publish_click_camera_display.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
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 *     * 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
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#include "pr2_interactive_manipulation/publish_click_camera_display.h"

#include <boost/make_shared.hpp>

#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/selection/selection_manager.h>
#include <rviz/properties/property.h>
#include <rviz/properties/property_manager.h>

namespace pr2_interactive_manipulation
{

PublishClickCameraDisplay::PublishClickCameraDisplay() :
  rviz::CameraDisplay(),
  selection_handler_( new PublishClickSelectionHandler(this) ),
  publish_click_view_controller_( NULL )
{
}

void PublishClickCameraDisplay::onInitialize()
{
  CameraDisplay::onInitialize();

  //assign a PublishClickViewController to our render panel,
  //so it receives the mouse events while the "Move Camera" tool is active
  publish_click_view_controller_ = new PublishClickViewController( texture_, vis_manager_, name_ );
  render_panel_->setViewController( publish_click_view_controller_ );
  setPublishClickTopic( "/interactive_manipulation_image_click" );
  vis_manager_->getSelectionManager()->addObject( vis_manager_->getSelectionManager()->createHandle(),
                                                  selection_handler_ );
}

PublishClickCameraDisplay::~PublishClickCameraDisplay()
{
  //publish_click_view_controller_ will be deleted by render_panel_
}

void PublishClickCameraDisplay::createProperties()
{
  publish_click_topic_property_ = property_manager_->createProperty<rviz::ROSTopicStringProperty>( 
                                       "Publish Click Topic", property_prefix_, 
                                       boost::bind( &PublishClickCameraDisplay::getPublishClickTopic, this ),
                                       boost::bind( &PublishClickCameraDisplay::setPublishClickTopic, this, _1 ), 
                                       parent_category_, this );
  setPropertyHelpText(publish_click_topic_property_, "Topic where click information is published.");
  //rviz::ROSTopicStringPropertyPtr topic_prop = publish_click_topic_property_.lock();
  //topic_prop->setMessageType(ros::message_traits::datatype< pr2_controllers_msgs::PublishClickActionGoal >());
  CameraDisplay::createProperties();
}

void PublishClickCameraDisplay::setPublishClickTopic(const std::string& topic)
{
  publish_click_view_controller_->setTopic( topic );
  propertyChanged(publish_click_topic_property_);
}

const std::string& PublishClickCameraDisplay::getPublishClickTopic()
{
  return publish_click_view_controller_->getTopic();
}

void PublishClickCameraDisplay::update(float wall_dt, float ros_dt)
{
  force_render_ = true;
  CameraDisplay::update(wall_dt, ros_dt);
}

void PublishClickCameraDisplay::preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt)
{
  hideBlacklistDisplays("/publish_click_camera_display/render_blacklist");
  CameraDisplay::preRenderTargetUpdate(evt);
}

void PublishClickCameraDisplay::postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt)
{
  restoreBlacklistDisplays();
  CameraDisplay::postRenderTargetUpdate(evt);
}

void PublishClickCameraDisplay::preRenderSelectionHandler(uint32_t pass)
{
  if (vis_manager_->getSelectionManager()->getCurrentViewport() == render_panel_->getViewport())
  {
    hideBlacklistDisplays("/publish_click_camera_display/selection_blacklist");
  }
}

void PublishClickCameraDisplay::postRenderSelectionHandler(uint32_t pass)
{
  if (vis_manager_->getSelectionManager()->getCurrentViewport() == render_panel_->getViewport())
  {
    restoreBlacklistDisplays();
  }
}

// ----------------------------------- Pre- and Post-render ------------------------------------------

void PublishClickCameraDisplay::hideBlacklistDisplays(std::string blacklist_name)
{
  hidden_displays_.clear();
  std::vector<std::string> blacklist;
  try
  {
    blacklist = object_manipulator::configurationLoader().getVectorParam(blacklist_name);
  }
  catch(object_manipulator::MissingParamException &ex)
  {
    ROS_ERROR_STREAM("Camera display blacklist not found at " << blacklist_name);
    return;
  }
  catch(object_manipulator::BadParamException &ex)
  {
    ROS_ERROR_STREAM("Camera display blacklist at " << blacklist_name << " is malformed");
    return;
  }

  std::vector<rviz::DisplayWrapper*> &displays = vis_manager_->getDisplays();
  for (std::vector<std::string>::iterator name_it = blacklist.begin(); name_it != blacklist.end(); name_it++)
  {
    for (std::vector<rviz::DisplayWrapper*>::iterator it = displays.begin(); it != displays.end(); it++)
    {
      if ( (*it)->getName() == *name_it ) hidden_displays_.insert( *it );
    }
  }
  for (std::set<rviz::DisplayWrapper*>::iterator it = hidden_displays_.begin(); it != hidden_displays_.end(); it++)
  {
    ROS_DEBUG_STREAM("Hiding display: " << (*it)->getName());
    (*it)->getDisplay()->hideVisible();
  }
}

void PublishClickCameraDisplay::restoreBlacklistDisplays()
{
  std::vector<rviz::DisplayWrapper*> &displays = vis_manager_->getDisplays();
  for (std::vector<rviz::DisplayWrapper*>::iterator it = displays.begin(); it != displays.end(); it++)
  {
    std::set<rviz::DisplayWrapper*>::iterator my_it = hidden_displays_.find( *it );
    if ( my_it != hidden_displays_.end())
    {
      ROS_DEBUG_STREAM("Hiding display: " << (*it)->getName());
      (*my_it)->getDisplay()->restoreVisible();
      hidden_displays_.erase(my_it);
    }
  }
  for (std::set<rviz::DisplayWrapper*>::iterator it = hidden_displays_.begin(); it != hidden_displays_.end(); it++)
  {
    ROS_WARN_STREAM("Display " << (*it)->getDisplay()->getName() << " not found for post-render update");
  }  
}


}