float_plugin.cpp

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// Copyright (c) 2019, Southwest Research Institute® (SwRI®)
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#include <mapviz_plugins/float_plugin.h>
 
#include <pluginlib/class_list_macros.h>
#include <mapviz/select_topic_dialog.h>
 
#include <std_msgs/Float32.h>
#include <std_msgs/Float64.h>
#include <marti_common_msgs/Float32Stamped.h>
#include <marti_common_msgs/Float64Stamped.h>
#include <marti_sensor_msgs/Velocity.h>
 
#include <QFontDialog>
 
PLUGINLIB_EXPORT_CLASS(mapviz_plugins::FloatPlugin, mapviz::MapvizPlugin)
 
namespace mapviz_plugins
{
  const char* FloatPlugin::COLOR_KEY = "color";
  const char* FloatPlugin::FONT_KEY = "font";
  const char* FloatPlugin::TOPIC_KEY = "topic";
  const char* FloatPlugin::ANCHOR_KEY = "anchor";
  const char* FloatPlugin::UNITS_KEY = "units";
  const char* FloatPlugin::OFFSET_X_KEY = "offset_x";
  const char* FloatPlugin::OFFSET_Y_KEY = "offset_y";
  const char* FloatPlugin::POSTFIX_KEY = "postfix_text";
 
  FloatPlugin::FloatPlugin() :
    config_widget_(new QWidget()),
    anchor_(TOP_LEFT),
    units_(PIXELS),
    offset_x_(0),
    offset_y_(0),
    has_message_(false),
    has_painted_(false),
    color_(Qt::black)
  {
    ui_.setupUi(config_widget_);
    // Set background white
    QPalette p(config_widget_->palette());
    p.setColor(QPalette::Background, Qt::white);
    config_widget_->setPalette(p);
 
    // Set status text red
    QPalette p3(ui_.status->palette());
    p3.setColor(QPalette::Text, Qt::red);
    ui_.status->setPalette(p3);
 
    QObject::connect(ui_.selecttopic, SIGNAL(clicked()), this, SLOT(SelectTopic()));
    QObject::connect(ui_.topic, SIGNAL(editingFinished()), this, SLOT(TopicEdited()));
    QObject::connect(ui_.anchor, SIGNAL(activated(QString)), this, SLOT(SetAnchor(QString)));
    QObject::connect(ui_.units, SIGNAL(activated(QString)), this, SLOT(SetUnits(QString)));
    QObject::connect(ui_.offsetx, SIGNAL(valueChanged(int)), this, SLOT(SetOffsetX(int)));
    QObject::connect(ui_.offsety, SIGNAL(valueChanged(int)), this, SLOT(SetOffsetY(int)));
    QObject::connect(ui_.font_button, SIGNAL(clicked()), this, SLOT(SelectFont()));
    QObject::connect(ui_.color, SIGNAL(colorEdited(const QColor &)), this, SLOT(SelectColor()));
    QObject::connect(ui_.postfix, SIGNAL(editingFinished()), this, SLOT(PostfixEdited()));
 
    font_.setFamily(tr("Helvetica"));
    ui_.font_button->setFont(font_);
    ui_.font_button->setText(font_.family());
 
    ui_.color->setColor(color_);
  }
 
  FloatPlugin::~FloatPlugin()
  {
  }
 
  bool FloatPlugin::Initialize(QGLWidget* canvas)
  {
    canvas_ = canvas;
    return true;
  }
 
  void FloatPlugin::Draw(double x, double y, double scale)
  {
    // This plugin doesn't do any  OpenGL drawing.
  }
 
  void FloatPlugin::Paint(QPainter* painter, double x, double y, double scale)
  {
    if (has_message_)
    {
      painter->save();
      painter->resetTransform();
      painter->setFont(font_);
 
      if (!has_painted_)
      {
        // After the first time we get a new message, we do not know how wide it's
        // going to be when rendered, so we can't accurately calculate the top left
        // coordinate if it's offset from the right or bottom borders.
        // The easiest workaround I've found for this is to draw it once using
        // a completely transparent pen, which will cause the QStaticText class to
        // know how wide it is; then we can recalculate the offsets and draw it
        // again with a visible pen.
        QPen invisPen(QBrush(Qt::transparent), 1);
        painter->setPen(invisPen);
        PaintText(painter);
        has_painted_ = true;
      }
      QPen pen(QBrush(color_), 1);
      painter->setPen(pen);
      PaintText(painter);
 
      painter->restore();
      PrintInfo("OK");
    }
    else
    {
      PrintWarning("No messages received.");
    }
  }
 
  void FloatPlugin::PaintText(QPainter* painter)
  {
    // Calculate the correct offsets and dimensions
    int x_offset = offset_x_;
    int y_offset = offset_y_;
    if (units_ == PERCENT)
    {
      x_offset = static_cast<int>((float)(offset_x_ * canvas_->width()) / 100.0);
      y_offset = static_cast<int>((float)(offset_y_ * canvas_->height()) / 100.0);
    }
 
    int right = static_cast<int>((float)canvas_->width() - message_.size().width()) - x_offset;
    int bottom = static_cast<int>((float)canvas_->height() - message_.size().height()) - y_offset;
    int yCenter = static_cast<int>((float)canvas_->height() / 2.0 - message_.size().height()/2.0);
    int xCenter = static_cast<int>((float)canvas_->width() / 2.0 - message_.size().width()/2.0);
 
    QPoint ulPoint;
 
    switch (anchor_)
    {
      case TOP_LEFT:
        ulPoint.setX(x_offset);
        ulPoint.setY(y_offset);
        break;
      case TOP_CENTER:
        ulPoint.setX(xCenter);
        ulPoint.setY(y_offset);
        break;
      case TOP_RIGHT:
        ulPoint.setX(right);
        ulPoint.setY(y_offset);
        break;
      case CENTER_LEFT:
        ulPoint.setX(x_offset);
        ulPoint.setY(yCenter);
        break;
      case CENTER:
        ulPoint.setX(xCenter);
        ulPoint.setY(yCenter);
        break;
      case CENTER_RIGHT:
        ulPoint.setX(right);
        ulPoint.setY(yCenter);
        break;
      case BOTTOM_LEFT:
        ulPoint.setX(x_offset);
        ulPoint.setY(bottom);
        break;
      case BOTTOM_CENTER:
        ulPoint.setX(xCenter);
        ulPoint.setY(bottom);
        break;
      case BOTTOM_RIGHT:
        ulPoint.setX(right);
        ulPoint.setY(bottom);
        break;
    }
    painter->drawStaticText(ulPoint, message_);
  }
 
  void FloatPlugin::LoadConfig(const YAML::Node& node, const std::string& path)
  {
    if (node[TOPIC_KEY])
    {
      ui_.topic->setText(QString(node[TOPIC_KEY].as<std::string>().c_str()));
      TopicEdited();
    }
 
    if (node[FONT_KEY])
    {
      font_.fromString(QString(node[FONT_KEY].as<std::string>().c_str()));
      ui_.font_button->setFont(font_);
      ui_.font_button->setText(font_.family());
    }
 
    if (node[COLOR_KEY])
    {
      color_ = QColor(node[COLOR_KEY].as<std::string>().c_str());
      ui_.color->setColor(QColor(color_.name().toStdString().c_str()));
    }
 
    if (node[ANCHOR_KEY])
    {
      std::string anchor = node[ANCHOR_KEY].as<std::string>();
      ui_.anchor->setCurrentIndex(ui_.anchor->findText(anchor.c_str()));
      SetAnchor(anchor.c_str());
    }
 
    if (node[UNITS_KEY])
    {
      std::string units = node[UNITS_KEY].as<std::string>();
      ui_.units->setCurrentIndex(ui_.units->findText(units.c_str()));
      SetUnits(units.c_str());
    }
 
    if (node[OFFSET_X_KEY])
    {
      offset_x_ = node[OFFSET_X_KEY].as<int>();
      ui_.offsetx->setValue(offset_x_);
    }
 
    if (node[OFFSET_Y_KEY])
    {
      offset_y_ = node[OFFSET_Y_KEY].as<int>();
      ui_.offsety->setValue(offset_y_);
    }
 
    if (node[POSTFIX_KEY])
    {
      postfix_ = node[POSTFIX_KEY].as<std::string>();
      ui_.postfix->setText(QString(postfix_.c_str()));
    }
  }
 
  void FloatPlugin::SaveConfig(YAML::Emitter& emitter, const std::string& path)
  {
    emitter << YAML::Key << FONT_KEY << YAML::Value << font_.toString().toStdString();
    emitter << YAML::Key << COLOR_KEY << YAML::Value << color_.name().toStdString();
    emitter << YAML::Key << TOPIC_KEY << YAML::Value << ui_.topic->text().toStdString();
    emitter << YAML::Key << ANCHOR_KEY << YAML::Value << AnchorToString(anchor_);
    emitter << YAML::Key << UNITS_KEY << YAML::Value << UnitsToString(units_);
    emitter << YAML::Key << OFFSET_X_KEY << YAML::Value << offset_x_;
    emitter << YAML::Key << OFFSET_Y_KEY << YAML::Value << offset_y_;
    emitter << YAML::Key << POSTFIX_KEY << YAML::Value << postfix_;
  }
 
  QWidget* FloatPlugin::GetConfigWidget(QWidget* parent)
  {
    config_widget_->setParent(parent);
    return config_widget_;
  }
 
  void FloatPlugin::PrintError(const std::string& message)
  {
    PrintErrorHelper(ui_.status, message);
  }
 
  void FloatPlugin::PrintInfo(const std::string& message)
  {
    PrintInfoHelper(ui_.status, message);
  }
 
  void FloatPlugin::PrintWarning(const std::string& message)
  {
    PrintWarningHelper(ui_.status, message);
  }
 
  void FloatPlugin::SelectColor()
  {
    color_ = ui_.color->color();
  }
 
  void FloatPlugin::PostfixEdited()
  {
    postfix_ = ui_.postfix->text().toStdString();
  }
 
  void FloatPlugin::SelectFont()
  {
    bool ok;
    QFont font = QFontDialog::getFont(&ok, font_, canvas_);
    if (ok)
    {
      font_ = font;
      message_.prepare(QTransform(), font_);
      ui_.font_button->setFont(font_);
      ui_.font_button->setText(font_.family());
    }
  }
 
  void FloatPlugin::SelectTopic()
  {
    std::vector<std::string> topics;
    topics.push_back("std_msgs/Float32");
    topics.push_back("std_msgs/Float64");
    topics.push_back("marti_common_msgs/Float32Stamped");
    topics.push_back("marti_common_msgs/Float64Stamped");
    topics.push_back("marti_sensor_msgs/Velocity");
    ros::master::TopicInfo topic = mapviz::SelectTopicDialog::selectTopic(topics);
 
    if (!topic.name.empty())
    {
      ui_.topic->setText(QString::fromStdString(topic.name));
      TopicEdited();
    }
  }
 
  void FloatPlugin::TopicEdited()
  {
    std::string topic = ui_.topic->text().trimmed().toStdString();
    if (topic != topic_)
    {
      initialized_ = false;
      has_message_ = false;
      PrintWarning("No messages received.");
 
      float_sub_.shutdown();
 
      topic_ = topic;
      if (!topic.empty())
      {
        float_sub_ = node_.subscribe<topic_tools::ShapeShifter>(topic_, 1, &FloatPlugin::floatCallback, this);
 
        ROS_INFO("Subscribing to %s", topic_.c_str());
      }
    }
  }
 
  void FloatPlugin::SetAnchor(QString anchor)
  {
    if (anchor == "top left")
    {
      anchor_ = TOP_LEFT;
    }
    else if (anchor == "top center")
    {
      anchor_ = TOP_CENTER;
    }
    else if (anchor == "top right")
    {
      anchor_ = TOP_RIGHT;
    }
    else if (anchor == "center left")
    {
      anchor_ = CENTER_LEFT;
    }
    else if (anchor == "center")
    {
      anchor_ = CENTER;
    }
    else if (anchor == "center right")
    {
      anchor_ = CENTER_RIGHT;
    }
    else if (anchor == "bottom left")
    {
      anchor_ = BOTTOM_LEFT;
    }
    else if (anchor == "bottom center")
    {
      anchor_ = BOTTOM_CENTER;
    }
    else if (anchor == "bottom right")
    {
      anchor_ = BOTTOM_RIGHT;
    }
  }
 
  void FloatPlugin::SetUnits(QString units)
  {
    if (units == "pixels")
    {
      units_ = PIXELS;
    }
    else if (units == "percent")
    {
      units_ = PERCENT;
    }
  }
 
  void FloatPlugin::SetOffsetX(int offset)
  {
    offset_x_ = offset;
  }
 
  void FloatPlugin::SetOffsetY(int offset)
  {
    offset_y_ = offset;
  }
 
  template <class T, class M>
  bool is_instance(const M& msg)
  {
    return msg->getDataType() == ros::message_traits::datatype<T>();
  }
 
  void FloatPlugin::floatCallback(const topic_tools::ShapeShifter::ConstPtr& msg)
  {
    double value = 0.0;
    if (is_instance<std_msgs::Float32>(msg))
    {
      value = msg->instantiate<std_msgs::Float32>()->data;
    }
    if (is_instance<std_msgs::Float64>(msg))
    {
      value = msg->instantiate<std_msgs::Float64>()->data;
    }
    else if (is_instance<marti_common_msgs::Float32Stamped>(msg))
    {
      value = msg->instantiate<marti_common_msgs::Float32Stamped>()->value;
    }
    else if (is_instance<marti_common_msgs::Float64Stamped>(msg))
    {
      value = msg->instantiate<marti_common_msgs::Float64Stamped>()->value;
    }
    else if (is_instance<marti_sensor_msgs::Velocity>(msg))
    {
      value = msg->instantiate<marti_sensor_msgs::Velocity>()->velocity;
    }
 
    std::string str = std::to_string(value);
    str += postfix_;
    message_.setText(QString(str.c_str()));
 
    message_.prepare(QTransform(), font_);
 
    has_message_ = true;
    has_painted_ = false;
    initialized_ = true;
  }
 
  std::string FloatPlugin::AnchorToString(FloatPlugin::Anchor anchor)
  {
    std::string anchor_string = "top left";
 
    if (anchor == TOP_LEFT)
    {
      anchor_string = "top left";
    }
    else if (anchor == TOP_CENTER)
    {
      anchor_string = "top center";
    }
    else if (anchor == TOP_RIGHT)
    {
      anchor_string = "top right";
    }
    else if (anchor == CENTER_LEFT)
    {
      anchor_string = "center left";
    }
    else if (anchor == CENTER)
    {
      anchor_string = "center";
    }
    else if (anchor == CENTER_RIGHT)
    {
      anchor_string = "center right";
    }
    else if (anchor == BOTTOM_LEFT)
    {
      anchor_string = "bottom left";
    }
    else if (anchor == BOTTOM_CENTER)
    {
      anchor_string = "bottom center";
    }
    else if (anchor == BOTTOM_RIGHT)
    {
      anchor_string = "bottom right";
    }
 
    return anchor_string;
  }
 
  std::string FloatPlugin::UnitsToString(FloatPlugin::Units units)
  {
    std::string units_string = "pixels";
 
    if (units == PIXELS)
    {
      units_string = "pixels";
    }
    else if (units == PERCENT)
    {
      units_string = "percent";
    }
 
    return units_string;
  }
}