stdr_gui_co2.cpp
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00001 /******************************************************************************
00002    STDR Simulator - Simple Two DImensional Robot Simulator
00003    Copyright (C) 2013 STDR Simulator
00004    This program is free software; you can redistribute it and/or modify
00005    it under the terms of the GNU General Public License as published by
00006    the Free Software Foundation; either version 3 of the License, or
00007    (at your option) any later version.
00008    This program is distributed in the hope that it will be useful,
00009    but WITHOUT ANY WARRANTY; without even the implied warranty of
00010    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011    GNU General Public License for more details.
00012    You should have received a copy of the GNU General Public License
00013    along with this program; if not, write to the Free Software Foundation,
00014    Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
00015    
00016    Authors : 
00017    * Manos Tsardoulias, etsardou@gmail.com
00018    * Aris Thallas, aris.thallas@gmail.com
00019    * Chris Zalidis, zalidis@gmail.com 
00020 ******************************************************************************/
00021 
00022 #include "stdr_gui/stdr_gui_sensors/stdr_gui_co2.h"
00023 
00024 namespace stdr_gui
00025 {
00029   CGuiCO2::CGuiCO2(stdr_msgs::CO2SensorMsg msg,std::string baseTopic):
00030     msg_(msg)
00031   {
00032     topic_ = baseTopic + "/" + msg_.frame_id;
00033     tf_frame_ = baseTopic + "_" + msg_.frame_id;
00034     ros::NodeHandle n;
00035     lock_ = false;
00036     subscriber_ = n.subscribe(topic_.c_str(), 1, &CGuiCO2::callback,this);
00037     visualization_status_ = 0;
00038   }
00039   
00043   void CGuiCO2::callback(const stdr_msgs::CO2SensorMeasurementMsg& msg)
00044   {
00045     if(lock_)
00046     {
00047       return;
00048     }
00049     co2_sources_ = msg;
00050   }
00051   
00055   void CGuiCO2::paint(
00056     QImage *m,
00057     float ocgd,
00058     tf::TransformListener *listener)
00059   {
00060     lock_ = true;
00061     QPainter painter(m);
00062     
00064     tf::StampedTransform transform;
00065       
00066     try
00067     {
00068       listener->waitForTransform("map_static",
00069                                   tf_frame_.c_str(),
00070                                   ros::Time(0),
00071                                   ros::Duration(0.2));
00072       listener->lookupTransform("map_static", 
00073         tf_frame_.c_str(), ros::Time(0), transform);
00074     }
00075     catch (tf::TransformException ex)
00076     {
00077       ROS_DEBUG("%s",ex.what());
00078     }
00079     tfScalar roll,pitch,yaw;
00080     float pose_x = transform.getOrigin().x();
00081     float pose_y = transform.getOrigin().y();
00082     transform.getBasis().getRPY(roll,pitch,yaw);
00083     float pose_theta = yaw;
00084     
00086     //~ QBrush brush(QColor(50,100,50,75 * (2 - visualization_status_)));
00087     //~ painter.setBrush(brush);
00088     
00089     //~ for(unsigned int j = 0 ; j < co2_sources_.co2_sources_ids.size() ; j++)
00090     //~ {
00091       //~ for(unsigned int i = 0 ; i < env_co2_sources_.co2_sources.size() ; i++)
00092       //~ {
00093         //~ if(co2_sources_.co2_sources_ids[j] == env_co2_sources_.co2_sources[i].id)
00094         //~ {
00095           //~ int x1 = pose_x / ocgd;
00096           //~ int y1 = pose_y / ocgd;
00097           //~ int x2 = env_co2_sources_.co2_sources[i].pose.x / ocgd;
00098           //~ int y2 = env_co2_sources_.co2_sources[i].pose.y / ocgd;
00099           //~ painter.drawLine(x1, y1, x2, y2);
00100           //~ break;
00101         //~ }
00102       //~ }
00103     //~ }
00104     
00105     QBrush brush_cone(QColor(50,100,50, 20 * (2 - visualization_status_)));
00106     painter.setBrush(brush_cone);
00107     QPen pen(QColor(0,0,0,0));
00108     painter.setPen(pen);
00109 
00110     painter.drawPie(
00111       pose_x / ocgd - msg_.maxRange / ocgd,
00112         
00113       pose_y / ocgd - msg_.maxRange / ocgd,
00114       
00115       msg_.maxRange / ocgd * 2,
00116       msg_.maxRange / ocgd * 2,
00117       
00118       - 0,
00119         
00120       - 2 * 180.0 * 16);
00121 
00122     lock_ = false;
00123   }
00124   
00128   CGuiCO2::~CGuiCO2(void)
00129   {
00130 
00131   }
00132   
00136   char CGuiCO2::getVisualizationStatus(void)
00137   {
00138     return visualization_status_;
00139   }
00140   
00144   void CGuiCO2::toggleVisualizationStatus(void)
00145   {
00146     visualization_status_ = (visualization_status_ + 1) % 3;
00147   }
00148   
00152   void CGuiCO2::setVisualizationStatus(char vs)
00153   {
00154     visualization_status_ = vs;
00155   }
00156   
00161   std::string CGuiCO2::getFrameId(void)
00162   {
00163     return msg_.frame_id;
00164   }
00165   
00171   void CGuiCO2::setEnvironmentalCO2Sources(
00172     stdr_msgs::CO2SourceVector env_co2_sources)
00173   {
00174     while(lock_)
00175     {
00176       usleep(100);
00177     }
00178     lock_ = true;
00179     env_co2_sources_ = env_co2_sources;
00180     lock_ = false;
00181   }
00182 }


stdr_gui
Author(s): Manos Tsardoulias
autogenerated on Wed Sep 2 2015 03:36:44