aerialmap_display.h

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/* Copyright 2014 Gareth Cross

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License. */

#pragma once

#include <string>
#include <vector>

#include <boost/optional.hpp>

#include <geometry_msgs/PoseStamped.h>
#include <ros/ros.h>
#include <ros/time.h>
#include <rviz/display.h>
#include <sensor_msgs/NavSatFix.h>
#include <tf2_ros/buffer.h>

#include <OGRE/OgreMaterial.h>
#include <OGRE/OgreVector3.h>

#include "coordinates.h"
#include "ogre_tile.h"
#include "position_reference.h"
#include "tile_cache_delay.h"

namespace Ogre
{
class ManualObject;
}

namespace rviz
{
class EnumProperty;
class FloatProperty;
class IntProperty;
class PositionReferenceProperty;
class Property;
class RosTopicProperty;
class StringProperty;
class TfFrameProperty;

enum class MapTransformType
{
  VIA_MAP_FRAME,
  VIA_UTM_FRAME,
};

class AerialMapDisplay : public Display
{
  Q_OBJECT
public:
  AerialMapDisplay();
  ~AerialMapDisplay() override;

  // Overrides from Display
  void reset() override;
  void update(float, float) override;

protected Q_SLOTS:
  void updateAlpha();
  void updateTopic();
  void updateDrawUnder();
  void updateTileUrl();
  void updateZoom();
  void updateBlocks();
  void updateMapTransformType();
  void updateMapFrame();
  void updateUtmFrame();
  void updateUtmZone();
  void updateXYReference();
  void updateZReference();
  void updateZOffset();

protected:
  // overrides from Display
  void onEnable() override;
  void onDisable() override;
  void onInitialize() override;

  virtual void subscribe();
  virtual void unsubscribe();

  void navFixCallback(sensor_msgs::NavSatFixConstPtr const& msg);

  void requestTileTextures();

  bool updateCenterTile(sensor_msgs::NavSatFixConstPtr const& msg);

  void assembleScene();

  void triggerSceneAssembly();

  void clearAll();

  void destroyTileObjects();

  void createTileObjects();

  void transformTileToReferenceFrame();

  void transformTileToUtmFrame();

  void transformTileToMapFrame();

  void transformMapTileToFixedFrame();

  void checkRequestErrorRate();
  
  void tfReferencePeriodicUpdate(const ros::TimerEvent&);

  struct MapObject
  {
    Ogre::ManualObject* object;
    Ogre::MaterialPtr material;

    MapObject(Ogre::ManualObject* o, Ogre::MaterialPtr m) : object(o), material(m)
    {
      assert(!material.isNull());
    }
  };

  std::vector<MapObject> objects_;

  ros::Subscriber navsat_fix_sub_;

  // properties
  RosTopicProperty* topic_property_;
  StringProperty* tile_url_property_;
  IntProperty* zoom_property_;
  IntProperty* blocks_property_;
  FloatProperty* alpha_property_;
  Property* draw_under_property_;
  EnumProperty* map_transform_type_property_;
  TfFrameProperty* map_frame_property_;
  TfFrameProperty* utm_frame_property_;
  IntProperty* utm_zone_property_;
  PositionReferenceProperty* xy_reference_property_;
  PositionReferenceProperty* z_reference_property_;
  FloatProperty* z_offset_property_;

  float alpha_;
  bool draw_under_;
  std::string tile_url_;
  int zoom_;
  int blocks_;
  MapTransformType map_transform_type_;
  std::string map_frame_;
  std::string utm_frame_;
  int utm_zone_;
  PositionReferenceType xy_reference_type_;
  std::string xy_reference_frame_;
  PositionReferenceType z_reference_type_;
  std::string z_reference_frame_;
  double z_offset_;

  // tile management
  bool dirty_{ false };
  sensor_msgs::NavSatFixConstPtr ref_fix_{ nullptr };
  boost::optional<WGSCoordinate> ref_coords_;
  TileCacheDelay<OgreTile> tile_cache_;
  boost::optional<TileId> center_tile_{ boost::none };
  geometry_msgs::PoseStamped center_tile_pose_;

  std::shared_ptr<tf2_ros::Buffer const> tf_buffer_{ nullptr };
  
  ros::Duration tf_reference_update_duration_;
  ros::Timer tf_reference_update_timer_;
};

}  // namespace rviz