visualizer_app.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 <QApplication>
#include <QTimer>
 
#include <boost/program_options.hpp>
#include <boost/filesystem.hpp>
 
#include <OgreMaterialManager.h>
#include <OgreGpuProgramManager.h>
#include <OgreHighLevelGpuProgramManager.h>
#include <std_srvs/Empty.h>
 
#ifdef Q_OS_MAC
#include <ApplicationServices/ApplicationServices.h>
// Apparently OSX #defines 'check' to be an empty string somewhere.
// That was fun to figure out.
#undef check
#endif
 
#include <ros/console.h>
#include <ros/ros.h>
 
#include <rviz/selection/selection_manager.h>
#include <rviz/env_config.h>
#include <rviz/ogre_helpers/ogre_logging.h>
#include <rviz/visualization_frame.h>
#include <rviz/visualization_manager.h>
#include <rviz/wait_for_master_dialog.h>
#include <rviz/ogre_helpers/render_system.h>
 
#include <rviz/visualizer_app.h>
 
#define CATCH_EXCEPTIONS 0
 
namespace po = boost::program_options;
namespace fs = boost::filesystem;
 
namespace rviz
{
bool reloadShaders(std_srvs::Empty::Request& /*unused*/, std_srvs::Empty::Response& /*unused*/)
{
  ROS_INFO("Reloading materials.");
  {
    Ogre::ResourceManager::ResourceMapIterator it =
        Ogre::MaterialManager::getSingleton().getResourceIterator();
    while (it.hasMoreElements())
    {
      Ogre::ResourcePtr resource = it.getNext();
      resource->reload();
    }
  }
  ROS_INFO("Reloading high-level gpu shaders.");
  {
    Ogre::ResourceManager::ResourceMapIterator it =
        Ogre::HighLevelGpuProgramManager::getSingleton().getResourceIterator();
    while (it.hasMoreElements())
    {
      Ogre::ResourcePtr resource = it.getNext();
      resource->reload();
    }
  }
  ROS_INFO("Reloading gpu shaders.");
  {
    Ogre::ResourceManager::ResourceMapIterator it =
        Ogre::GpuProgramManager::getSingleton().getResourceIterator();
    while (it.hasMoreElements())
    {
      Ogre::ResourcePtr resource = it.getNext();
      resource->reload();
    }
  }
  return true;
}
 
VisualizerApp::VisualizerApp() : continue_timer_(nullptr), frame_(nullptr)
{
}
 
void VisualizerApp::setApp(QApplication* app)
{
  Q_UNUSED(app);
}
 
bool VisualizerApp::init(int argc, char** argv)
{
  ROS_INFO("rviz version %s", get_version().c_str());
  ROS_INFO("compiled against Qt version " QT_VERSION_STR);
  ROS_INFO("compiled against OGRE version %d.%d.%d%s (%s)", OGRE_VERSION_MAJOR, OGRE_VERSION_MINOR,
           OGRE_VERSION_PATCH, OGRE_VERSION_SUFFIX, OGRE_VERSION_NAME);
 
#ifdef Q_OS_MAC
  ProcessSerialNumber PSN;
  GetCurrentProcess(&PSN);
  TransformProcessType(&PSN, kProcessTransformToForegroundApplication);
  SetFrontProcess(&PSN);
#endif
 
#if CATCH_EXCEPTIONS
  try
  {
#endif
    ros::init(argc, argv, "rviz", ros::init_options::AnonymousName);
 
    startContinueChecker();
 
    std::string display_config, fixed_frame, splash_path, help_path;
    int force_gl_version = 0;
 
    po::options_description options;
    options.add_options() // clang-format off
      ("help,h", "Produce this help message")
      ("splash-screen,s", po::value<std::string>(&splash_path),
       "A custom splash-screen image to display")
      ("help-file", po::value<std::string>(&help_path),
       "A custom html file to show as the help screen")
      ("display-config,d", po::value<std::string>(&display_config),
       "A display config file (.rviz) to load")
      ("fullscreen", "Trigger fullscreen display")
      ("fixed-frame,f", po::value<std::string>(&fixed_frame), "Set the fixed frame")
      ("ogre-log,l", "Enable the Ogre.log file (output in cwd) and console output.")
      ("in-mc-wrapper", "Signal that this is running inside a master-chooser wrapper")
      ("opengl", po::value<int>(&force_gl_version),
        "Force OpenGL version (use '--opengl 210' for OpenGL 2.1 compatibility mode)")
      ("disable-anti-aliasing", "Prevent rviz from trying to use anti-aliasing when rendering.")
      ("no-stereo", "Disable the use of stereo rendering.")("verbose,v", "Enable debug visualizations")
      ("log-level-debug", "Sets the ROS logger level to debug.");
    // clang-format on
    po::variables_map vm;
    try
    {
      po::store(po::parse_command_line(argc, argv, options), vm);
      po::notify(vm);
 
      if (vm.count("help"))
      {
        std::cout << "rviz command line options:\n" << options;
        return false;
      }
 
      if (vm.count("log-level-debug"))
      {
        if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
        {
          ros::console::notifyLoggerLevelsChanged();
        }
      }
    }
    catch (std::exception& e)
    {
      ROS_ERROR("Error parsing command line: %s", e.what());
      return false;
    }
 
    if (!ros::master::check())
    {
      WaitForMasterDialog dialog;
      if (dialog.exec() != QDialog::Accepted)
      {
        return false;
      }
    }
 
    nh_.reset(new ros::NodeHandle);
 
    if (vm.count("ogre-log"))
      OgreLogging::useRosLog();
 
    RenderSystem::forceGlVersion(force_gl_version);
 
    if (vm.count("disable-anti-aliasing"))
      RenderSystem::disableAntiAliasing();
 
    if (vm.count("no-stereo"))
      RenderSystem::forceNoStereo();
 
    frame_ = new VisualizationFrame();
    if (!help_path.empty())
    {
      frame_->setHelpPath(QString::fromStdString(help_path));
    }
    frame_->setShowChooseNewMaster(vm.count("in-mc-wrapper") > 0);
    if (vm.count("splash-screen"))
      frame_->setSplashPath(QString::fromStdString(splash_path));
 
    frame_->initialize(QString::fromStdString(display_config));
 
    if (!fixed_frame.empty())
      frame_->getManager()->setFixedFrame(QString::fromStdString(fixed_frame));
 
    frame_->getManager()->getSelectionManager()->setDebugMode(vm.count("verbose") > 0);
 
    if (vm.count("fullscreen"))
      frame_->setFullScreen(true);
    frame_->show();
 
    ros::NodeHandle private_nh("~");
    reload_shaders_service_ = private_nh.advertiseService("reload_shaders", reloadShaders);
 
    load_config_service_ =
        private_nh.advertiseService("load_config", &VisualizerApp::loadConfigCallback, this);
    load_config_discarding_service_ = private_nh.advertiseService(
        "load_config_discarding_changes", &VisualizerApp::loadConfigDiscardingCallback, this);
    save_config_service_ =
        private_nh.advertiseService("save_config", &VisualizerApp::saveConfigCallback, this);
 
#if CATCH_EXCEPTIONS
  }
  catch (std::exception& e)
  {
    ROS_ERROR("Caught exception while loading: %s", e.what());
    return false;
  }
#endif
  return true;
}
 
VisualizerApp::~VisualizerApp()
{
  delete continue_timer_;
  delete frame_;
}
 
void VisualizerApp::startContinueChecker()
{
  continue_timer_ = new QTimer(this);
  connect(continue_timer_, &QTimer::timeout, this, &VisualizerApp::checkContinue);
  continue_timer_->start(100);
}
 
void VisualizerApp::checkContinue()
{
  if (!ros::ok())
  {
    if (frame_)
    {
      // Make sure the window doesn't ask if we want to save first.
      frame_->setWindowModified(false);
    }
    QApplication::closeAllWindows();
  }
}
 
bool VisualizerApp::loadConfigCallback(rviz::SendFilePathRequest& req, rviz::SendFilePathResponse& res)
{
  fs::path path = req.path.data;
  if (fs::is_regular_file(path))
    res.success = frame_->loadDisplayConfigHelper(path.string());
  else
    res.success = false;
  return true;
}
 
bool VisualizerApp::loadConfigDiscardingCallback(rviz::SendFilePathRequest& req,
                                                 rviz::SendFilePathResponse& res)
{
  fs::path path = req.path.data;
  if (fs::is_regular_file(path))
  {
    bool discard_changes = true;
    res.success = frame_->loadDisplayConfigHelper(path.string(), discard_changes);
  }
  else
    res.success = false;
  return true;
}
 
bool VisualizerApp::saveConfigCallback(rviz::SendFilePathRequest& req, rviz::SendFilePathResponse& res)
{
  res.success = frame_->saveDisplayConfig(QString::fromStdString(req.path.data));
  return true;
}
 
 
} // namespace rviz