string_plugin.h

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#ifndef MAPVIZ_PLUGINS_STRING_PLUGIN_H
#define MAPVIZ_PLUGINS_STRING_PLUGIN_H
 
#include <string>
 
#include <mapviz/mapviz_plugin.h>
 
#include <QObject>
#include <QString>
#include <QColor>
#include <QWidget>
#include <QGLWidget>
#include <QPainter>
#include <QFont>
#include <QStaticText>
 
 
#include <ros/ros.h>
#include <topic_tools/shape_shifter.h>
#include <std_msgs/String.h>
#include <marti_common_msgs/StringStamped.h>
 
// QT autogenerated files
#include "ui_string_config.h"
 
namespace mapviz_plugins
{
  class StringPlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT
 
  public:
    enum Anchor {
      TOP_LEFT,
      TOP_CENTER,
      TOP_RIGHT,
      CENTER_LEFT,
      CENTER,
      CENTER_RIGHT,
      BOTTOM_LEFT,
      BOTTOM_CENTER,
      BOTTOM_RIGHT
    };
 
    enum Units {
      PIXELS,
      PERCENT
    };
 
    StringPlugin();
    virtual ~StringPlugin();
 
    bool Initialize(QGLWidget* canvas);
    void Shutdown() {}
 
    void Draw(double x, double y, double scale);
    void Paint(QPainter* painter, double x, double y, double scale);
 
    void Transform() {}
 
    void LoadConfig(const YAML::Node& node, const std::string& path);
    void SaveConfig(YAML::Emitter& emitter, const std::string& path);
 
    QWidget* GetConfigWidget(QWidget* parent);
 
    bool SupportsPainting()
    {
      return true;
    }
 
  protected:
    void PaintText(QPainter* painter);
    void PrintError(const std::string& message);
    void PrintInfo(const std::string& message);
    void PrintWarning(const std::string& message);
 
  protected Q_SLOTS:
    void SelectColor();
    void SelectFont();
    void SelectTopic();
    void TopicEdited();
    void SetAnchor(QString anchor);
    void SetUnits(QString units);
    void SetOffsetX(int offset);
    void SetOffsetY(int offset);
 
  private:
    Ui::string_config ui_;
    QWidget* config_widget_;
 
    std::string topic_;
    Anchor anchor_;
    Units units_;
    int offset_x_;
    int offset_y_;
 
    ros::Subscriber string_sub_;
    bool has_message_;
    bool has_painted_;
 
    QColor color_;
    QFont font_;
    QStaticText message_;
 
    void stringCallback(const topic_tools::ShapeShifter::ConstPtr& msg);
 
    std::string AnchorToString(Anchor anchor);
    std::string UnitsToString(Units units);
 
    static const char* ANCHOR_KEY;
    static const char* COLOR_KEY;
    static const char* FONT_KEY;
    static const char* OFFSET_X_KEY;
    static const char* OFFSET_Y_KEY;
    static const char* TOPIC_KEY;
    static const char* UNITS_KEY;
  };
}
 
 
#endif //MAPVIZ_PLUGINS_STRING_PLUGIN_H