selection_tool.cpp

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/*
 * Copyright (c) 2008, 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.
 */
 
#include <QKeyEvent>
 
#include <OgreRay.h>
#include <OgreSceneManager.h>
#include <OgreCamera.h>
#include <OgreMovableObject.h>
#include <OgreRectangle2D.h>
#include <OgreSceneNode.h>
#include <OgreViewport.h>
#include <OgreMaterialManager.h>
#include <OgreTexture.h>
#include <OgreTextureManager.h>
 
#include <ros/time.h>
 
#include "move_tool.h"
 
#include <rviz/ogre_helpers/camera_base.h>
#include <rviz/ogre_helpers/qt_ogre_render_window.h>
#include <rviz/selection/selection_manager.h>
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
#include <rviz/viewport_mouse_event.h>
#include <rviz/load_resource.h>
 
#include "selection_tool.h"
 
namespace rviz
{
SelectionTool::SelectionTool()
  : Tool()
  , move_tool_(new MoveTool())
  , selecting_(false)
  , sel_start_x_(0)
  , sel_start_y_(0)
  , moving_(false)
{
  shortcut_key_ = 's';
  access_all_keys_ = true;
}
 
SelectionTool::~SelectionTool()
{
  delete move_tool_;
}
 
void SelectionTool::onInitialize()
{
  move_tool_->initialize(context_);
}
 
void SelectionTool::activate()
{
  setStatus("Click and drag to select objects on the screen.");
  context_->getSelectionManager()->setTextureSize(512);
  selecting_ = false;
  moving_ = false;
  //  context_->getSelectionManager()->enableInteraction(true);
}
 
void SelectionTool::deactivate()
{
  context_->getSelectionManager()->removeHighlight();
}
 
void SelectionTool::update(float /*wall_dt*/, float /*ros_dt*/)
{
  SelectionManager* sel_manager = context_->getSelectionManager();
 
  if (!selecting_)
  {
    sel_manager->removeHighlight();
  }
}
 
int SelectionTool::processMouseEvent(ViewportMouseEvent& event)
{
  SelectionManager* sel_manager = context_->getSelectionManager();
 
  int flags = 0;
 
  if (event.alt())
  {
    moving_ = true;
    selecting_ = false;
  }
  else
  {
    moving_ = false;
 
    if (event.leftDown())
    {
      selecting_ = true;
 
      sel_start_x_ = event.x;
      sel_start_y_ = event.y;
    }
  }
 
  if (selecting_)
  {
    sel_manager->highlight(event.viewport, sel_start_x_, sel_start_y_, event.x, event.y);
 
    if (event.leftUp())
    {
      SelectionManager::SelectType type = SelectionManager::Replace;
 
      M_Picked selection;
 
      if (event.shift())
      {
        type = SelectionManager::Add;
      }
      else if (event.control())
      {
        type = SelectionManager::Remove;
      }
 
      sel_manager->select(event.viewport, sel_start_x_, sel_start_y_, event.x, event.y, type);
 
      selecting_ = false;
    }
 
    flags |= Render;
  }
  else if (moving_)
  {
    sel_manager->removeHighlight();
 
    flags = move_tool_->processMouseEvent(event);
 
    if (event.type == QEvent::MouseButtonRelease)
    {
      moving_ = false;
    }
  }
  else
  {
    sel_manager->highlight(event.viewport, event.x, event.y, event.x, event.y);
  }
 
  return flags;
}
 
int SelectionTool::processKeyEvent(QKeyEvent* event, RenderPanel* /*panel*/)
{
  SelectionManager* sel_manager = context_->getSelectionManager();
 
  if (event->key() == Qt::Key_F)
  {
    sel_manager->focusOnSelection();
  }
 
  return Render;
}
 
} // end namespace rviz
 
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(rviz::SelectionTool, rviz::Tool)