display.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * 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 the Willow Garage, Inc. 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 THE COPYRIGHT OWNER OR CONTRIBUTORS 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 DISPLAY_H
#define DISPLAY_H

#include <string>

#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
#include <ros/ros.h>
#endif

#include "rviz/properties/status_property.h"
#include "rviz/properties/bool_property.h"
#include "rviz/rviz_export.h"

#include <QIcon>
#include <QSet>

class QDockWidget;
class QWidget;

namespace Ogre
{
class SceneManager;
class SceneNode;
} // namespace Ogre

// needed for timeSignal
Q_DECLARE_METATYPE(ros::Time);

namespace rviz
{
class StatusList;
class DisplayContext;
class PanelDockWidget;

class RVIZ_EXPORT Display : public BoolProperty
{
  Q_OBJECT
public:
  Display();
  ~Display() override;

  void initialize(DisplayContext* context);

  QVariant getViewData(int column, int role) const override;

  Qt::ItemFlags getViewFlags(int column) const override;

  virtual QString getClassId() const
  {
    return class_id_;
  }

  virtual void setClassId(const QString& class_id)
  {
    class_id_ = class_id;
  }

  void load(const Config& config) override;

  void save(Config config) const override;

  virtual void setTopic(const QString& topic, const QString& datatype)
  {
    (void)topic;
    (void)datatype;
  }

  bool isEnabled() const;

  void setFixedFrame(const QString& fixed_frame);

  virtual void update(float wall_dt, float ros_dt)
  {
    (void)wall_dt;
    (void)ros_dt;
  }

  virtual void reset();

  virtual void setStatus(StatusProperty::Level level, const QString& name, const QString& text);

  void setStatusStd(StatusProperty::Level level, const std::string& name, const std::string& text)
  {
    setStatus(level, QString::fromStdString(name), QString::fromStdString(text));
  }

  virtual void deleteStatus(const QString& name);

  void deleteStatusStd(const std::string& name)
  {
    deleteStatus(QString::fromStdString(name));
  }

  void setVisibilityBits(uint32_t bits);
  void unsetVisibilityBits(uint32_t bits);
  uint32_t getVisibilityBits()
  {
    return visibility_bits_;
  }

  Ogre::SceneNode* getSceneNode() const
  {
    return scene_node_;
  }

  void setAssociatedWidget(QWidget* widget);

  QWidget* getAssociatedWidget() const
  {
    return associated_widget_;
  }

  PanelDockWidget* getAssociatedWidgetPanel()
  {
    return associated_widget_panel_;
  }

  void setName(const QString& name) override;

  void emitTimeSignal(ros::Time time);

Q_SIGNALS:

  void timeSignal(ros::Time time, QPrivateSignal);

public Q_SLOTS:
  void setEnabled(bool enabled);

  void queueRender();

  void setIcon(const QIcon& icon) override;

protected:
  virtual void onInitialize()
  {
  }

  virtual void onEnable()
  {
  }

  virtual void onDisable()
  {
  }

  virtual void clearStatuses();

  virtual void fixedFrameChanged()
  {
  }

  bool initialized() const
  {
    return initialized_;
  }

  DisplayContext* context_;

  Ogre::SceneManager* scene_manager_;

  Ogre::SceneNode* scene_node_;

  ros::NodeHandle update_nh_;

  ros::NodeHandle threaded_nh_;

  QString fixed_frame_;

public Q_SLOTS:
  virtual void onEnableChanged();

private Q_SLOTS:
  void setStatusInternal(int level, const QString& name, const QString& text);
  void deleteStatusInternal(const QString& name);
  void clearStatusesInternal();
  void associatedPanelVisibilityChange(bool visible);
  void disable();

private:
  StatusList* status_;
  QString class_id_;
  bool initialized_;
  uint32_t visibility_bits_;
  QWidget* associated_widget_;
  PanelDockWidget* associated_widget_panel_;
};

} // end namespace rviz

#endif // DISPLAY_H