visualization_manager.h

Go to the documentation of this file.

/*
 * Copyright (c) 2012, 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_VISUALIZATION_MANAGER_H_
#define RVIZ_VISUALIZATION_MANAGER_H_

#include <deque>

#include <ros/time.h>

#include "rviz/bit_allocator.h"
#include "rviz/config.h"
#include "rviz/display_context.h"

class QKeyEvent;
class QTimer;

namespace Ogre
{
class Root;
class SceneManager;
class SceneNode;
class Light;
}

namespace ros
{
class CallbackQueueInterface;
}

namespace tf
{
class TransformListener;
}

namespace rviz
{

class ColorProperty;
class Display;
class DisplayFactory;
class DisplayGroup;
class FrameManager;
class Property;
class IntProperty;
class PropertyTreeModel;
class RenderPanel;
class SelectionManager;
class StatusList;
class TfFrameProperty;
class ViewportMouseEvent;
class WindowManagerInterface;
class Tool;
class OgreRenderQueueClearer;

class VisualizationManagerPrivate;

class VisualizationManager: public DisplayContext
{
Q_OBJECT
public:
  VisualizationManager( RenderPanel* render_panel, WindowManagerInterface* wm = 0, boost::shared_ptr<tf::TransformListener> tf = boost::shared_ptr<tf::TransformListener>() );

  virtual ~VisualizationManager();

  void initialize();

  void startUpdate();

  /*
   * \brief Stop the update timers. No Displays will be updated and no ROS
   *        callbacks will be called during this period.
   */
  void stopUpdate();

  Display* createDisplay( const QString& class_lookup_name, const QString& name, bool enabled );

  void addDisplay( Display* display, bool enabled );

  void removeAllDisplays();

  void load( const Config& config );

  void save( Config config ) const;

  QString getFixedFrame() const;

  void setFixedFrame( const QString& frame );
  
  tf::TransformListener* getTFClient() const;

  Ogre::SceneManager* getSceneManager() const { return scene_manager_; }

  RenderPanel* getRenderPanel() const { return render_panel_; }

  double getWallClock();

  double getROSTime();

  double getWallClockElapsed();

  double getROSTimeElapsed();

  void handleChar( QKeyEvent* event, RenderPanel* panel );

  void handleMouseEvent( const ViewportMouseEvent& event );

  void resetTime();

  SelectionManager* getSelectionManager() const { return selection_manager_; }

  virtual ToolManager* getToolManager() const { return tool_manager_; }

  virtual ViewManager* getViewManager() const { return view_manager_; }

  void lockRender();

  void unlockRender();

  void queueRender();

  WindowManagerInterface* getWindowManager() const { return window_manager_; }

  ros::CallbackQueueInterface* getUpdateQueue();

  ros::CallbackQueueInterface* getThreadedQueue();

  FrameManager* getFrameManager() const { return frame_manager_; }

  uint64_t getFrameCount() const { return frame_count_; }

  void notifyConfigChanged();

  virtual DisplayFactory* getDisplayFactory() const { return display_factory_; }

  PropertyTreeModel* getDisplayTreeModel() const { return display_property_tree_model_; }

  void emitStatusUpdate( const QString& message );

  virtual DisplayGroup* getRootDisplayGroup() const { return root_display_group_; }

  virtual uint32_t getDefaultVisibilityBit() const { return default_visibility_bit_; }

  virtual BitAllocator* visibilityBits() { return &visibility_bit_allocator_; }

  virtual void setStatus( const QString & message );

  virtual void setHelpPath( const QString& help_path ) { help_path_ = help_path; }
  virtual QString getHelpPath() const { return help_path_; }

Q_SIGNALS:

  void preUpdate();

  void configChanged();

  void statusUpdate( const QString& message );

protected Q_SLOTS:
  void onUpdate();

  void onToolChanged( Tool* );

protected:
  void updateTime();
  void updateFrames();

  void createColorMaterials();

  void threadedQueueThreadFunc();

  Ogre::Root* ogre_root_;                                 
  Ogre::SceneManager* scene_manager_;                     

  QTimer* update_timer_;                                 
  ros::Time last_update_ros_time_;                        
  ros::WallTime last_update_wall_time_;

  volatile bool shutting_down_;

  PropertyTreeModel* display_property_tree_model_;
  DisplayGroup* root_display_group_;

  ToolManager* tool_manager_;
  ViewManager* view_manager_;

  Property* global_options_;
  TfFrameProperty* fixed_frame_property_;          
  StatusList* global_status_;
  IntProperty* fps_property_;

  RenderPanel* render_panel_;

  ros::WallTime wall_clock_begin_;
  ros::Time ros_time_begin_;
  ros::WallDuration wall_clock_elapsed_;
  ros::Duration ros_time_elapsed_;

  ColorProperty* background_color_property_;

  float time_update_timer_;
  float frame_update_timer_;

  SelectionManager* selection_manager_;

  uint32_t render_requested_;
  uint64_t frame_count_;

  WindowManagerInterface* window_manager_;
  
  FrameManager* frame_manager_;

  OgreRenderQueueClearer* ogre_render_queue_clearer_;

private Q_SLOTS:
  void updateFixedFrame();
  void updateBackgroundColor();
  void updateFps();

private:
  DisplayFactory* display_factory_;
  VisualizationManagerPrivate* private_;
  uint32_t default_visibility_bit_;
  BitAllocator visibility_bit_allocator_;
  QString help_path_;
  Ogre::Light* directional_light_;
};

}

#endif /* RVIZ_VISUALIZATION_MANAGER_H_ */