cpm_display.hpp

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#pragma once
 
#include "etsi_its_cpm_ts_msgs/msg/collective_perception_message.hpp"
 
#include "displays/CPM/cpm_render_object.hpp"
 
#include "rviz_common/ros_topic_display.hpp"
#include "rviz_rendering/objects/movable_text.hpp"
#include "rviz_rendering/objects/shape.hpp"
 
#include <rclcpp/rclcpp.hpp>
 
namespace Ogre {
class ManualObject;
}
 
namespace rviz_common {
namespace properties {
class BoolProperty;
class ColorProperty;
class FloatProperty;
}  // namespace properties
}  // namespace rviz_common
 
namespace etsi_its_msgs {
namespace displays {
 
class CPMDisplay : public rviz_common::RosTopicDisplay<etsi_its_cpm_ts_msgs::msg::CollectivePerceptionMessage> {
  Q_OBJECT
 
 public:
  CPMDisplay();
  ~CPMDisplay() override;
 
  void onInitialize() override;
 
  void reset() override;
 
 protected:
  void processMessage(etsi_its_cpm_ts_msgs::msg::CollectivePerceptionMessage::ConstSharedPtr msg) override;
  void update(float wall_dt, float ros_dt) override;
 
  Ogre::ManualObject *manual_object_;
 
  rclcpp::Node::SharedPtr rviz_node_;
 
  // Properties
  rviz_common::properties::BoolProperty *show_meta_, *show_station_id_, *show_speed_;
  rviz_common::properties::FloatProperty *buffer_timeout_, *bb_scale_, *char_height_;
  rviz_common::properties::ColorProperty *color_property_, *text_color_property_;
 
  std::unordered_map<int, CPMRenderObject> cpms_;
 
  std::vector<std::shared_ptr<rviz_rendering::Shape>> bboxs_;
  std::vector<std::shared_ptr<rviz_rendering::MovableText>> texts_;
};
 
}  // namespace displays
}  // namespace etsi_its_msgs