stdr_gui_rfid.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_rfid.h"
00023 
00024 namespace stdr_gui
00025 {
00029   CGuiRfid::CGuiRfid(stdr_msgs::RfidSensorMsg 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, &CGuiRfid::callback,this);
00037     visualization_status_ = 0;
00038   }
00039   
00043   void CGuiRfid::callback(const stdr_msgs::RfidSensorMeasurementMsg& msg)
00044   {
00045     if(lock_)
00046     {
00047       return;
00048     }
00049     tags_ = msg;
00050   }
00051   
00055   void CGuiRfid::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 < tags_.rfid_tags_ids.size() ; j++)
00090     {
00091       for(unsigned int i = 0 ; i < env_tags_.rfid_tags.size() ; i++)
00092       {
00093         if(tags_.rfid_tags_ids[j] == env_tags_.rfid_tags[i].tag_id)
00094         {
00095           int x1 = pose_x / ocgd;
00096           int y1 = pose_y / ocgd;
00097           int x2 = env_tags_.rfid_tags[i].pose.x / ocgd;
00098           int y2 = env_tags_.rfid_tags[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       - (pose_theta - msg_.angleSpan / 2.0)
00119         * 180.0 / STDR_PI * 16,
00120         
00121       - msg_.angleSpan * 180.0 / STDR_PI * 16);
00122 
00123     lock_ = false;
00124   }
00125   
00129   CGuiRfid::~CGuiRfid(void)
00130   {
00131 
00132   }
00133   
00137   char CGuiRfid::getVisualizationStatus(void)
00138   {
00139     return visualization_status_;
00140   }
00141   
00145   void CGuiRfid::toggleVisualizationStatus(void)
00146   {
00147     visualization_status_ = (visualization_status_ + 1) % 3;
00148   }
00149   
00153   void CGuiRfid::setVisualizationStatus(char vs)
00154   {
00155     visualization_status_ = vs;
00156   }
00157   
00162   std::string CGuiRfid::getFrameId(void)
00163   {
00164     return msg_.frame_id;
00165   }
00166   
00172   void CGuiRfid::setEnvironmentalTags(stdr_msgs::RfidTagVector env_tags)
00173   {
00174     while(lock_)
00175     {
00176       usleep(100);
00177     }
00178     lock_ = true;
00179     env_tags_ = env_tags;
00180     lock_ = false;
00181   }
00182 }


stdr_gui
Author(s): Manos Tsardoulias
autogenerated on Tue Feb 7 2017 03:46:43