pie_chart_display.cpp
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00001 // -*- mode: c++; -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 #include "pie_chart_display.h"
00037 
00038 #include <OGRE/OgreMaterialManager.h>
00039 #include <OGRE/OgreTextureManager.h>
00040 #include <OGRE/OgreTexture.h>
00041 #include <OGRE/OgreTechnique.h>
00042 #include <OGRE/OgreHardwarePixelBuffer.h>
00043 #include <rviz/uniform_string_stream.h>
00044 #include <rviz/display_context.h>
00045 #include <QPainter>
00046 
00047 namespace jsk_rviz_plugins
00048 {
00049 
00050   PieChartDisplay::PieChartDisplay()
00051     : rviz::Display(), update_required_(false), first_time_(true), data_(0.0)
00052   {
00053     update_topic_property_ = new rviz::RosTopicProperty(
00054       "Topic", "",
00055       ros::message_traits::datatype<std_msgs::Float32>(),
00056       "std_msgs::Float32 topic to subscribe to.",
00057       this, SLOT( updateTopic() ));
00058     size_property_ = new rviz::IntProperty("size", 128,
00059                                            "size of the plotter window",
00060                                            this, SLOT(updateSize()));
00061     left_property_ = new rviz::IntProperty("left", 128,
00062                                            "left of the plotter window",
00063                                            this, SLOT(updateLeft()));
00064     top_property_ = new rviz::IntProperty("top", 128,
00065                                           "top of the plotter window",
00066                                           this, SLOT(updateTop()));
00067     fg_color_property_ = new rviz::ColorProperty("foreground color",
00068                                                  QColor(25, 255, 240),
00069                                                  "color to draw line",
00070                                                  this, SLOT(updateFGColor()));
00071     fg_alpha_property_
00072       = new rviz::FloatProperty("foreground alpha", 0.7,
00073                                 "alpha belnding value for foreground",
00074                                 this, SLOT(updateFGAlpha()));
00075     fg_alpha2_property_
00076       = new rviz::FloatProperty("foreground alpha 2", 0.4,
00077                                 "alpha belnding value for foreground for indicator",
00078                                 this, SLOT(updateFGAlpha2()));
00079     bg_color_property_ = new rviz::ColorProperty("background color",
00080                                                  QColor(0, 0, 0),
00081                                                  "background color",
00082                                                  this, SLOT(updateBGColor()));
00083     bg_alpha_property_
00084       = new rviz::FloatProperty("backround alpha", 0.0,
00085                                 "alpha belnding value for background",
00086                                 this, SLOT(updateBGAlpha()));
00087     text_size_property_
00088       = new rviz::IntProperty("text size", 14,
00089                               "text size",
00090                               this, SLOT(updateTextSize()));
00091     show_caption_property_
00092       = new rviz::BoolProperty("show caption", true,
00093                                 "show caption",
00094                                 this, SLOT(updateShowCaption()));
00095     max_value_property_
00096       = new rviz::FloatProperty("max value", 1.0,
00097                                 "max value of pie chart",
00098                                 this, SLOT(updateMaxValue()));
00099     min_value_property_
00100       = new rviz::FloatProperty("min value", 0.0,
00101                                 "min value of pie chart",
00102                                 this, SLOT(updateMinValue()));
00103     auto_color_change_property_
00104       = new rviz::BoolProperty("auto color change",
00105                                false,
00106                                "change the color automatically",
00107                                this, SLOT(updateAutoColorChange()));
00108     max_color_property_
00109       = new rviz::ColorProperty("max color",
00110                                 QColor(255, 0, 0),
00111                                 "only used if auto color change is set to True.",
00112                                 this, SLOT(updateMaxColor()));
00113 
00114   }
00115 
00116   PieChartDisplay::~PieChartDisplay()
00117   {
00118     if (overlay_->isVisible()) {
00119       overlay_->hide();
00120     }
00121     delete update_topic_property_;
00122     delete fg_color_property_;
00123     delete bg_color_property_;
00124     delete fg_alpha_property_;
00125     delete fg_alpha2_property_;
00126     delete bg_alpha_property_;
00127     delete top_property_;
00128     delete left_property_;
00129     delete size_property_;
00130     delete min_value_property_;
00131     delete max_value_property_;
00132     delete text_size_property_;
00133     delete show_caption_property_;
00134   }
00135 
00136   void PieChartDisplay::onInitialize()
00137   {
00138     static int count = 0;
00139     rviz::UniformStringStream ss;
00140     ss << "PieChartDisplayObject" << count++;
00141     overlay_.reset(new OverlayObject(ss.str()));
00142     onEnable();
00143     updateSize();
00144     updateLeft();
00145     updateTop();
00146     updateFGColor();
00147     updateBGColor();
00148     updateFGAlpha();
00149     updateFGAlpha2();
00150     updateBGAlpha();
00151     updateMinValue();
00152     updateMaxValue();
00153     updateTextSize();
00154     updateShowCaption();
00155     updateAutoColorChange();
00156     updateMaxColor();
00157     overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_);
00158     overlay_->hide();
00159   }
00160 
00161   void PieChartDisplay::update(float wall_dt, float ros_dt)
00162   {
00163     if (update_required_) {
00164       update_required_ = false;
00165       overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_);
00166       drawPlot(data_);
00167       overlay_->setPosition(left_, top_);
00168       overlay_->setDimensions(overlay_->getTextureWidth(),
00169                               overlay_->getTextureHeight());
00170     }
00171   }
00172   
00173   void PieChartDisplay::processMessage(const std_msgs::Float32::ConstPtr& msg)
00174   {
00175     boost::mutex::scoped_lock lock(mutex_);
00176 
00177     if (!overlay_->isVisible()) {
00178       return;
00179     }
00180     if (data_ != msg->data || first_time_) {
00181       first_time_ = false;
00182       data_ = msg->data;
00183       update_required_ = true;
00184     }
00185   }
00186   
00187   void PieChartDisplay::drawPlot(double val)
00188   {
00189     QColor fg_color(fg_color_);
00190 
00191     if (auto_color_change_) {
00192       double r
00193         = std::min(1.0, fabs((val - min_value_) / (max_value_ - min_value_)));
00194       if (r > 0.6) {
00195         double r2 = (r - 0.6) / 0.4;
00196         fg_color.setRed((max_color_.red() - fg_color_.red()) * r2
00197                         + fg_color_.red());
00198         fg_color.setGreen((max_color_.green() - fg_color_.green()) * r2
00199                           + fg_color_.green());
00200         fg_color.setBlue((max_color_.blue() - fg_color_.blue()) * r2
00201                          + fg_color_.blue());
00202       }
00203     }
00204 
00205     
00206     QColor fg_color2(fg_color);
00207     QColor bg_color(bg_color_);
00208     fg_color.setAlpha(fg_alpha_);
00209     fg_color2.setAlpha(fg_alpha2_);
00210     bg_color.setAlpha(bg_alpha_);
00211     int width = overlay_->getTextureWidth();
00212     int height = overlay_->getTextureHeight();
00213     {
00214       ScopedPixelBuffer buffer = overlay_->getBuffer();
00215       QImage Hud = buffer.getQImage(*overlay_, bg_color);
00216       QPainter painter( &Hud );
00217       painter.setRenderHint(QPainter::Antialiasing, true);
00218 
00219       const int outer_line_width = 5;
00220       const int value_line_width = 10;
00221       const int value_indicator_line_width = 2;
00222       const int value_padding = 5;
00223 
00224       const int value_aabb_offset
00225         = outer_line_width + value_padding + value_line_width / 2;
00226       
00227       painter.setPen(QPen(fg_color, outer_line_width, Qt::SolidLine));
00228 
00229       painter.drawEllipse(outer_line_width / 2, outer_line_width / 2,
00230                           width - outer_line_width ,
00231                           height - outer_line_width - caption_offset_);
00232 
00233       painter.setPen(QPen(fg_color2, value_indicator_line_width, Qt::SolidLine));
00234       painter.drawEllipse(value_aabb_offset, value_aabb_offset,
00235                           width - value_aabb_offset * 2,
00236                           height - value_aabb_offset * 2 - caption_offset_);
00237 
00238       const double ratio = (val - min_value_) / (max_value_ - min_value_);
00239       const double ratio_angle = ratio * 360.0;
00240       const double start_angle_offset = -90;
00241       painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine));
00242       painter.drawArc(QRectF(value_aabb_offset, value_aabb_offset,
00243                              width - value_aabb_offset * 2,
00244                              height - value_aabb_offset * 2 - caption_offset_),
00245                       start_angle_offset * 16 ,
00246                       ratio_angle * 16);
00247       QFont font = painter.font();
00248       font.setPointSize(text_size_);
00249       font.setBold(true);
00250       painter.setFont(font);
00251       painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine));
00252       std::ostringstream s;
00253       s << std::fixed << std::setprecision(2) << val;
00254       painter.drawText(0, 0, width, height - caption_offset_,
00255                        Qt::AlignCenter | Qt::AlignVCenter,
00256                        s.str().c_str());
00257 
00258       // caption
00259       if (show_caption_) {
00260         painter.drawText(0, height - caption_offset_, width, caption_offset_,
00261                          Qt::AlignCenter | Qt::AlignVCenter,
00262                          getName());
00263       }
00264       
00265       // done
00266       painter.end();
00267       // Unlock the pixel buffer
00268     }
00269   }
00270 
00271   
00272   void PieChartDisplay::subscribe()
00273   {
00274     std::string topic_name = update_topic_property_->getTopicStd();
00275     if (topic_name.length() > 0 && topic_name != "/") {
00276       ros::NodeHandle n;
00277       sub_ = n.subscribe(topic_name, 1, &PieChartDisplay::processMessage, this);
00278     }
00279   }
00280 
00281   
00282   void PieChartDisplay::unsubscribe()
00283   {
00284     sub_.shutdown();
00285   }
00286 
00287   void PieChartDisplay::onEnable()
00288   {
00289     subscribe();
00290     overlay_->show();
00291     first_time_ = true;
00292   }
00293 
00294   void PieChartDisplay::onDisable()
00295   {
00296     unsubscribe();
00297     overlay_->hide();
00298   }
00299 
00300   void PieChartDisplay::updateSize()
00301   {
00302     boost::mutex::scoped_lock lock(mutex_);
00303     texture_size_ = size_property_->getInt();
00304   }
00305   
00306   void PieChartDisplay::updateTop()
00307   {
00308     top_ = top_property_->getInt();
00309   }
00310   
00311   void PieChartDisplay::updateLeft()
00312   {
00313     left_ = left_property_->getInt();
00314   }
00315   
00316   void PieChartDisplay::updateBGColor()
00317   {
00318     bg_color_ = bg_color_property_->getColor();
00319   }
00320 
00321   void PieChartDisplay::updateFGColor()
00322   {
00323     fg_color_ = fg_color_property_->getColor();
00324   }
00325 
00326   void PieChartDisplay::updateFGAlpha()
00327   {
00328     fg_alpha_ = fg_alpha_property_->getFloat() * 255.0;
00329   }
00330 
00331   void PieChartDisplay::updateFGAlpha2()
00332   {
00333     fg_alpha2_ = fg_alpha2_property_->getFloat() * 255.0;
00334   }
00335 
00336   
00337   void PieChartDisplay::updateBGAlpha()
00338   {
00339     bg_alpha_ = bg_alpha_property_->getFloat() * 255.0;
00340   }
00341 
00342   void PieChartDisplay::updateMinValue()
00343   {
00344     min_value_ = min_value_property_->getFloat();
00345   }
00346 
00347   void PieChartDisplay::updateMaxValue()
00348   {
00349     max_value_ = max_value_property_->getFloat();
00350   }
00351   
00352   void PieChartDisplay::updateTextSize()
00353   {
00354     boost::mutex::scoped_lock lock(mutex_);
00355     text_size_ = text_size_property_->getInt();
00356     QFont font;
00357     font.setPointSize(text_size_);
00358     caption_offset_ = QFontMetrics(font).height();
00359     
00360   }
00361   
00362   void PieChartDisplay::updateShowCaption()
00363   {
00364     show_caption_ = show_caption_property_->getBool();
00365   }
00366 
00367   
00368   void PieChartDisplay::updateTopic()
00369   {
00370     unsubscribe();
00371     subscribe();
00372   }
00373 
00374   void PieChartDisplay::updateAutoColorChange()
00375   {
00376     auto_color_change_ = auto_color_change_property_->getBool();
00377     if (auto_color_change_) {
00378       max_color_property_->show();
00379     }
00380     else {
00381       max_color_property_->hide();
00382     }
00383   }
00384 
00385   void PieChartDisplay::updateMaxColor()
00386   {
00387     max_color_ = max_color_property_->getColor();
00388   }
00389 
00390   
00391 }
00392 
00393 #include <pluginlib/class_list_macros.h>
00394 PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::PieChartDisplay, rviz::Display )


jsk_rviz_plugins
Author(s): Kei Okada , Yohei Kakiuchi , Shohei Fujii , Ryohei Ueda
autogenerated on Sun Sep 13 2015 22:29:03