string_display.cpp

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// -*- mode: c++; -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019, JSK Lab
 *  All rights reserved.
 *
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 *  modification, are permitted provided that the following conditions
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 *     notice, this list of conditions and the following disclaimer.
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#include "string_display.h"
 
#include <string>
 
#include <boost/algorithm/string.hpp>
#include <boost/format.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <OGRE/OgreHardwarePixelBuffer.h>
#include <OGRE/OgreMaterialManager.h>
#include <OGRE/OgreTexture.h>
#include <pluginlib/class_list_macros.h>
#include <QFontDatabase>
#include <QPainter>
#include <QStaticText>
#include <QTextDocument>
#include <rviz/uniform_string_stream.h>
 
namespace jsk_rviz_plugins
{
  StringDisplay::StringDisplay() : Display(),
                                   texture_width_(0), texture_height_(0),
                                   text_size_(14),
                                   line_width_(2),
                                   text_(""), font_(""),
                                   bg_color_(0, 0, 0, 0),
                                   fg_color_(255, 255, 255, 255.0),
                                   require_update_texture_(false)
  {
    update_topic_property_ = new rviz::RosTopicProperty(
      "Topic", "",
      ros::message_traits::datatype<std_msgs::String>(),
      "std_msgs::String topic to subscribe to.",
      this, SLOT(updateTopic()));
    overtake_position_properties_property_ = new rviz::BoolProperty(
      "Overtake Position Properties", false,
      "overtake position properties specified by message such as left, top and font",
      this, SLOT(updateOvertakePositionProperties()));
    overtake_color_properties_property_ = new rviz::BoolProperty(
      "Overtake Color Properties", false,
      "overtake color properties specified by message such as foreground/background color and alpha",
      this, SLOT(updateOvertakeColorProperties()));
    align_bottom_property_ = new rviz::BoolProperty(
      "Align Bottom", false,
      "align text with the bottom of the overlay region",
      this, SLOT(updateAlignBottom()));
    top_property_ = new rviz::IntProperty(
      "top", 0,
      "top position",
      this, SLOT(updateTop()));
    top_property_->setMin(0);
    left_property_ = new rviz::IntProperty(
      "left", 0,
      "left position",
      this, SLOT(updateLeft()));
    left_property_->setMin(0);
    width_property_ = new rviz::IntProperty(
      "width", 128,
      "width position",
      this, SLOT(updateWidth()));
    width_property_->setMin(0);
    height_property_ = new rviz::IntProperty(
      "height", 128,
      "height position",
      this, SLOT(updateHeight()));
    height_property_->setMin(0);
    text_size_property_ = new rviz::IntProperty(
      "text size", 12,
      "text size",
      this, SLOT(updateTextSize()));
    text_size_property_->setMin(0);
    line_width_property_ = new rviz::IntProperty(
      "line width", 2,
      "line width",
      this, SLOT(updateLineWidth()));
    line_width_property_->setMin(0);
    fg_color_property_ = new rviz::ColorProperty(
      "Foreground Color", QColor(25, 255, 240),
      "Foreground Color",
      this, SLOT(updateFGColor()));
    fg_alpha_property_ = new rviz::FloatProperty(
      "Foreground Alpha", 0.8, "Foreground Alpha",
      this, SLOT(updateFGAlpha()));
    fg_alpha_property_->setMin(0.0);
    fg_alpha_property_->setMax(1.0);
    bg_color_property_ = new rviz::ColorProperty(
      "Background Color", QColor(0, 0, 0),
      "Background Color",
      this, SLOT(updateBGColor()));
    bg_alpha_property_ = new rviz::FloatProperty(
      "Background Alpha", 0.8, "Background Alpha",
      this, SLOT(updateBGAlpha()));
    bg_alpha_property_->setMin(0.0);
    bg_alpha_property_->setMax(1.0);
 
    QFontDatabase database;
    font_families_ = database.families();
    font_property_ = new rviz::EnumProperty(
      "font", "DejaVu Sans Mono",
      "font", this,
      SLOT(updateFont()));
    for (size_t i = 0; i < font_families_.size(); i++)
    {
      font_property_->addOption(font_families_[i], static_cast<int>(i));
    }
  }
 
  StringDisplay::~StringDisplay()
  {
    onDisable();
    //delete overlay_;
    delete update_topic_property_;
    delete overtake_color_properties_property_;
    delete overtake_position_properties_property_;
    delete align_bottom_property_;
    delete top_property_;
    delete left_property_;
    delete width_property_;
    delete height_property_;
    delete text_size_property_;
    delete line_width_property_;
    delete bg_color_property_;
    delete bg_alpha_property_;
    delete fg_color_property_;
    delete fg_alpha_property_;
    delete font_property_;
  }
 
  void StringDisplay::onEnable()
  {
    if (overlay_)
    {
      overlay_->show();
    }
    subscribe();
  }
 
  void StringDisplay::onDisable()
  {
    if (overlay_)
    {
      overlay_->hide();
    }
    unsubscribe();
  }
 
  void StringDisplay::unsubscribe()
  {
    sub_.shutdown();
  }
 
  void StringDisplay::subscribe()
  {
    std::string topic_name = update_topic_property_->getTopicStd();
    if (topic_name.length() > 0 && topic_name != "/")
    {
      sub_ = ros::NodeHandle().subscribe(topic_name, 1, &StringDisplay::processMessage, this);
    }
  }
 
  void StringDisplay::updateTopic()
  {
    unsubscribe();
    subscribe();
  }
 
  // only the first time
  void StringDisplay::onInitialize()
  {
    onEnable();
    updateTopic();
    updateOvertakePositionProperties();
    updateOvertakeColorProperties();
    updateAlignBottom();
    updateTop();
    updateLeft();
    updateWidth();
    updateHeight();
    updateTextSize();
    updateFGColor();
    updateFGAlpha();
    updateBGColor();
    updateBGAlpha();
    updateFont();
    updateLineWidth();
    require_update_texture_ = true;
  }
 
  void StringDisplay::update(float wall_dt, float ros_dt)
  {
    if (!require_update_texture_)
    {
      return;
    }
    if (!isEnabled())
    {
      return;
    }
    if (!overlay_)
    {
      return;
    }
    overlay_->setPosition(left_, top_);
    overlay_->updateTextureSize(texture_width_, texture_height_);
    {
      ScopedPixelBuffer buffer = overlay_->getBuffer();
      QImage Hud = buffer.getQImage(*overlay_, bg_color_);
      QPainter painter( &Hud );
      painter.setRenderHint(QPainter::Antialiasing, true);
      painter.setPen(QPen(fg_color_, line_width_ || 1, Qt::SolidLine));
      uint16_t w = overlay_->getTextureWidth();
      uint16_t h = overlay_->getTextureHeight();
 
      // font
      if (text_size_ != 0)
      {
        QFont font(font_.length() > 0 ? font_.c_str(): "Liberation Sans");
        font.setPointSize(text_size_);
        font.setBold(true);
        painter.setFont(font);
      }
      if (text_.length() > 0)
      {
        std::string color_wrapped_text
          = (boost::format("<span style=\"color: rgba(%2%, %3%, %4%, %5%)\">%1%</span>")
             % text_ % fg_color_.red() % fg_color_.green() % fg_color_.blue() %
             fg_color_.alpha()).str();
        QStaticText static_text(
          boost::algorithm::replace_all_copy(color_wrapped_text, "\n", "<br >").c_str());
        static_text.setTextWidth(w);
        if (!align_bottom_)
        {
          painter.drawStaticText(0, 0, static_text);
        }
        else
        {
          QStaticText only_wrapped_text(color_wrapped_text.c_str());
          QFontMetrics fm(painter.fontMetrics());
          QRect text_rect = fm.boundingRect(0, 0, w, h,
                                            Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop,
                                            only_wrapped_text.text().remove(QRegExp("<[^>]*>")));
          painter.drawStaticText(0, h - text_rect.height(), static_text);
        }
      }
      painter.end();
    }
    overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight());
    require_update_texture_ = false;
  }
 
  void StringDisplay::processMessage
  (const std_msgs::String::ConstPtr& msg)
  {
    if (!isEnabled())
    {
      return;
    }
    if (!overlay_)
    {
      static int count = 0;
      rviz::UniformStringStream ss;
      ss << "StringDisplayObject" << count++;
      overlay_.reset(new OverlayObject(ss.str()));
      overlay_->show();
    }
    if (overlay_)
    {
      overlay_->show();
    }
 
    // store message for update method
    text_ = msg->data;
    require_update_texture_ = true;
  }
 
  void StringDisplay::updateOvertakePositionProperties()
  {
    if (!overtake_position_properties_ &&
        overtake_position_properties_property_->getBool())
    {
      updateTop();
      updateLeft();
      updateWidth();
      updateHeight();
      updateTextSize();
      require_update_texture_ = true;
    }
    overtake_position_properties_
      = overtake_position_properties_property_->getBool();
    if (overtake_position_properties_)
    {
      top_property_->show();
      left_property_->show();
      width_property_->show();
      height_property_->show();
      text_size_property_->show();
    }
    else
    {
      top_property_->hide();
      left_property_->hide();
      width_property_->hide();
      height_property_->hide();
      text_size_property_->hide();
    }
  }
 
  void StringDisplay::updateOvertakeColorProperties()
  {
    if (!overtake_color_properties_ &&
        overtake_color_properties_property_->getBool())
    {
      // read all the parameters from properties
      updateFGColor();
      updateFGAlpha();
      updateBGColor();
      updateBGAlpha();
      updateFont();
      updateLineWidth();
      require_update_texture_ = true;
    }
    overtake_color_properties_ = overtake_color_properties_property_->getBool();
    if (overtake_color_properties_)
    {
      fg_color_property_->show();
      fg_alpha_property_->show();
      bg_color_property_->show();
      bg_alpha_property_->show();
      line_width_property_->show();
      font_property_->show();
    }
    else
    {
      fg_color_property_->hide();
      fg_alpha_property_->hide();
      bg_color_property_->hide();
      bg_alpha_property_->hide();
      line_width_property_->hide();
      font_property_->hide();
    }
  }
 
  void StringDisplay::updateAlignBottom()
  {
    if (align_bottom_ != align_bottom_property_->getBool())
    {
      require_update_texture_ = true;
    }
    align_bottom_ = align_bottom_property_->getBool();
  }
 
  void StringDisplay::updateTop()
  {
    top_ = top_property_->getInt();
    if (overtake_position_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateLeft()
  {
    left_ = left_property_->getInt();
    if (overtake_position_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateWidth()
  {
    texture_width_ = width_property_->getInt();
    if (overtake_position_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateHeight()
  {
    texture_height_ = height_property_->getInt();
    if (overtake_position_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateTextSize()
  {
    text_size_ = text_size_property_->getInt();
    if (overtake_position_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateBGColor()
  {
    QColor c = bg_color_property_->getColor();
    bg_color_.setRed(c.red());
    bg_color_.setGreen(c.green());
    bg_color_.setBlue(c.blue());
    if (overtake_color_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateBGAlpha()
  {
    bg_color_.setAlpha(bg_alpha_property_->getFloat() * 255.0);
    if (overtake_color_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateFGColor()
  {
    QColor c = fg_color_property_->getColor();
    fg_color_.setRed(c.red());
    fg_color_.setGreen(c.green());
    fg_color_.setBlue(c.blue());
    if (overtake_color_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateFGAlpha()
  {
    fg_color_.setAlpha(fg_alpha_property_->getFloat() * 255.0);
    if (overtake_color_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateFont()
  {
    int font_index = font_property_->getOptionInt();
    if (font_index < font_families_.size())
    {
      font_ = font_families_[font_index].toStdString();
    }
    else
    {
      ROS_FATAL("Unexpected error at selecting font index %d.", font_index);
      return;
    }
    if (overtake_color_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  void StringDisplay::updateLineWidth()
  {
    line_width_ = line_width_property_->getInt();
    if (overtake_color_properties_)
    {
      require_update_texture_ = true;
    }
  }
 
  bool StringDisplay::isInRegion(int x, int y)
  {
    return (top_ < y && top_ + texture_height_ > y &&
            left_ < x && left_ + texture_width_ > x);
  }
 
  void StringDisplay::movePosition(int x, int y)
  {
    top_ = y;
    left_ = x;
  }
 
  void StringDisplay::setPosition(int x, int y)
  {
    top_property_->setValue(y);
    left_property_->setValue(x);
  }
 
}  // namespace jsk_rviz_plugins
 
PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::StringDisplay, rviz::Display )