interactive_marker.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * 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 the Willow Garage, Inc. 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 THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef RVIZ_INTERACTIVE_MARKER_H_
#define RVIZ_INTERACTIVE_MARKER_H_
 
#ifndef Q_MOC_RUN
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread/thread.hpp>
 
#include <rviz/ogre_helpers/ogre_vector.h>
#include <OgreQuaternion.h>
#endif
 
#include <visualization_msgs/InteractiveMarker.h>
#include <visualization_msgs/InteractiveMarkerPose.h>
#include <visualization_msgs/InteractiveMarkerFeedback.h>
#include <geometry_msgs/Pose.h>
 
#include <ros/publisher.h>
 
#include <rviz/selection/forwards.h>
#include <rviz/ogre_helpers/axes.h>
 
#include <rviz/default_plugin/rviz_default_plugin_export.h>
#include <rviz/default_plugin/interactive_markers/interactive_marker_control.h>
#include <rviz/properties/status_property.h>
 
namespace Ogre
{
class SceneNode;
}
 
class QMenu;
 
namespace rviz
{
class DisplayContext;
class InteractiveMarkerDisplay;
 
class RVIZ_DEFAULT_PLUGIN_EXPORT InteractiveMarker : public QObject
{
  Q_OBJECT
public:
  InteractiveMarker(Ogre::SceneNode* scene_node, DisplayContext* context);
  ~InteractiveMarker() override;
 
  // reset contents to reflect the data from a new message
  // @return success
  bool processMessage(const visualization_msgs::InteractiveMarker& message);
 
  // reset contents to reflect the data from a new message
  // @return success
  void processMessage(const visualization_msgs::InteractiveMarkerPose& message);
 
  // called every frame update
  void update(float wall_dt);
 
  // directly set the pose, relative to parent frame
  // if publish is set to true, publish the change
  void setPose(Ogre::Vector3 position, Ogre::Quaternion orientation, const std::string& control_name);
 
  void translate(Ogre::Vector3 delta_position, const std::string& control_name);
  void rotate(Ogre::Quaternion delta_orientation, const std::string& control_name);
 
  // schedule a pose reset once dragging is finished
  void requestPoseUpdate(Ogre::Vector3 position, Ogre::Quaternion orientation);
 
  void startDragging();
  void stopDragging();
 
  const Ogre::Vector3& getPosition()
  {
    return position_;
  }
  const Ogre::Quaternion& getOrientation()
  {
    return orientation_;
  }
 
  float getSize()
  {
    return scale_;
  }
  const std::string& getReferenceFrame()
  {
    return reference_frame_;
  }
  const std::string& getName()
  {
    return name_;
  }
 
  // show name above marker
  void setShowDescription(bool show);
 
  // show axes in origin
  void setShowAxes(bool show);
 
  // show visual helpers while dragging
  void setShowVisualAids(bool show);
 
  // @return true if the mouse event was intercepted, false if it was ignored
  bool handleMouseEvent(ViewportMouseEvent& event, const std::string& control_name);
 
  bool handle3DCursorEvent(ViewportMouseEvent& event,
                           const Ogre::Vector3& cursor_pos,
                           const Ogre::Quaternion& cursor_rot,
                           const std::string& control_name);
 
 
  void showMenu(ViewportMouseEvent& event,
                const std::string& control_name,
                const Ogre::Vector3& three_d_point,
                bool valid_point);
 
  // fill in current marker pose & name, publish
  void publishFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback,
                       bool mouse_point_valid = false,
                       const Ogre::Vector3& mouse_point_rel_world = Ogre::Vector3(0, 0, 0));
 
  bool hasMenu()
  {
    return has_menu_;
  }
 
  boost::shared_ptr<QMenu> getMenu()
  {
    return menu_;
  }
 
Q_SIGNALS:
 
  void userFeedback(visualization_msgs::InteractiveMarkerFeedback& feedback);
  void statusUpdate(StatusProperty::Level level, const std::string& name, const std::string& text);
 
protected Q_SLOTS:
  void handleMenuSelect(int menu_item_id);
 
protected:
  void publishPose();
 
  void reset();
 
  // set the pose of the parent frame, relative to the fixed frame
  void updateReferencePose();
 
  QString makeMenuString(const std::string& entry);
 
  // Recursively append menu and submenu entries to menu, based on a
  // vector of menu entry id numbers describing the menu entries at the
  // current level.
  void populateMenu(QMenu* menu, std::vector<uint32_t>& ids);
 
  DisplayContext* context_;
 
  // pose of parent coordinate frame
  std::string reference_frame_;
  ros::Time reference_time_;
  bool frame_locked_;
 
  // node representing reference frame in tf, like /map, /base_link, /head, etc.
  Ogre::SceneNode* reference_node_;
 
  // pose being controlled, relative to reference frame
  Ogre::Vector3 position_;
  Ogre::Quaternion orientation_;
 
  // has the pose changed since the last feedback was sent?
  bool pose_changed_;
  double time_since_last_feedback_;
 
  typedef boost::shared_ptr<InteractiveMarkerControl> InteractiveMarkerControlPtr;
  typedef std::map<std::string, InteractiveMarkerControlPtr> M_ControlPtr;
  M_ControlPtr controls_;
 
  std::string name_;
  std::string description_;
 
  bool dragging_;
 
  // pose being controlled
  bool pose_update_requested_;
  Ogre::Vector3 requested_position_;
  Ogre::Quaternion requested_orientation_;
 
  float scale_;
 
  boost::shared_ptr<QMenu> menu_;
  bool has_menu_;
 
  // Helper to more simply represent the menu tree.
  struct MenuNode
  {
    visualization_msgs::MenuEntry entry;
    std::vector<uint32_t> child_ids;
  };
 
  // maps menu index to menu entry and item
  std::map<uint32_t, MenuNode> menu_entries_;
 
  // Helper to store the top level of the menu tree.
  std::vector<uint32_t> top_level_menu_ids_;
 
  // which control has popped up the menu
  std::string last_control_name_;
 
  double heart_beat_t_;
 
  // visual aids
 
  Axes* axes_;
 
  InteractiveMarkerControlPtr description_control_;
 
  std::string topic_ns_;
  std::string client_id_;
 
  boost::recursive_mutex mutex_;
 
  boost::shared_ptr<boost::thread> sys_thread_;
 
  bool got_3d_point_for_menu_;
  Ogre::Vector3 three_d_point_for_menu_;
 
  bool show_visual_aids_;
};
 
 
} // namespace rviz
 
#endif /* INTERACTIVE_MARKER_H_ */