string_plugin.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2015, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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 Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from 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 Southwest Research Institute® BE LIABLE 
00021 // FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
00022 // DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
00023 // SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
00024 // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
00025 // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 
00026 // OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
00027 // DAMAGE.
00028 //
00029 // *****************************************************************************
00030 
00031 #ifndef MAPVIZ_PLUGINS_STRING_PLUGIN_H
00032 #define MAPVIZ_PLUGINS_STRING_PLUGIN_H
00033 
00034 #include <string>
00035 
00036 #include <mapviz/mapviz_plugin.h>
00037 
00038 #include <QObject>
00039 #include <QString>
00040 #include <QColor>
00041 #include <QWidget>
00042 #include <QGLWidget>
00043 #include <QPainter>
00044 #include <QFont>
00045 #include <QStaticText>
00046 
00047 
00048 #include <ros/ros.h>
00049 #include <std_msgs/String.h>
00050 
00051 // QT autogenerated files
00052 #include "ui_string_config.h"
00053 
00054 namespace mapviz_plugins
00055 {
00056   class StringPlugin : public mapviz::MapvizPlugin
00057   {
00058     Q_OBJECT
00059 
00060   public:
00061     enum Anchor {
00062       TOP_LEFT,
00063       TOP_CENTER,
00064       TOP_RIGHT,
00065       CENTER_LEFT,
00066       CENTER,
00067       CENTER_RIGHT,
00068       BOTTOM_LEFT,
00069       BOTTOM_CENTER,
00070       BOTTOM_RIGHT
00071     };
00072 
00073     enum Units {
00074       PIXELS,
00075       PERCENT
00076     };
00077 
00078     StringPlugin();
00079     virtual ~StringPlugin();
00080 
00081     bool Initialize(QGLWidget* canvas);
00082     void Shutdown() {}
00083 
00084     void Draw(double x, double y, double scale);
00085     void Paint(QPainter* painter, double x, double y, double scale);
00086 
00087     void Transform() {}
00088 
00089     void LoadConfig(const YAML::Node& node, const std::string& path);
00090     void SaveConfig(YAML::Emitter& emitter, const std::string& path);
00091 
00092     QWidget* GetConfigWidget(QWidget* parent);
00093 
00094     bool SupportsPainting()
00095     {
00096       return true;
00097     }
00098 
00099   protected:
00100     void PaintText(QPainter* painter);
00101     void PrintError(const std::string& message);
00102     void PrintInfo(const std::string& message);
00103     void PrintWarning(const std::string& message);
00104 
00105   protected Q_SLOTS:
00106     void SelectColor();
00107     void SelectFont();
00108     void SelectTopic();
00109     void TopicEdited();
00110     void SetAnchor(QString anchor);
00111     void SetUnits(QString units);
00112     void SetOffsetX(int offset);
00113     void SetOffsetY(int offset);
00114 
00115   private:
00116     Ui::string_config ui_;
00117     QWidget* config_widget_;
00118 
00119     std::string topic_;
00120     Anchor anchor_;
00121     Units units_;
00122     int offset_x_;
00123     int offset_y_;
00124 
00125     ros::Subscriber string_sub_;
00126     bool has_message_;
00127     bool has_painted_;
00128 
00129     QColor color_;
00130     QFont font_;
00131     QStaticText message_;
00132 
00133     void stringCallback(const std_msgs::StringConstPtr& str);
00134 
00135     std::string AnchorToString(Anchor anchor);
00136     std::string UnitsToString(Units units);
00137 
00138     static const char* ANCHOR_KEY;
00139     static const char* COLOR_KEY;
00140     static const char* FONT_KEY;
00141     static const char* OFFSET_X_KEY;
00142     static const char* OFFSET_Y_KEY;
00143     static const char* TOPIC_KEY;
00144     static const char* UNITS_KEY;
00145   };
00146 }
00147 
00148 
00149 #endif //MAPVIZ_PLUGINS_STRING_PLUGIN_H


mapviz_plugins
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 18:51:07