00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <OGRE/OgreLogManager.h> 00031 00032 #include <ros/package.h> 00033 #include <ros/console.h> 00034 00035 #include <ogre_helpers/initialization.h> 00036 00037 #include "view_controller.h" 00038 #include "render_panel.h" 00039 #include "displays_panel.h" 00040 #include "visualization_manager.h" 00041 #include "config.h" 00042 00043 #include "visualization_panel.h" 00044 00045 namespace rviz 00046 { 00047 00048 VisualizationPanel::VisualizationPanel(QWidget* parent) 00049 : QSplitter( parent ) 00050 { 00051 Ogre::LogManager* log_manager = new Ogre::LogManager(); 00052 log_manager->createLog( "Ogre.log", false, false, true ); 00053 00054 if( !ros::isInitialized() ) 00055 { 00056 int argc = 0; 00057 ros::init(argc, 0, "rviz", ros::init_options::NoSigintHandler | ros::init_options::AnonymousName); 00058 } 00059 00060 displays_panel_ = new DisplaysPanel( this ); 00061 render_panel_ = new RenderPanel( this ); 00062 00063 QList<int> sizes; 00064 sizes.push_back( 300 ); 00065 sizes.push_back( 500 ); 00066 setSizes( sizes ); 00067 00068 std::string package_path = ros::package::getPath("rviz"); 00069 V_string paths; 00070 paths.push_back(package_path + "/ogre_media/textures"); 00071 initializeResources( paths ); 00072 00073 manager_ = new VisualizationManager( render_panel_ ); 00074 render_panel_->initialize( manager_->getSceneManager(), manager_ ); 00075 displays_panel_->initialize( manager_ ); 00076 00077 manager_->initialize(); 00078 manager_->startUpdate(); 00079 } 00080 00081 VisualizationPanel::~VisualizationPanel() 00082 { 00083 // TODO: make Properties, PropertyWidgetItems, and things that hold 00084 // Ogre Node pointers less tightly connected so they can be moved 00085 // around easier. The tricky dependencies are a big source of bugs. 00086 00087 // Have to remove displays before destroying DisplaysPanel, because 00088 // Displays own Properties, and Properties own children of 00089 // DisplaysPanel (PropertyWidgetItems). DisplaysPanel notices when 00090 // PropertyWidgetItems are destroyed, but Properties don't notice 00091 // when PropertyWidgetItems are destroyed, so must destroy in the 00092 // right order. 00093 if( manager_ ) 00094 { 00095 manager_->removeAllDisplays(); 00096 } 00097 00098 delete render_panel_; 00099 // Have to delete render_panel_ before manager_ because 00100 // ~VisualizationManager destroys ogre SceneManager which destroys 00101 // all attached nodes. RenderPanel indirectly holds pointers to 00102 // nodes which it destroys. 00103 delete manager_; 00104 } 00105 00106 void VisualizationPanel::loadDisplayConfig(const std::string& filepath) 00107 { 00108 manager_->removeAllDisplays(); 00109 00110 boost::shared_ptr<Config> config( new Config() ); 00111 config->readFromFile( filepath ); 00112 manager_->loadDisplayConfig( config ); 00113 } 00114 00115 void VisualizationPanel::setViewControllerType( const std::string& view_type_name ) 00116 { 00117 manager_->setCurrentViewControllerType( view_type_name ); 00118 } 00119 00120 void VisualizationPanel::setViewString( const std::string& view_string ) 00121 { 00122 manager_->getCurrentViewController()->fromString( view_string ); 00123 } 00124 00125 void VisualizationPanel::setTargetFrame( const std::string& target_frame ) 00126 { 00127 manager_->getCurrentViewController()->setTargetFrame( target_frame ); 00128 } 00129 00130 }