tf_frame_property.cpp

Go to the documentation of this file.

/*
 * 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.
 */

#include <algorithm> // for std::sort

#include "rviz/frame_manager.h"

#include "rviz/properties/tf_frame_property.h"

namespace rviz
{
const QString TfFrameProperty::FIXED_FRAME_STRING = "<Fixed Frame>";

TfFrameProperty::TfFrameProperty(const QString& name,
                                 const QString& default_value,
                                 const QString& description,
                                 Property* parent,
                                 FrameManager* frame_manager,
                                 bool include_fixed_frame_string,
                                 const char* changed_slot,
                                 QObject* receiver)
  : EditableEnumProperty(name, default_value, description, parent, changed_slot, receiver)
  , frame_manager_(nullptr)
  , include_fixed_frame_string_(include_fixed_frame_string)
{
  // Parent class EditableEnumProperty has requestOptions() signal.
  connect(this, SIGNAL(requestOptions(EditableEnumProperty*)), this, SLOT(fillFrameList()));
  setFrameManager(frame_manager);
}

bool TfFrameProperty::setValue(const QVariant& new_value)
{
  QString new_string = new_value.toString();
  if (new_string.size() > 0 && new_string[0] == '/')
  {
    new_string = new_string.right(new_string.size() - 1);
  }
  bool result = EditableEnumProperty::setValue(new_string);

  return result;
}

void TfFrameProperty::setFrameManager(FrameManager* frame_manager)
{
  if (frame_manager_ && include_fixed_frame_string_)
  {
    disconnect(frame_manager_, SIGNAL(fixedFrameChanged()), this, SLOT(handleFixedFrameChange()));
  }
  frame_manager_ = frame_manager;
  if (frame_manager_ && include_fixed_frame_string_)
  {
    connect(frame_manager_, SIGNAL(fixedFrameChanged()), this, SLOT(handleFixedFrameChange()));
  }
}

void TfFrameProperty::fillFrameList()
{
  std::vector<std::string> std_frames;
// TODO(wjwwood): remove this and use tf2 interface instead
#ifndef _WIN32
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif

  frame_manager_->getTFClient()->getFrameStrings(std_frames);

#ifndef _WIN32
#pragma GCC diagnostic pop
#endif
  std::sort(std_frames.begin(), std_frames.end());

  clearOptions();
  if (include_fixed_frame_string_)
  {
    addOption(FIXED_FRAME_STRING);
  }
  for (size_t i = 0; i < std_frames.size(); i++)
  {
    addOptionStd(std_frames[i]);
  }
}

QString TfFrameProperty::getFrame() const
{
  QString frame = getValue().toString();
  if (frame == FIXED_FRAME_STRING && frame_manager_)
  {
    return QString::fromStdString(frame_manager_->getFixedFrame());
  }
  return frame;
}

std::string TfFrameProperty::getFrameStd() const
{
  return getFrame().toStdString();
}

void TfFrameProperty::handleFixedFrameChange()
{
  if (getValue().toString() == FIXED_FRAME_STRING)
  {
    Q_EMIT changed();
  }
}

} // end namespace rviz