marble_plugin.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

/* -- BEGIN LICENSE BLOCK ----------------------------------------------

Copyright (c) 2013, TB
All rights reserved.

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THIS SOFTWARE IS PROVIDED ``AS IS'' AND WITHOUT ANY EXPRESS OR
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  -- END LICENSE BLOCK ----------------------------------------------*/

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef _MARBLE_PLUGIN_H
#define _MARBLE_PLUGIN_H

// ROS Plugin Includes
#include <rqt_gui_cpp/plugin.h>
#include <ros/ros.h>

// Message Includes
#include <sensor_msgs/NavSatFix.h>
#include <geometry_msgs/Twist.h>

// Qt Includes
#include <QtCore/QObject>
#include <QMutex>

#include <marble/MapThemeManager.h>

// Own Includes
#include <ui_marble_plugin.h>
#include "drawable_marble_widget.h"
#include "manage_kml_dialog.h"

namespace rqt_marble_plugin {

class MarblePlugin
  : public rqt_gui_cpp::Plugin
{


  Q_OBJECT


public:


  MarblePlugin();
  virtual void initPlugin(qt_gui_cpp::PluginContext& context);
  virtual void shutdownPlugin();
  virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const;
  virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings, const qt_gui_cpp::Settings& instance_settings);

  // Comment in to signal that the plugin has a way to configure it
  //bool hasConfiguration() const;
  //void triggerConfiguration();

  void GpsCallbackCurrent( const sensor_msgs::NavSatFixConstPtr& gpspt );
  void GpsCallbackMatched( const sensor_msgs::NavSatFixConstPtr& gpspt );


private slots:
  void gpsCoordinateSelected(qreal lon, qreal lat, GeoDataCoordinates::Unit unit);
  void processMarkerCheckBoxCLicked();

private:

Q_SIGNALS:

  void NewGPSPosition(qreal,qreal);

  void ZoomIn(FlyToMode);
  void ZoomOut(FlyToMode);
  void flyTo(GeoDataLookAt, FlyToMode);

  private Q_SLOTS:

  void ChangeGPSTopicCurrentGPS(const QString &topic_name);
  void ChangeGPSTopicMatchedGPS(const QString &topic_name);

  void ChangeMarbleModelTheme(int idx );
  void FindNavSatFixTopics();

  void ManageKML();

  private:

  void subscribeVisualization();
  void clearKMLData();
  void addKMLData(std::map<QString, bool>& kml_files, bool overwrite);
  void mapcontrolCallback(const geometry_msgs::TwistConstPtr &msg);

  Ui_Form ui_;

  QWidget* widget_;

  Marble::MapThemeManager m_map_theme_manager;

  ros::Subscriber m_current_pos_subscriber;
  ros::Subscriber m_matched_pos_subscriber;
  ros::Subscriber m_visualization_subscriber;
  ros::Subscriber m_visualization_marker_array_subscriber;
  ros::Subscriber m_reference_gps_subscriber;
  ros::Publisher m_selected_gps_pos_publisher;

  ros::Subscriber m_mapcontrol_subscriber;

  std::map< QString, bool> m_last_kml_data;

};
} // namespace
#endif // _MARBLE_PLUGIN_H