display.cpp

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/*
 * 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <stdio.h>
 
#include <QApplication>
#include <QColor>
#include <QDockWidget>
#include <QFont>
#include <QMetaObject>
#include <QWidget>
 
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
 
#include <rviz/display_context.h>
#include <rviz/ogre_helpers/apply_visibility_bits.h>
#include <rviz/properties/property_tree_model.h>
#include <rviz/properties/status_list.h>
#include <rviz/window_manager_interface.h>
#include <rviz/panel_dock_widget.h>
 
#include "display.h"
 
#include <boost/filesystem.hpp>
 
namespace rviz
{
Display::Display()
  : context_(nullptr)
  , scene_node_(nullptr)
  , status_(nullptr)
  , initialized_(false)
  , visibility_bits_(0xFFFFFFFF)
  , associated_widget_(nullptr)
  , associated_widget_panel_(nullptr)
  , suppress_hiding_associated_widget_panel_(false)
{
  // Needed for timeSignal (see header) to work across threads
  qRegisterMetaType<ros::Time>();
 
  // Make the display-enable checkbox show up, and make it unchecked by default.
  setValue(false);
 
  connect(this, &Property::changed, this, &Display::onEnableChanged);
 
  setDisableChildrenIfFalse(true);
}
 
Display::~Display()
{
  if (scene_node_)
  {
    scene_manager_->destroySceneNode(scene_node_);
  }
}
 
void Display::initialize(DisplayContext* context)
{
  context_ = context;
  scene_manager_ = context_->getSceneManager();
  scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
 
  update_nh_.setCallbackQueue(context_->getUpdateQueue());
  threaded_nh_.setCallbackQueue(context_->getThreadedQueue());
  fixed_frame_ = context_->getFixedFrame();
 
  onInitialize();
 
  initialized_ = true;
}
 
void Display::queueRender()
{
  if (context_)
  {
    context_->queueRender();
  }
}
 
QVariant Display::getViewData(int column, int role) const
{
  switch (role)
  {
  case Qt::ForegroundRole:
  {
    // if we're item-enabled (not greyed out) and in warn/error state, set appropriate color
    if (getViewFlags(column) & Qt::ItemIsEnabled)
    {
      if (isEnabled())
      {
        if (status_ && status_->getLevel() != StatusProperty::Ok)
        {
          return StatusProperty::statusColor(status_->getLevel());
        }
        else
        {
          // blue means that the enabled checkmark is set
          return QColor(40, 120, 197);
        }
      }
      else
      {
        return QApplication::palette().color(QPalette::Text);
      }
    }
    break;
  }
  case Qt::FontRole:
  {
    QFont font;
    if (isEnabled())
    {
      font.setBold(true);
    }
    return font;
  }
  case Qt::DecorationRole:
  {
    if (column == 0)
    {
      if (isEnabled())
      {
        StatusProperty::Level level = status_ ? status_->getLevel() : StatusProperty::Ok;
        switch (level)
        {
        case StatusProperty::Ok:
          return getIcon();
        case StatusProperty::Warn:
        case StatusProperty::Error:
          return status_->statusIcon(status_->getLevel());
        }
      }
      else
      {
        return getIcon();
      }
    }
    break;
  }
  }
  return BoolProperty::getViewData(column, role);
}
 
Qt::ItemFlags Display::getViewFlags(int column) const
{
  return BoolProperty::getViewFlags(column) | Qt::ItemIsDragEnabled;
}
 
void Display::setStatus(StatusProperty::Level level, const QString& name, const QString& text)
{
  QMetaObject::invokeMethod(this, "setStatusInternal", Qt::QueuedConnection, Q_ARG(int, level),
                            Q_ARG(QString, name), Q_ARG(QString, text));
}
 
void Display::setStatusInternal(int level, const QString& name, const QString& text)
{
  if (!status_)
  {
    status_ = new StatusList("Status");
    addChild(status_, 0);
  }
  StatusProperty::Level old_level = status_->getLevel();
 
  status_->setStatus((StatusProperty::Level)level, name, text);
  if (model_ && old_level != status_->getLevel())
  {
    // status changes should not trigger a configChanged() signal
    model_->emitDataChanged(this, false);
  }
}
 
void Display::deleteStatus(const QString& name)
{
  QMetaObject::invokeMethod(this, "deleteStatusInternal", Qt::QueuedConnection, Q_ARG(QString, name));
}
 
void Display::deleteStatusInternal(const QString& name)
{
  if (status_)
  {
    status_->deleteStatus(name);
  }
}
 
void Display::clearStatuses()
{
  QMetaObject::invokeMethod(this, "clearStatusesInternal", Qt::QueuedConnection);
}
 
void Display::clearStatusesInternal()
{
  if (status_)
  {
    StatusProperty::Level old_level = status_->getLevel();
    status_->clear();
    if (model_ && old_level != StatusProperty::Ok)
    {
      // status changes should not trigger a configChanged() signal
      model_->emitDataChanged(this, false);
    }
  }
}
 
void Display::load(const Config& config)
{
  // Base class loads sub-properties.
  BoolProperty::load(config);
 
  QString name;
  if (config.mapGetString("Name", &name))
  {
    setObjectName(name);
  }
 
  bool enabled;
  if (config.mapGetBool("Enabled", &enabled))
  {
    setEnabled(enabled);
  }
}
 
void Display::save(Config config) const
{
  // Base class saves sub-properties.
  BoolProperty::save(config);
 
  config.mapSetValue("Class", getClassId());
  config.mapSetValue("Name", getName());
  config.mapSetValue("Enabled", getBool());
}
 
void Display::setEnabled(bool enabled)
{
  if (enabled == isEnabled())
    return;
  setValue(enabled);
}
 
void Display::disable()
{
  setEnabled(false);
}
 
bool Display::isEnabled() const
{
  return getBool() && (getViewFlags(0) & Qt::ItemIsEnabled);
}
 
void Display::setFixedFrame(const QString& fixed_frame)
{
  fixed_frame_ = fixed_frame;
  if (initialized_)
  {
    fixedFrameChanged();
  }
}
 
void Display::emitTimeSignal(ros::Time time)
{
  Q_EMIT(timeSignal(time, QPrivateSignal()));
}
 
void Display::reset()
{
  clearStatuses();
}
 
void Display::onEnableChanged()
{
  QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
  queueRender();
  /* We get here, by two different routes:
   * - First, we might have disabled the display.
   *   In this case we want to close/hide the associated widget.
   *   But there is an exception: tabbed DockWidgets shouldn't be hidden, because then we would loose the
   * tab.
   * - Second, the corresponding widget changed visibility and we got here via
   * associatedPanelVisibilityChange().
   *   In this case, it's usually counterproductive to show/hide the widget here.
   *   Typical cases are: main window was minimized/unminimized, tab was switched.
   */
  if (isEnabled())
  {
    scene_node_->setVisible(true);
 
    if (associated_widget_panel_)
      associated_widget_panel_->show();
    else if (associated_widget_)
      associated_widget_->show();
 
    if (isEnabled()) // status might have changed, e.g. if show() failed
      onEnable();
  }
  else
  {
    onDisable();
 
    if (associated_widget_panel_)
    {
      if (!suppress_hiding_associated_widget_panel_)
        associated_widget_panel_->hide();
    }
    else if (associated_widget_)
      associated_widget_->hide();
 
    scene_node_->setVisible(false);
  }
  QApplication::restoreOverrideCursor();
}
 
void Display::setVisibilityBits(uint32_t bits)
{
  visibility_bits_ |= bits;
  applyVisibilityBits(visibility_bits_, scene_node_);
}
 
void Display::unsetVisibilityBits(uint32_t bits)
{
  visibility_bits_ &= ~bits;
  applyVisibilityBits(visibility_bits_, scene_node_);
}
 
void Display::setAssociatedWidget(QWidget* widget)
{
  if (associated_widget_panel_)
  {
    disconnect(associated_widget_panel_, &PanelDockWidget::visibilityChanged, this,
               &Display::associatedPanelVisibilityChange);
    disconnect(associated_widget_panel_, &PanelDockWidget::closed, this, &Display::disable);
  }
 
  associated_widget_ = widget;
  if (associated_widget_)
  {
    WindowManagerInterface* wm = context_->getWindowManager();
    if (wm)
    {
      associated_widget_panel_ = wm->addPane(getName(), associated_widget_);
      connect(associated_widget_panel_, &PanelDockWidget::visibilityChanged, this,
              &Display::associatedPanelVisibilityChange);
      connect(associated_widget_panel_, &PanelDockWidget::closed, this, &Display::disable);
      associated_widget_panel_->setIcon(getIcon());
    }
    else
    {
      associated_widget_panel_ = nullptr;
      associated_widget_->setWindowTitle(getName());
    }
  }
  else
  {
    associated_widget_panel_ = nullptr;
  }
}
 
void Display::associatedPanelVisibilityChange(bool visible)
{
  // If something external makes the panel visible/invisible, make sure to enable/disable the display
  suppress_hiding_associated_widget_panel_ = true;
  setEnabled(visible);
  suppress_hiding_associated_widget_panel_ = false;
  // Remark: vice versa, in Display::onEnableChanged(),
  //         the panel is made visible/invisible when the display is enabled/disabled
}
 
void Display::setIcon(const QIcon& icon)
{
  icon_ = icon;
  if (associated_widget_panel_)
  {
    associated_widget_panel_->setIcon(getIcon());
  }
}
 
void Display::setName(const QString& name)
{
  BoolProperty::setName(name);
 
  if (associated_widget_panel_)
  {
    associated_widget_panel_->setWindowTitle(name);
    // QMainWindow::saveState() needs objectName to be set.
    associated_widget_panel_->setObjectName(name);
  }
  else if (associated_widget_)
  {
    associated_widget_->setWindowTitle(name);
  }
}
 
} // end namespace rviz