time each plugin
    // spends in Transform(), Paint(), and Draw().
    Stopwatch meas_transform_;
    Stopwatch meas_paint_;
    Stopwatch meas_draw_;
  };
  typedef boost::shared_ptr<MapvizPlugin> MapvizPluginPtr;

  // Implementation

  inline void MapvizPlugin::PrintErrorHelper(QLabel *status_label, const std::string &message,
                                             double throttle)
  {
      if (message == status_label->text().toStdString())
      {
        return;
      }

      if( throttle > 0.0){
          ROS_ERROR_THROTTLE(throttle, "Error: %s", message.c_str());
      }
      else{
          ROS_ERROR("Error: %s", message.c_str());
      }
      QPalette p(status_label->palette());
      p.setColor(QPalette::Text, Qt::red);
      status_label->setPalette(p);
      status_label->setText(message.c_str());
  }

  inline void MapvizPlugin::PrintInfoHelper(QLabel *status_label, const std::string &message,
                                            double throttle)
  {
      if (message == status_label->text().toStdString())
      {
        return;
      }

      if( throttle > 0.0){
          ROS_INFO_THROTTLE(throttle, "%s", message.c_str());
      }
      else{
          ROS_INFO("%s", message.c_str());
      }
      QPalette p(status_label->palette());
      p.setColor(QPalette::Text, Qt::darkGreen);
      status_label->setPalette(p);
      status_label->setText(message.c_str());
  }

  inline void MapvizPlugin::PrintWarningHelper(QLabel *status_label, const std::string &message,
                                               double throttle)
  {
      if (message == status_label->text().toStdString())
      {
        return;
      }

      if( throttle > 0.0){
          ROS_WARN_THROTTLE(throttle, "%s", message.c_str());
      }
      else{
          ROS_WARN("%s", message.c_str());
      }
      QPalette p(status_label->palette());
      p.setColor(QPalette::Text, Qt::darkYellow);
      status_label->setPalette(p);
      status_label->setText(message.c_str());
  }

}
#endif  // MAPVIZ_MAPVIZ_PLUGIN_H_