overlay_picker_tool.cpp

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// -*- mode: c++ -*-
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 *
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#include <QApplication>
#include <QMenu>
#include <QTimer>
#include <ros/ros.h>
#include <rviz/tool_manager.h>
#include <rviz/display_context.h>
#include <rviz/view_manager.h>
#include <rviz/display_group.h>
#include <rviz/display.h>

#include "overlay_picker_tool.h"
#include "overlay_text_display.h"
#include "plotter_2d_display.h"
#include "pie_chart_display.h"
#include "overlay_image_display.h"
#include "overlay_diagnostic_display.h"

namespace jsk_rviz_plugins
{
  OverlayPickerTool::OverlayPickerTool()
    : is_moving_(false), shift_pressing_(false), rviz::Tool()
  {

  }

  int OverlayPickerTool::processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel)
  {
    if (event->type() == QEvent::KeyPress && event->key() == 16777248) { // sift
      shift_pressing_ = true;
    }
    else if (event->type() == QEvent::KeyRelease && event->key() == 16777248) {
      shift_pressing_ = false;
    }
    return 0;
  }
  
  
  int OverlayPickerTool::processMouseEvent(rviz::ViewportMouseEvent& event)
  {
    if (event.left() && event.leftDown()) {
      if (!is_moving_) {
        onClicked(event);
      }
    }
    else if (event.left() && is_moving_) {
      onMove(event);
    }
    else if (is_moving_ && !(event.left() && event.leftDown())) {
      onRelease(event);
    }
    return 0;
  }

  bool OverlayPickerTool::handleDisplayClick(rviz::Property* property, rviz::ViewportMouseEvent& event)
  {
    if (isPropertyType<rviz::DisplayGroup>(property)) {
      rviz::DisplayGroup* group_property = isPropertyType<rviz::DisplayGroup>(property);
      for (int i = 0; i < group_property->numChildren(); i++) {
        if (handleDisplayClick(group_property->childAt(i), event)) {
          return true;
        }
      }
    }
    else {
      if (startMovement<OverlayTextDisplay>(property, event, "overlay_text_display")) {
        return true;
      }
      else if (startMovement<Plotter2DDisplay>(property, event, "plotter_2d_display")) {
        return true;
      }
      else if (startMovement<PieChartDisplay>(property, event, "pie_chart_display")) {
        return true;
      }
      else if (startMovement<OverlayImageDisplay>(property, event, "overlay_image_display")) {
        return true;
      }
      else if (startMovement<OverlayDiagnosticDisplay>(property, event, "overlay_diagnostic_display")) {
        return true;
      }
      else {
        return false;
      }
    }
    return false;
  }

  void OverlayPickerTool::onClicked(rviz::ViewportMouseEvent& event)
  {
    ROS_DEBUG("onClicked");
    is_moving_ = true;
    ROS_DEBUG("clicked: (%d, %d)", event.x, event.y);
    // check the active overlay plugin
    rviz::DisplayGroup* display_group = context_->getRootDisplayGroup();
    handleDisplayClick(display_group, event);
  }

  void OverlayPickerTool::onMove(rviz::ViewportMouseEvent& event)
  {
    ROS_DEBUG("onMove");
    ROS_DEBUG("moving: (%d, %d)", event.x, event.y);
    if (target_property_) {
      if (target_property_type_ == "overlay_text_display") {
        movePosition<OverlayTextDisplay>(event);
      }
      else if (target_property_type_ == "plotter_2d_display") {
        movePosition<Plotter2DDisplay>(event);
      }
      else if (target_property_type_ == "pie_chart_display") {
        movePosition<PieChartDisplay>(event);
      }
      else if (target_property_type_ == "overlay_image_display") {
        movePosition<OverlayImageDisplay>(event);
      }
      else if (target_property_type_ == "overlay_diagnostic_display") {
        movePosition<OverlayDiagnosticDisplay>(event);
      }
    }
  }
  
  void OverlayPickerTool::onRelease(rviz::ViewportMouseEvent& event)
  {
    ROS_DEBUG("onRelease");
    is_moving_ = false;
    ROS_DEBUG("released: (%d, %d)", event.x, event.y);
    if (target_property_) {
      if (target_property_type_ == "overlay_text_display") {
        setPosition<OverlayTextDisplay>(event);
      }
      else if (target_property_type_ == "plotter_2d_display") {
        setPosition<Plotter2DDisplay>(event);
      }
      else if (target_property_type_ == "pie_chart_display") {
        setPosition<PieChartDisplay>(event);
      }
      else if (target_property_type_ == "overlay_image_display") {
        setPosition<OverlayImageDisplay>(event);
      }
      else if (target_property_type_ == "overlay_diagnostic_display") {
        setPosition<OverlayDiagnosticDisplay>(event);
      }
    }
    // clear cache
    target_property_ = NULL;
    target_property_type_ = "";
  }
  
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayPickerTool, rviz::Tool )