overlay_diagnostic_display.h

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// -*- mode: c++; -*-
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 * Software License Agreement (BSD License)
 *
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 *
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#ifndef JSK_RVIZ_PLUGIN_OVERLAY_DIAGNOSTIC_DISPLAY_H_
#define JSK_RVIZ_PLUGIN_OVERLAY_DIAGNOSTIC_DISPLAY_H_
 
#ifndef Q_MOC_RUN
#include <rviz/display.h>
#include <OGRE/OgreTexture.h>
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgreMaterial.h>
 
#include <QPainter>
#include <QPainterPath>
 
#include <rviz/properties/ros_topic_property.h>
#include <rviz/properties/editable_enum_property.h>
#include <rviz/properties/enum_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/color_property.h>
 
#include <diagnostic_msgs/DiagnosticArray.h>
 
#include "overlay_utils.h"
#endif
 
namespace jsk_rviz_plugins
{
  class OverlayDiagnosticDisplay: public rviz::Display
  {
    Q_OBJECT
  public:
    OverlayDiagnosticDisplay();
    typedef enum {OK_STATE, ERROR_STATE, WARN_STATE, STALL_STATE} State;
    virtual ~OverlayDiagnosticDisplay();
 
    // methods for OverlayPickerTool
    virtual bool isInRegion(int x, int y);
    virtual void movePosition(int x, int y);
    virtual void setPosition(int x, int y);
    virtual int getX() { return left_; };
    virtual int getY() { return top_; };
 
  protected:
    virtual bool isStalled();
    virtual void processMessage(
      const diagnostic_msgs::DiagnosticArray::ConstPtr& msg);
    virtual void update(float wall_dt, float ros_dt);
    virtual void onEnable();
    virtual void onDisable();
    virtual void onInitialize();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void redraw();
    virtual State getLatestState();
    virtual void drawSAC(QImage& Hud);
    virtual void drawEVA(QImage& Hud);
    virtual void drawEVAConnectedRectangle(QPainter& painter,
                                           QColor color,
                                           QColor small_color,
                                           int width);
    virtual void drawEVANonConnectedRectangle(QPainter& painter,
                                              QColor color,
                                              QColor small_color,
                                              int width,
                                              double gap);
    virtual void fillNamespaceList();
    virtual QColor foregroundColor();
    virtual QColor textColor();
    virtual double textWidth(QPainter& painter, double font_size, const std::string& text);
    virtual double textHeight(QPainter& painter, double font_size);
    virtual QColor blendColor(QColor a, QColor b, double a_rate);
    virtual void drawText(QPainter& painter, QColor fg_color,
                          const std::string& text);
    virtual double drawAnimatingText(QPainter& painter,
                                     QColor fg_color,
                                     const double height,
                                     const double font_size,
                                     const std::string text);
    // return true if plugin needs to animate
    virtual bool isAnimating();
    virtual double animationRate();
    virtual std::string statusText();
    boost::mutex mutex_;
    OverlayObject::Ptr overlay_;
    
#if ROS_VERSION_MINIMUM(1,12,0)
    std::shared_ptr<diagnostic_msgs::DiagnosticStatus> latest_status_;
#else
    boost::shared_ptr<diagnostic_msgs::DiagnosticStatus> latest_status_;
#endif
    State previous_state_;
    ros::WallTime latest_message_time_;
    ros::WallTime animation_start_time_;
    int size_;
    std::string diagnostics_namespace_;
    int type_;
    std::set<std::string> namespaces_;
    double alpha_;
    int top_, left_;
    double t_;
    double stall_duration_;
    bool is_animating_;
    rviz::RosTopicProperty* ros_topic_property_;
    rviz::EditableEnumProperty* diagnostics_namespace_property_;
    rviz::EnumProperty* type_property_;
    rviz::IntProperty* top_property_;
    rviz::IntProperty* left_property_;
    rviz::FloatProperty* alpha_property_;
    rviz::IntProperty* size_property_;
    rviz::FloatProperty* stall_duration_property_;
    
    ros::Subscriber sub_;
  protected Q_SLOTS:
    virtual void updateType();
    virtual void updateRosTopic();
    virtual void updateDiagnosticsNamespace();
    virtual void updateSize();
    virtual void updateAlpha();
    virtual void updateTop();
    virtual void updateLeft();
    virtual void updateStallDuration();
  private:
    
  };
}
 
#endif