ambient_sound_display.h

Go to the documentation of this file.

#ifndef __AMBIENT_SOUND_DISPLAY__
#define __AMBIENT_SOUND_DISPLAY__

#include <message_filters/subscriber.h>
#include <tf/message_filter.h>
#include <jsk_hark_msgs/HarkPower.h>
#include <rviz/display.h>

namespace Ogre
{
class SceneNode;
}

// All the source in this plugin is in its own namespace.  This is not
// required but is good practice.
namespace jsk_rviz_plugin
{

class AmbientSoundVisual;

class AmbientSoundDisplay: public rviz::Display
{
public:
  // Constructor.  pluginlib::ClassLoader creates instances by calling
  // the default constructor, so make sure you have one.
  AmbientSoundDisplay();
  virtual ~AmbientSoundDisplay();

  // Overrides of public virtual functions from the Display class.
  virtual void onInitialize();
  virtual void fixedFrameChanged();
  virtual void reset();
  virtual void createProperties();

  // Setter and getter functions for user-editable properties.
  void setTopic(const std::string& topic);
  const std::string& getTopic() { return topic_; }

  void setColor( const rviz::Color& color );
  const rviz::Color& getColor() { return color_; }

  void setAlpha( float alpha );
  float getAlpha() { return alpha_; }

  void setHistoryLength( int history_length );
  int getHistoryLength() const { return history_length_; }

  void setWidth( float width );
  float getWidth() const { return width_; }

  void setScale( float scale );
  float getScale() const { return scale_; }

  void setBias( float bias );
  float getBias() const { return bias_; }

  void setGrad( float grad );
  float getGrad() const { return grad_; }

  // Overrides of protected virtual functions from Display.  As much
  // as possible, when Displays are not enabled, they should not be
  // subscribed to incoming data and should not show anything in the
  // 3D view.  These functions are where these connections are made
  // and broken.
protected:
  virtual void onEnable();
  virtual void onDisable();

  // Function to handle an incoming ROS message.
private:
  void incomingMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg );

  // Internal helpers which do the work of subscribing and
  // unsubscribing from the ROS topic.
  void subscribe();
  void unsubscribe();

  // A helper to clear this display back to the initial state.
  void clear();

  // Helper function to apply color and alpha to all visuals.
  void updateColorAndAlpha();

  // Storage for the list of visuals.  This display supports an
  // adjustable history length, so we need one visual per history
  // item.
  std::vector<AmbientSoundVisual*> visuals_;

  // A node in the Ogre scene tree to be the parent of all our visuals.
  Ogre::SceneNode* scene_node_;

  // Data input: Subscriber and tf message filter.
  message_filters::Subscriber<jsk_hark_msgs::HarkPower> sub_;
  tf::MessageFilter<jsk_hark_msgs::HarkPower>* tf_filter_;
  int messages_received_;

  // User-editable property variables.
  rviz::Color color_;
  std::string topic_;
  float alpha_;
  int history_length_;
  float width_,scale_,bias_,grad_;

  // Property objects for user-editable properties.
  rviz::ColorPropertyWPtr color_property_;
  rviz::ROSTopicStringPropertyWPtr topic_property_;
  rviz::FloatPropertyWPtr alpha_property_;
  rviz::IntPropertyWPtr history_length_property_;
  rviz::FloatPropertyWPtr width_property_;
  rviz::FloatPropertyWPtr scale_property_;
  rviz::FloatPropertyWPtr bias_property_;
  rviz::FloatPropertyWPtr grad_property_;
};
// END_TUTORIAL

} // end namespace jsk_rviz_plugin

#endif // __AMBIENT_SOUND_DISPLAY__
// %EndTag(FULL_SOURCE)%