display.h

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/*
 * Copyright (c) 2008, 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
 * 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.
 */

#ifndef RVIZ_DISPLAY_H
#define RVIZ_DISPLAY_H

#include <QObject>

#include "properties/forwards.h"
#include "status_level.h"

#include <string>
#include <boost/function.hpp>

#include <ros/ros.h>

namespace Ogre
{
class SceneManager;
}

namespace rviz
{

class PropertyManager;
class CategoryProperty;
class BoolProperty;

class VisualizationManager;

class Display;

class Display: public QObject
{
Q_OBJECT
public:
  Display();
  virtual ~Display();

  void initialize( const std::string& name, VisualizationManager* manager );

  virtual void onInitialize() {}

  void enable( bool force = false );
  void disable( bool force = false );

  bool isEnabled() { return enabled_; }
  void setEnabled(bool enable, bool force = false);

  const std::string& getName() const { return name_; }
  void setName(const std::string& name);

  virtual void update( float wall_dt, float ros_dt ) {}


  void setRenderCallback( boost::function<void ()> func );

  void setLockRenderCallback( boost::function<void ()> func );
  void setUnlockRenderCallback( boost::function<void ()> func );

  void setPropertyManager( PropertyManager* manager, const CategoryPropertyWPtr& parent );

  virtual void createProperties() {}

  void setTargetFrame( const std::string& frame );

  virtual void targetFrameChanged() = 0;

  void setFixedFrame( const std::string& frame );

  virtual void fixedFrameChanged() = 0;

  virtual void reset();

  void setStatus(StatusLevel level, const std::string& name, const std::string& text);
  void deleteStatus(const std::string& name);
  void clearStatuses();
  StatusLevel getStatus();

Q_SIGNALS:
  void stateChanged( Display* );

protected:
  virtual void onEnable() = 0;
  virtual void onDisable() = 0;


  void causeRender();

  void lockRender();
  void unlockRender();

  VisualizationManager* vis_manager_;

  Ogre::SceneManager* scene_manager_;                 
  std::string name_;                                  
  bool enabled_;                                      
  StatusLevel status_;

  ros::NodeHandle update_nh_;
  ros::NodeHandle threaded_nh_;

  std::string target_frame_;                          
  std::string fixed_frame_;                           

  boost::function<void ()> render_callback_;          
  boost::function<void ()> render_lock_;              
  boost::function<void ()> render_unlock_;            

  std::string property_prefix_;                       

  PropertyManager* property_manager_;                 
  CategoryPropertyWPtr parent_category_;                 
  StatusPropertyWPtr status_property_;

  friend class RenderAutoLock;
};

class RenderAutoLock
{
public:
  RenderAutoLock( Display* display )
  : display_( display )
  {
    display_->lockRender();
  }

  ~RenderAutoLock()
  {
    display_->unlockRender();
  }

private:
  Display* display_;
};

} // namespace rviz

#endif