test_transformer.cpp

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/*
 * Copyright (c) 2010, 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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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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#include "test_transformer.h"
#include "rve_render_client/client_context.h"
#include "rve_render_server/init.h"
#include "rve_render_client/init.h"
#include "rve_render_client/render_window.h"
#include "rve_render_client/scene.h"
#include "rve_render_client/mesh_instance.h"
#include "rve_render_client/camera.h"
#include "rve_render_client/sphere.h"
#include "rve_render_client/billboard_text.h"
#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/frame_manager.h>
#include <rve_common_transformers/urdf.h>
#include <rve_common_transformers/orbit_camera.h>
#include <rve_properties/property_node.h>
#include <rve_properties/messages.h>

#include <rve_qt/render_widget.h>

#include <rve_msgs/make_vector3.h>
#include <rve_msgs/make_quaternion.h>

#include <urdf/model.h>

#include <Eigen/Geometry>

#include <ros/package.h>
#include <ros/time.h>

#include <ros/time.h>
#include <ros/ros.h>

#include <QtGui/QtGui>

using namespace rve_render_client;

MyWidget::MyWidget(const ClientContextPtr& context, QWidget* parent)
: RenderWidget(context.get(), parent)
, private_nh_("~")
, left_mouse_down_( false )
, middle_mouse_down_( false )
, right_mouse_down_( false )
, mouse_x_( 0 )
, mouse_y_( 0 )
{
  context_ = context;

  scene_ = rve_render_client::createScene(context_);
  camera_ = rve_render_client::createCamera(scene_.get());
  camera_->setPosition(rve_msgs::makeVector3(-10, 0, 0));
  camera_->lookAt(rve_msgs::makeVector3(0, 0, 0));
  getRemoteRenderWindow()->attachCamera(camera_);

  transformer_manager_.reset(new rve_transformer::TransformerManager());
  transformer_manager_->getFrameManager()->setFixedFrame("base_footprint");

//  urdf_ = transformer_manager_->createTransformer<rve_common_transformers::URDF>();
//  urdf_->attachToScene(scene_.get());
//  urdf_->attachToContext(context_.get());

  cam_ = transformer_manager_->createTransformer<rve_common_transformers::OrbitCamera>();
  cam_->setCamera(camera_);
  cam_->setSubscription("mouse_input", getMouseEventTopic());
  cam_->getPropertyNode()->set("target_frame", "wide_stereo_optical_frame");

  text_ = rve_render_client::createBillboardText( scene_.get(), "Cheese monkey" );
  text_->setPosition(rve_msgs::makeVector3(0,10,0));
  text_->setCharacterHeight(0.1);
  rve_msgs::ColorRGB c;
  c.r = 1;
  c.g = 0;
  c.b = 0;
  text_->setColor(c);
  text_->setHorizontalAlignment(rve_msgs::TextAlignment::H_CENTER);
  text_->setVerticalAlignment(rve_msgs::TextAlignment::V_CENTER);

  ball_ = rve_render_client::createSphere( scene_.get() );
  ball_->setPosition(rve_msgs::makeVector3(10,0,0));

  flag_ = rve_render_client::createMeshInstance(scene_.get(), "package://test_rve/flag.dae");
  flag_->setPosition(rve_msgs::makeVector3(0,0,0));

  QTimer* timer = new QTimer(this);
  connect(timer, SIGNAL(timeout()), this, SLOT(update()));
  timer->start(33);
}

void MyWidget::update()
{
  try
  {
    transformer_manager_->update();
    getRemoteRenderWindow()->requestRender();
  }
  catch (std::exception& e)
  {
    ROS_ERROR("%s", e.what());
  }
}

int main(int argc, char** argv)
{
  int ret = 0;

  try
  {
    QApplication app(argc, argv);
    ros::init(argc, argv, "test_playpen", ros::init_options::NoSigintHandler);
    rve_render_server::init(true, "render_server");
    rve_render_client::init();
    ros::AsyncSpinner as(0);
    as.start();

    ClientContextPtr context = createContext("render_server", ros::NodeHandle("render_server"));
    MyWidget window(context);
    window.resize(1024, 768);
    window.show();
    window.setWindowTitle(QApplication::translate("toplevel", "test_transformer"));

    ret = app.exec();

  }
  catch (std::exception& e)
  {
    ROS_ERROR("Caught exception: %s", e.what());
  }

  rve_render_client::shutdown();
  rve_render_server::shutdown();
  return ret;
}