render_target.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_render_client/render_target.h"
#include <rve_render_client/client_context.h>
#include "rve_render_client/camera.h"
#include "rve_render_client/scene.h"
#include "rve_render_client/screen_rect.h"

#include <rve_interfaces/RenderTarget.h>
#include <rve_interfaces/RenderTarget_pickResponse.h>
#include <rve_rpc/method_response.h>

#include <ros/node_handle.h>

#include <boost/bind.hpp>

using namespace rve_common;

namespace rve_render_client
{

RenderTarget::RenderTarget(uint32_t width, uint32_t height)
: context_(0)
, proxy_handle_(NullHandle)
, width_(width)
, height_(height)
, id_(UUID::generate())
{
}

RenderTarget::~RenderTarget()
{
}

rve_interfaces::RenderTargetProxy* RenderTarget::getProxy()
{
  ROS_ASSERT(proxy_handle_ != NullHandle);
  ROS_ASSERT(context_);
  return context_->getInterface<rve_interfaces::RenderTargetProxy>(proxy_handle_);
}

void RenderTarget::create(ClientContext* context)
{
  // Render targets only support a single context
  ROS_ASSERT(!context_);
  ROS_ASSERT(proxy_handle_ == NullHandle);
  context_ = context;
  proxy_handle_ = context->lookupInterface("render_target");

  // Call through to the derived class to do the actual creation
  doCreate();

  if (camera_id_ != UUID::Null)
  {
    rve_interfaces::RenderTargetProxy* proxy = getProxy();
    proxy->attachCamera(getID(), camera_scene_id_, camera_id_);
  }
  rve_render_client::CameraPtr cam = camera_.lock();
  if( cam )
  {
    cam->setAspectRatio( float(width_)/float(height_) );
  }
}

void RenderTarget::destroy(ClientContext* context)
{
  ROS_ASSERT(context == context_);
  rve_interfaces::RenderTargetProxy* proxy = getProxy();
  proxy->destroy(getID());

  proxy_handle_ = NullHandle;
  context_ = 0;
}

void RenderTarget::resize(uint32_t width, uint32_t height)
{
  width_ = width;
  height_ = height;

  CameraPtr cam = camera_.lock();
  if (cam)
  {
    cam->setAspectRatio( float(width)/float(height) );
  }

  if (context_)
  {
    rve_interfaces::RenderTargetProxy* proxy = getProxy();
    proxy->resizeAsync(getID(), width, height);
  }
}

void RenderTarget::attachCamera(const CameraPtr& cam)
{
  camera_ = cam;
  if (context_)
  {
    rve_interfaces::RenderTargetProxy* proxy = getProxy();
    if (cam)
    {
      cam->setAspectRatio( float(width_)/float(height_) );

      proxy->attachCameraAsync(getID(), cam->getScene()->getID(), cam->getID());
      camera_id_ = cam->getID();
      camera_scene_id_ = cam->getScene()->getID();
    }
    else
    {
      proxy->detachCameraAsync(getID());
      camera_id_ = UUID::Null;
      camera_scene_id_ = UUID::Null;
    }
  }
}

void RenderTarget::pick(uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2,
                        boost::function<void(const rve_rpc::MethodResponse<rve_interfaces::RenderTarget::pickResponse>&)> callback)
{
  if (context_)
  {
    rve_interfaces::RenderTargetProxy* proxy = getProxy();
    proxy->pickAsync(getID(), x1, y1, x2, y2, callback);
  }
}

void RenderTarget::requestRender()
{
  if (context_)
  {
    rve_interfaces::RenderTargetProxy* proxy = getProxy();
    proxy->requestRenderAsync(getID());
  }
}

void RenderTarget::destroyScreenRect(ScreenRect* rect)
{
  if (context_)
  {
    rect->destroy(context_);
  }

  delete rect;
}

ScreenRectPtr RenderTarget::createScreenRect(uint32_t zorder, float x0, float y0, float x1, float y1)
{
  ScreenRectPtr rect(new ScreenRect(getID(), zorder, x0, y0, x1, y1), boost::bind(&RenderTarget::destroyScreenRect, this, _1));
  if (context_)
  {
    rect->create(context_);
  }
  return rect;
}

std::string dashToUnderscore(const std::string& str)
{
  std::string out = str;
  for (size_t i = 0; i < out.size(); ++i)
  {
    if (out[i] == '-')
    {
      out[i] = '_';
    }
  }

  return out;
}

std::string RenderTarget::getNamespace()
{
  return context_->getNodeHandle().getNamespace() + "/render_targets/" + dashToUnderscore(getID().toString());
}

}