pose_publisher_plugin.cpp

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// Copyright (c) 2021, Trinity University
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#include <mapviz_plugins/pose_publisher_plugin.h>
 
 
// Declare plugin
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mapviz_plugins::PosePublisherPlugin, mapviz::MapvizPlugin)
 
namespace mapviz_plugins
{
 
PosePublisherPlugin::PosePublisherPlugin() :
    config_widget_(new QWidget()),
    map_canvas_(nullptr),
    is_mouse_down_(false),
    monitoring_action_state_(false)
{
    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 green
    ui_.status->setText("OK");
    QPalette p3(ui_.status->palette());
    p3.setColor(QPalette::Text, Qt::green);
    ui_.status->setPalette(p3);
 
    QObject::connect(ui_.pushButtonPose, SIGNAL(toggled(bool)),
                     this, SLOT(on_pushButtonPose_toggled(bool)));
 
    QObject::connect(ui_.topic, SIGNAL(textEdited(const QString&)),
            this, SLOT(topicChanged(const QString&)));
 
    timer_ = nh_.createTimer(ros::Duration(1.0), &PosePublisherPlugin::timerCallback, this);
    frame_timer_.start(1000);
    QObject::connect(&frame_timer_, SIGNAL(timeout()), this, SLOT(updateFrames()));
}
 
PosePublisherPlugin::~PosePublisherPlugin()
{
    if (map_canvas_)
    {
        map_canvas_->removeEventFilter(this);
    }
}
 
void PosePublisherPlugin::PrintError(const std::string& message)
{
    PrintErrorHelper( ui_.status, message);
}
 
void PosePublisherPlugin::PrintInfo(const std::string& message)
{
    PrintInfoHelper( ui_.status, message);
}
 
void PosePublisherPlugin::PrintWarning(const std::string& message)
{
    PrintWarningHelper( ui_.status, message);
}
 
QWidget* PosePublisherPlugin::GetConfigWidget(QWidget* parent)
{
    config_widget_->setParent(parent);
    return config_widget_;
}
 
bool PosePublisherPlugin::Initialize(QGLWidget* canvas)
{
    map_canvas_ = static_cast<mapviz::MapCanvas*>(canvas);
    map_canvas_->installEventFilter(this);
 
    topicChanged(ui_.topic->text()); // set up the publish topic
    initialized_ = true;
    return true;
}
 
bool PosePublisherPlugin::eventFilter(QObject *object, QEvent* event)
{
    switch (event->type())
    {
    case QEvent::MouseButtonPress:
        return handleMousePress(static_cast<QMouseEvent*>(event));
    case QEvent::MouseButtonRelease:
        return handleMouseRelease(static_cast<QMouseEvent*>(event));
    case QEvent::MouseMove:
        return handleMouseMove(static_cast<QMouseEvent*>(event));
    default:
        return false;
    }
}
 
void PosePublisherPlugin::timerCallback(const ros::TimerEvent &)
{
  ui_.pushButtonPose->setEnabled( true );
}
 
 
bool PosePublisherPlugin::handleMousePress(QMouseEvent* event)
{
    bool pose_checked = ui_.pushButtonPose->isChecked();
 
    if( !pose_checked)
    {
        return false;
    }
 
    if (event->button() == Qt::LeftButton)
    {
        is_mouse_down_ = true;
        arrow_angle_ = 0;
#if QT_VERSION >= 0x050000
      arrow_tail_position_= map_canvas_->MapGlCoordToFixedFrame( event->localPos() );
#else
      arrow_tail_position_= map_canvas_->MapGlCoordToFixedFrame( event->posF() );
#endif
        return true;
    }
    return false;
}
 
bool PosePublisherPlugin::handleMouseMove(QMouseEvent* event)
{
    if (is_mouse_down_)
    {
#if QT_VERSION >= 0x050000
        QPointF head_pos = map_canvas_->MapGlCoordToFixedFrame( event->localPos() );
#else
        QPointF head_pos = map_canvas_->MapGlCoordToFixedFrame( event->posF() );
#endif
        arrow_angle_ = atan2( head_pos.y() - arrow_tail_position_.y(),
                              head_pos.x() - arrow_tail_position_.x() );
    }
    return false;
}
 
bool PosePublisherPlugin::handleMouseRelease(QMouseEvent* event)
{
    if( !is_mouse_down_ )
    {
        return false;
    }
 
    is_mouse_down_ = false;
 
    bool pose_checked = ui_.pushButtonPose->isChecked();
    if( !pose_checked )
    {
        return false;
    }
 
 
    if( pose_checked )
    {
      // Get angle/arrow_tail_position in fixed_frame
      tf::Quaternion quat_ff = tf::createQuaternionFromYaw(arrow_angle_);
      geometry_msgs::PoseWithCovarianceStamped pose;
 
      // Here it is in the target_frame_
      pose.header.frame_id = target_frame_;
      pose.header.stamp = ros::Time::now();
      pose.pose.pose.position.x = arrow_tail_position_.x();
      pose.pose.pose.position.y = arrow_tail_position_.y();
      pose.pose.pose.position.z = 0.0;
      tf::quaternionTFToMsg( quat_ff, pose.pose.pose.orientation );
 
      // Try to transform to output_frame
      swri_transform_util::Transform transform;
      std::string output_frame = ui_.outputframe->currentText().toStdString();
      if (tf_manager_->GetTransform(output_frame, target_frame_, transform))
        {
        pose.header.frame_id = output_frame;
        tf::Vector3 pose_oframe = transform * tf::Vector3(pose.pose.pose.position.x,
                                                          pose.pose.pose.position.y, 0);
        pose.pose.pose.position.x = pose_oframe.x();
        pose.pose.pose.position.y = pose_oframe.y();
        tf::Quaternion quat_oframe = transform * quat_ff;
        tf::quaternionTFToMsg( quat_oframe, pose.pose.pose.orientation );
        }
      else
        {
        std::stringstream ss;
        ss << "Couldn't get transform from "<< target_frame_
           << " to frame " << output_frame;
        PrintWarning(ss.str());
        }
 
      if (pose_pub_==nullptr)
        {
        std::stringstream ss;
        ss << "Attempting to publish to " <<  ui_.topic->text().toStdString().c_str()
           << " but it's not set up...";
        PrintError(ss.str());
        }
      pose_pub_.publish(pose);
      std::stringstream ss;
      ss << "Pose published to topic: " <<  ui_.topic->text().toStdString().c_str()
         << " in frame " << pose.header.frame_id;
      PrintInfo(ss.str());
 
      ui_.pushButtonPose->setChecked(false);
    }
    return true;
}
 
 
void PosePublisherPlugin::Draw(double x, double y, double scale)
{
    std::array<QPointF, 7> arrow_points;
    arrow_points[0] = QPointF(10, 0);
    arrow_points[1] = QPointF(6, -2.5);
    arrow_points[2] = QPointF(6.5, -1);
    arrow_points[3] = QPointF(0, -1);
    arrow_points[4] = QPointF(0, 1);
    arrow_points[5] = QPointF(6.5, 1);
    arrow_points[6] = QPointF(6, 2.5);
 
    if( is_mouse_down_ )
    {
        QPointF transformed_points[7];
        for (size_t i=0; i<7; i++ )
        {
            tf::Vector3 point(arrow_points[i].x(), arrow_points[i].y(), 0);
            point *= scale*10;
            point = tf::Transform( tf::createQuaternionFromYaw(arrow_angle_)  ) * point;
            transformed_points[i] = QPointF(point.x() + arrow_tail_position_.x(),
                                            point.y() + arrow_tail_position_.y() );
        }
        glColor3f(0.1, 0.9, 0.1);
        glLineWidth(2);
        glBegin(GL_TRIANGLE_FAN);
        for (const QPointF& point: transformed_points )
        {
            glVertex2d(point.x(), point.y());
        }
        glEnd();
 
        glColor3f(0.0, 0.6, 0.0);
        glBegin(GL_LINE_LOOP);
        for (const QPointF& point: transformed_points )
        {
            glVertex2d(point.x(), point.y());
        }
        glEnd();
    }
}
 
 
void PosePublisherPlugin::LoadConfig(const YAML::Node& node, const std::string& path)
{
    std::string tmp;
    if (swri_yaml_util::FindValue(node, "topic"))
    {
      node["topic"] >> tmp;
      ui_.topic->setText(QString(tmp.c_str()));
      topicChanged(ui_.topic->text());
    }
 
    if (swri_yaml_util::FindValue(node, "output_frame"))
    {
      node["output_frame"] >> tmp;
      ui_.outputframe->addItem(QString(tmp.c_str()));
    }
 
}
 
void PosePublisherPlugin::SaveConfig(YAML::Emitter& emitter, const std::string& path)
{
    emitter << YAML::Key << "topic" << YAML::Value << ui_.topic->text().toStdString();
    emitter << YAML::Key << "output_frame" << YAML::Value << ui_.outputframe->currentText().toStdString();
}
 
void PosePublisherPlugin::on_pushButtonPose_toggled(bool checked)
{
    if(checked)
    {
      QPixmap cursor_pixmap = QPixmap(":/images/green-arrow.png");
      QApplication::setOverrideCursor(QCursor(cursor_pixmap));
    }
    else
    {
      QApplication::restoreOverrideCursor();
    }
}
 
 
 
  void PosePublisherPlugin::topicChanged(const QString& topic)
  {
    std::stringstream ss;
    ss << "Publishing points to topic: " << topic.toStdString().c_str();
    PrintInfo(ss.str());
 
    if (!topic.isEmpty())
    {
      pose_pub_ = node_.advertise<geometry_msgs::PoseWithCovarianceStamped>(topic.toStdString(), 1000);
    }
  }
 
  void PosePublisherPlugin::updateFrames()
  {
    std::vector<std::string> frames;
    tf_->getFrameStrings(frames);
 
    bool supports_wgs84 = tf_manager_->SupportsTransform(
        swri_transform_util::_local_xy_frame,
        swri_transform_util::_wgs84_frame);
 
    if (supports_wgs84)
    {
      frames.push_back(swri_transform_util::_wgs84_frame);
    }
 
    if (ui_.outputframe->count() >= 0 &&
        static_cast<size_t>(ui_.outputframe->count()) == frames.size())
    {
      bool changed = false;
      for (size_t i = 0; i < frames.size(); i++)
      {
        if (frames[i] != ui_.outputframe->itemText(static_cast<int>(i)).toStdString())
        {
          changed = true;
        }
      }
 
      if (!changed)
        return;
    }
 
    std::string output_frame = ui_.outputframe->currentText().toStdString();
 
    ui_.outputframe->clear();
    for (size_t i = 0; i < frames.size(); i++)
    {
      ui_.outputframe->addItem(frames[i].c_str());
    }
 
    if (output_frame != "")
      {
      // Add output_frame to frame list if no already there.
      int index = ui_.outputframe->findText(output_frame.c_str());
      if (index < 0)
        {
        ui_.outputframe->addItem(output_frame.c_str());
        }
 
      // Get index of output_frame in list
      index = ui_.outputframe->findText(output_frame.c_str());
      ui_.outputframe->setCurrentIndex(index);
      }
    // output_frame is ""
    else  // use map frame
      {
      PrintWarning("using map target frame as fallback");
      int index = ui_.outputframe->findText(QString("map"));
      ui_.outputframe->setCurrentIndex(index);
      }
  }
 
}