mapem_display.hpp

Go to the documentation of this file.

 
#pragma once
 
#include "etsi_its_mapem_ts_msgs/msg/mapem.hpp"
#include "etsi_its_spatem_ts_msgs/msg/spatem.hpp"
 
#include "displays/MAPEM/intersection_render_object.hpp"
 
#include "rviz_common/ros_topic_display.hpp"
#include "rviz_rendering/objects/billboard_line.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 ColorProperty;
  class FloatProperty;
  class RosTopicProperty;
  class QosProfileProperty;
}  // namespace properties
}  // namespace rviz_common
 
namespace etsi_its_msgs
{
namespace displays
{
 
class MAPEMDisplay : public
  rviz_common::RosTopicDisplay<etsi_its_mapem_ts_msgs::msg::MAPEM>
{
  Q_OBJECT
 
public:
  MAPEMDisplay();
  ~MAPEMDisplay() override;
 
  void onInitialize() override;
 
  void reset() override;
 
protected Q_SLOTS:
  void changedSPATEMViz();
  void changedSPATEMTopic();
  void changedMAPEMViz();
 
protected:
  void processMessage(etsi_its_mapem_ts_msgs::msg::MAPEM::ConstSharedPtr msg) override;
  void update(float wall_dt, float ros_dt) override;
  void SPATEMCallback(etsi_its_spatem_ts_msgs::msg::SPATEM::ConstSharedPtr msg);
 
  void RenderMapemShapes(Ogre::SceneNode *child_scene_node);
  void RenderMapemShapesLane(Ogre::SceneNode *child_scene_node, IntersectionLane& lane);
  void RenderMapemTexts(Ogre::SceneNode *child_scene_node, IntersectionRenderObject& intsctn);
  void RenderSpatemShapes(Ogre::SceneNode *child_scene_node, IntersectionLane& lane, IntersectionMovementState* intersection_movement_state);
  void RenderSpatemTexts(Ogre::SceneNode *child_scene_node, IntersectionLane& lane, IntersectionMovementState* intersection_movement_state);
 
  Ogre::ManualObject *manual_object_;
 
  rclcpp::Node::SharedPtr rviz_node_;
  rclcpp::Subscription<etsi_its_spatem_ts_msgs::msg::SPATEM>::SharedPtr spatem_subscriber_;
  rclcpp::QoS spatem_qos_profile_ = rclcpp::QoS(1);
 
  // Properties
  rviz_common::properties::BoolProperty *show_meta_spatem_, *show_meta_mapem_, *viz_spatem_, *viz_mapem_;
  rviz_common::properties::BoolProperty *show_spatem_start_time, *show_spatem_min_end_time, *show_spatem_max_end_time, *show_spatem_likely_time, *show_spatem_confidence, *show_spatem_next_time;
  rviz_common::properties::FloatProperty *mapem_timeout_, *spatem_timeout_, *char_height_mapem_, *char_height_spatem_, *lane_width_property_, *spatem_sphere_scale_property_, *mapem_sphere_scale_property_;
  rviz_common::properties::ColorProperty *color_property_ingress_, *color_property_egress_, *text_color_property_mapem_, *text_color_property_spatem_;
  rviz_common::properties::RosTopicProperty *spatem_topic_property_;
  rviz_common::properties::QosProfileProperty *spatem_qos_property_;
 
  // Each Utm-SceneNode represents an utm frame
  std::map<std::string, Ogre::SceneNode*> scene_nodes_utm_;
 
  // Each Junction-SceneNode represents the origin of a junction coordinate frame
  std::map<uint, Ogre::SceneNode*> scene_nodes_junctions_;
 
  std::unordered_map<int, IntersectionRenderObject> intersections_;
  std::vector<std::shared_ptr<rviz_rendering::Shape>> intsct_ref_points_, signal_groups_;
  std::vector<std::shared_ptr<rviz_rendering::BillboardLine>> lane_lines_;
  std::vector<std::shared_ptr<rviz_rendering::MovableText>> texts_;
 
  uint64_t received_spats_=0;
};
 
}  // namespace displays
}  // namespace etsi_its_msgs