Program Listing for File map_canvas.h

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// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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#ifndef MAPVIZ__MAP_CANVAS_H_
#define MAPVIZ__MAP_CANVAS_H_

// QT libraries
#include <QGLWidget>
#include <QMouseEvent>
#include <QWheelEvent>
#include <QColor>
#include <QTimer>

// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

#include <mapviz/mapviz_plugin.h>

// C++ standard libraries
#include <cstring>
#include <list>
#include <memory>
#include <string>
#include <vector>

namespace mapviz
{
class MapCanvas : public QGLWidget
{
  Q_OBJECT

public:
  explicit MapCanvas(QWidget *parent = nullptr);
  ~MapCanvas() override;

  void InitializeTf(std::shared_ptr<tf2_ros::Buffer> tf);

  void AddPlugin(MapvizPluginPtr plugin, int order);
  void RemovePlugin(MapvizPluginPtr plugin);
  void SetFixedFrame(const std::string& frame);
  void SetTargetFrame(const std::string& frame);
  void ToggleFixOrientation(bool on);
  void ToggleRotate90(bool on);
  void ToggleEnableAntialiasing(bool on);
  void ToggleUseLatestTransforms(bool on);
  void UpdateView();
  void ReorderDisplays();
  void ResetLocation();
  QPointF MapGlCoordToFixedFrame(const QPointF& point);
  QPointF FixedFrameToMapGlCoord(const QPointF& point);

  double frameRate() const;

  float ViewScale() const { return view_scale_; }
  float OffsetX() const { return offset_x_; }
  float OffsetY() const { return offset_y_; }


  void setCanvasAbleToMove(bool assigning)
  {
    canvas_able_to_move_ = assigning;
  }

  void leaveEvent(QEvent* e) override;

  void SetViewScale(float scale)
  {
    view_scale_ = scale;
    UpdateView();
  }

  void SetOffsetX(float x)
  {
    offset_x_ = x;
    UpdateView();
  }

  void SetOffsetY(float y)
  {
    offset_y_ = y;
    UpdateView();
  }

  void SetBackground(const QColor& color)
  {
    bg_color_ = color;
    update();
  }

  void CaptureFrames(bool enabled)
  {
    capture_frames_ = enabled;
    update();
  }

  bool CopyCaptureBuffer(uchar* buffer)
  {
    if (!capture_buffer_.empty()) {
      memcpy(&buffer[0], &capture_buffer_[0], capture_buffer_.size());
      return true;
    }

    return false;
  }

  bool CopyCaptureBuffer(std::vector<uint8_t>& buffer)
  {
    buffer.clear();
    if (!capture_buffer_.empty()) {
      buffer.resize(capture_buffer_.size());
      memcpy(&buffer[0], &capture_buffer_[0], buffer.size());

      return true;
    }

    return false;
  }

  void CaptureFrame(bool force = false);

Q_SIGNALS:
  void Hover(double x, double y, double scale);

public Q_SLOTS:
  void setFrameRate(const double fps);

protected:
  void initializeGL() override;
  void initGlBlending();
  void pushGlMatrices();
  void popGlMatrices();
  void resizeGL(int w, int h) override;
  void paintEvent(QPaintEvent* event) override;
  void wheelEvent(QWheelEvent* e) override;
  void mousePressEvent(QMouseEvent* e) override;
  void mouseReleaseEvent(QMouseEvent* e) override;
  void mouseMoveEvent(QMouseEvent* e) override;
  void keyPressEvent(QKeyEvent* e) override;

  void Recenter();
  void TransformTarget(QPainter* painter);
  void Zoom(float factor);

  void InitializePixelBuffers();

  bool canvas_able_to_move_ = true;
  bool has_pixel_buffers_;
  int32_t pixel_buffer_size_;
  GLuint pixel_buffer_ids_[2];
  int32_t pixel_buffer_index_;
  bool capture_frames_;

  bool initialized_;
  bool fix_orientation_;
  bool rotate_90_;
  bool enable_antialiasing_;

  QTimer frame_rate_timer_;

  QColor bg_color_;

  Qt::MouseButton mouse_button_;
  bool mouse_pressed_;
  int mouse_x_;
  int mouse_y_;
  // Used when right-click dragging to zoom
  int mouse_previous_y_;

  bool mouse_hovering_;
  int mouse_hover_x_;
  int mouse_hover_y_;

  // Offset based on previous mouse drags
  double offset_x_;
  double offset_y_;

  // Offset based on current mouse drag
  double drag_x_;
  double drag_y_;

  // The center of the view
  float view_center_x_;
  float view_center_y_;

  // View scale in meters per pixel
  float view_scale_;

  // The bounds of the view
  float view_left_;
  float view_right_;
  float view_top_;
  float view_bottom_;

  // The bounds of the scene
  float scene_left_;
  float scene_right_;
  float scene_top_;
  float scene_bottom_;

  std::string fixed_frame_;
  std::string target_frame_;

  std::shared_ptr<tf2_ros::Buffer> tf_buf_;
  tf2::Stamped<tf2::Transform> transform_;
  QTransform qtransform_;
  std::list<MapvizPluginPtr> plugins_;

  std::vector<uint8_t> capture_buffer_;
};
}   // namespace mapviz

#endif  // MAPVIZ__MAP_CANVAS_H_