render_widget.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2010, 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 <rve_qt/render_widget.h>

#include <rve_render_client/render_window.h>
#include <rve_render_client/client_context.h>

#include <rve_msgs/MouseEvent.h>

#include <ros/node_handle.h>

#include <sstream>
#include <QX11Info>
#include <X11/Xlib.h>

namespace rve_qt
{

std::string getWindowHandle(QWidget* widget)
{
  std::stringstream ss;
  ss << widget->winId();
  XSync(QX11Info::display(), false);
  return ss.str();
}

RenderWidget::RenderWidget(rve_render_client::ClientContext* context, QWidget* parent)
: QWidget(parent)
{
  QSize size = property("size").toSize();
  remote_wnd_ = rve_render_client::createRenderWindow(context, getWindowHandle(this), size.width(), size.height());
  mouse_pub_ = context->getNodeHandle().advertise<rve_msgs::MouseEvent>(getMouseEventTopic(), 100);
}

RenderWidget::~RenderWidget()
{
  remote_wnd_.reset();
}

void RenderWidget::resizeEvent(QResizeEvent* event)
{
  remote_wnd_->resize(event->size().width(), event->size().height());
}

std::string RenderWidget::getNamespace()
{
  return remote_wnd_->getNamespace();
}

std::string RenderWidget::getMouseEventTopic()
{
  return remote_wnd_->getNamespace() + "/mouse_events";
}

uint8_t translateQtButtons(Qt::MouseButtons buttons)
{
  uint8_t mask = 0;
  if (buttons & Qt::LeftButton)
  {
    mask |= rve_msgs::MouseEvent::BUTTON_LEFT;
  }

  if (buttons & Qt::RightButton)
  {
    mask |= rve_msgs::MouseEvent::BUTTON_RIGHT;
  }

  if (buttons & Qt::MidButton)
  {
    mask |= rve_msgs::MouseEvent::BUTTON_MIDDLE;
  }

  return mask;
}

uint8_t translateQtModifiers(Qt::KeyboardModifiers mod)
{
  uint8_t mask = 0;
  if (mod & Qt::ShiftModifier)
  {
    mask |= rve_msgs::MouseEvent::MODIFIER_SHIFT;
  }

  if (mod & Qt::ControlModifier)
  {
    mask |= rve_msgs::MouseEvent::MODIFIER_CONTROL;
  }

  if (mod & Qt::AltModifier)
  {
    mask |= rve_msgs::MouseEvent::MODIFIER_ALT;
  }

  if (mod & Qt::MetaModifier)
  {
    mask |= rve_msgs::MouseEvent::MODIFIER_META;
  }

  return mask;
}

void fillMessage(QWidget* w, QMouseEvent* evt, rve_msgs::MouseEvent& msg)
{
  msg.button = translateQtButtons(evt->button());
  msg.buttons = translateQtButtons(evt->buttons());
  msg.x = evt->x();
  msg.y = evt->y();

  QSize size = w->property("size").toSize();
  msg.window_width = size.width();
  msg.window_height = size.height();

  msg.modifiers = translateQtModifiers(evt->modifiers());
}

void RenderWidget::mousePressEvent(QMouseEvent* event)
{
  rve_msgs::MouseEventPtr msg(new rve_msgs::MouseEvent);
  msg->type = rve_msgs::MouseEvent::EVENT_PRESS;
  fillMessage(this, event, *msg);
  mouse_pub_.publish(msg);
}

void RenderWidget::mouseReleaseEvent(QMouseEvent* event)
{
  rve_msgs::MouseEventPtr msg(new rve_msgs::MouseEvent);
  msg->type = rve_msgs::MouseEvent::EVENT_RELEASE;
  fillMessage(this, event, *msg);
  mouse_pub_.publish(msg);
}

void RenderWidget::mouseMoveEvent(QMouseEvent* event)
{
  rve_msgs::MouseEventPtr msg(new rve_msgs::MouseEvent);
  msg->type = rve_msgs::MouseEvent::EVENT_MOVE;
  fillMessage(this, event, *msg);
  mouse_pub_.publish(msg);
}

} // namespace rve_qt