tf_frame_plugin.cpp

Go to the documentation of this file.

// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************
 
#include <mapviz_plugins/tf_frame_plugin.h>
 
// C++ standard libraries
#include <cstdio>
#include <algorithm>
#include <vector>
 
// QT libraries
#include <QGLWidget>
#include <QPalette>
 
// ROS libraries
#include <ros/master.h>
 
#include <mapviz/select_frame_dialog.h>
 
// Declare plugin
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mapviz_plugins::TfFramePlugin, mapviz::MapvizPlugin)
 
namespace mapviz_plugins
{
  TfFramePlugin::TfFramePlugin() : config_widget_(new QWidget())
  {
    ui_.setupUi(config_widget_);
 
    ui_.color->setColor(Qt::green);
 
    // 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_.selectframe, SIGNAL(clicked()), this,
                     SLOT(SelectFrame()));
    QObject::connect(ui_.frame, SIGNAL(editingFinished()), this,
                     SLOT(FrameEdited()));
    QObject::connect(ui_.positiontolerance, SIGNAL(valueChanged(double)), this,
                     SLOT(PositionToleranceChanged(double)));
    QObject::connect(ui_.buffersize, SIGNAL(valueChanged(int)), this,
                     SLOT(BufferSizeChanged(int)));
    QObject::connect(ui_.drawstyle, SIGNAL(activated(QString)), this,
                     SLOT(SetDrawStyle(QString)));
    QObject::connect(ui_.static_arrow_sizes, SIGNAL(clicked(bool)),
                     this, SLOT(SetStaticArrowSizes(bool)));
    QObject::connect(ui_.use_latest_transforms, SIGNAL(clicked(bool)),
                     this, SLOT(SetUseLatestTransforms(bool)));
    QObject::connect(ui_.arrow_size, SIGNAL(valueChanged(int)),
                     this, SLOT(SetArrowSize(int)));
    QObject::connect(ui_.color, SIGNAL(colorEdited(const QColor&)), this,
                     SLOT(SetColor(const QColor&)));
    QObject::connect(ui_.buttonResetBuffer, SIGNAL(pressed()), this,
                     SLOT(ClearPoints()));
    QObject::connect(this,
                     SIGNAL(TargetFrameChanged(const std::string&)),
                     this,
                     SLOT(ClearPoints()));
  }
 
  TfFramePlugin::~TfFramePlugin()
  {
  }
 
  void TfFramePlugin::SelectFrame()
  {
    std::string frame = mapviz::SelectFrameDialog::selectFrame(tf_);
    if (!frame.empty())
    {
      ui_.frame->setText(QString::fromStdString(frame));
      FrameEdited();
    }
  }
 
  void TfFramePlugin::FrameEdited()
  {
    source_frame_ = ui_.frame->text().toStdString();
    PrintWarning("Waiting for transform.");
 
    ROS_INFO("Setting target frame to to %s", source_frame_.c_str());
 
    ClearPoints();
 
    initialized_ = true;
  }
 
  void TfFramePlugin::TimerCallback(const ros::TimerEvent& event)
  {
    swri_transform_util::Transform transform;
    if (GetTransform(ros::Time(), transform))
    {
      StampedPoint stamped_point;
      stamped_point.point = transform.GetOrigin();
      stamped_point.orientation = transform.GetOrientation();
      stamped_point.source_frame = target_frame_;
      stamped_point.stamp = transform.GetStamp();
      stamped_point.transformed = false;
 
      pushPoint( std::move(stamped_point) );
    }
  }
 
  void TfFramePlugin::PrintError(const std::string& message)
  {
    PrintErrorHelper(ui_.status, message);
  }
 
  void TfFramePlugin::PrintInfo(const std::string& message)
  {
    PrintInfoHelper(ui_.status, message);
  }
 
  void TfFramePlugin::PrintWarning(const std::string& message)
  {
    PrintWarningHelper(ui_.status, message);
  }
 
  QWidget* TfFramePlugin::GetConfigWidget(QWidget* parent)
  {
    config_widget_->setParent(parent);
 
    return config_widget_;
  }
 
  bool TfFramePlugin::Initialize(QGLWidget* canvas)
  {
    canvas_ = canvas;
 
    timer_ = node_.createTimer(ros::Duration(0.1),
                               &TfFramePlugin::TimerCallback, this);
 
    SetColor(ui_.color->color());
 
    return true;
  }
 
  void TfFramePlugin::Draw(double x, double y, double scale)
  {
    if (DrawPoints(scale))
    {
      PrintInfo("OK");
    }
  }
  void TfFramePlugin::LoadConfig(const YAML::Node& node,
                                 const std::string& path)
  {
    if (node["frame"])
    {
      node["frame"] >> source_frame_;
      ui_.frame->setText(source_frame_.c_str());
    }
 
    if (node["color"])
    {
      std::string color;
      node["color"] >> color;
      QColor qcolor(color.c_str());
      SetColor(qcolor);
      ui_.color->setColor(qcolor);
    }
 
    if (node["draw_style"])
    {
      std::string draw_style;
      node["draw_style"] >> draw_style;
 
      if (draw_style == "lines")
      {
        ui_.drawstyle->setCurrentIndex(0);
        SetDrawStyle( LINES );
      }
      else if (draw_style == "points")
      {
        ui_.drawstyle->setCurrentIndex(1);
        SetDrawStyle( POINTS );
      }
      else if (draw_style == "arrows")
      {
        ui_.drawstyle->setCurrentIndex(2);
        SetDrawStyle( ARROWS );
      }
    }
 
    if (node["position_tolerance"])
    {
      double position_tolerance;
      node["position_tolerance"] >> position_tolerance;
      ui_.positiontolerance->setValue(position_tolerance);
      PositionToleranceChanged(position_tolerance);
    }
 
    if (node["buffer_size"])
    {
      double buffer_size;
      node["buffer_size"] >> buffer_size;
      ui_.buffersize->setValue(buffer_size);
      BufferSizeChanged(buffer_size);
    }
 
    if (node["static_arrow_sizes"])
    {
      bool static_arrow_sizes = node["static_arrow_sizes"].as<bool>();
      ui_.static_arrow_sizes->setChecked(static_arrow_sizes);
      SetStaticArrowSizes(static_arrow_sizes);
    }
 
    if (node["arrow_size"])
    {
      int arrow_size = node["arrow_size"].as<int>();
      ui_.arrow_size->setValue(arrow_size);
      SetArrowSize(arrow_size);
    }
 
    if (node["use_latest_transforms"])
    {
      bool use_latest_transforms = node["use_latest_transforms"].as<bool>();
      ui_.use_latest_transforms->setChecked(use_latest_transforms);
      SetUseLatestTransforms(use_latest_transforms);
    }
 
    FrameEdited();
  }
 
  void TfFramePlugin::SaveConfig(YAML::Emitter& emitter,
                                 const std::string& path)
  {
    emitter << YAML::Key << "frame" << YAML::Value
            << ui_.frame->text().toStdString();
    emitter << YAML::Key << "color" << YAML::Value
            << ui_.color->color().name().toStdString();
 
    std::string draw_style = ui_.drawstyle->currentText().toStdString();
    emitter << YAML::Key << "draw_style" << YAML::Value << draw_style;
 
    emitter << YAML::Key << "position_tolerance" <<
               YAML::Value << positionTolerance();
 
    emitter << YAML::Key << "buffer_size" << YAML::Value << bufferSize();
 
    emitter << YAML::Key << "static_arrow_sizes" << YAML::Value << ui_.static_arrow_sizes->isChecked();
 
    emitter << YAML::Key << "arrow_size" << YAML::Value << ui_.arrow_size->value();
 
    emitter << YAML::Key << "use_latest_transforms" << YAML::Value << ui_.use_latest_transforms->isChecked();
  }
}