publish_click_camera_display.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
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef PUBLISH_CLICK_CAMERA_DISPLAY_H_
#define PUBLISH_CLICK_CAMERA_DISPLAY_H_

#include <set>

#include <rviz/display_wrapper.h>
#include <rviz/selection/selection_handler.h>
#include <rviz/default_plugin/camera_display.h>

#include <object_manipulator/tools/configuration_loader.h>

#include "pr2_interactive_manipulation/publish_click_view_controller.h"

namespace pr2_interactive_manipulation
{

class PublishClickSelectionHandler;

class PublishClickCameraDisplay: public rviz::CameraDisplay
{
public:
  PublishClickCameraDisplay();
  virtual ~PublishClickCameraDisplay();
  virtual void onInitialize();

  virtual void createProperties();

  const std::string& getPublishClickTopic();
  void setPublishClickTopic(const std::string& topic);

  virtual void preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);
  virtual void postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt);

  virtual void preRenderSelectionHandler(uint32_t pass);
  virtual void postRenderSelectionHandler(uint32_t pass);

  virtual void update(float wall_dt, float ros_dt);

private:

  void hideBlacklistDisplays(std::string blacklist_name);
  void restoreBlacklistDisplays();

  boost::shared_ptr<PublishClickSelectionHandler> selection_handler_;

  std::set<rviz::DisplayWrapper*> hidden_displays_;

  rviz::ROSTopicStringPropertyWPtr publish_click_topic_property_;

  PublishClickViewController *publish_click_view_controller_;
};

class PublishClickSelectionHandler : public rviz::SelectionHandler
{
private:
  PublishClickCameraDisplay* display_;
public:
  PublishClickSelectionHandler(PublishClickCameraDisplay *display) : display_(display) {}
  ~PublishClickSelectionHandler() {}

  virtual void preRenderPass(uint32_t pass) {display_->preRenderSelectionHandler(pass);}
  virtual void postRenderPass(uint32_t pass) {display_->postRenderSelectionHandler(pass);}

};

}

#endif