.. _program_listing_file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_float_plugin.h:

Program Listing for File float_plugin.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mapviz_mapviz_plugins_include_mapviz_plugins_float_plugin.h>` (``/tmp/ws/src/mapviz/mapviz_plugins/include/mapviz_plugins/float_plugin.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2019, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL Southwest Research Institute® BE LIABLE 
   // FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
   // DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
   // SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
   // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
   // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 
   // OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
   // DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef MAPVIZ_PLUGINS_FLOAT_PLUGIN_H
   #define MAPVIZ_PLUGINS_FLOAT_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 <rclcpp/rclcpp.hpp>
   
   #include <std_msgs/msg/float32.hpp>
   #include <std_msgs/msg/float64.hpp>
   #include <marti_common_msgs/msg/float32_stamped.hpp>
   #include <marti_common_msgs/msg/float64_stamped.hpp>
   #include <marti_sensor_msgs/msg/velocity.hpp>
   
   // QT autogenerated files
   #include "ui_float_config.h"
   
   namespace mapviz_plugins
   {
     class FloatPlugin : 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
       };
   
       FloatPlugin();
       ~FloatPlugin() override = default;
   
       bool Initialize(QGLWidget* canvas) override;
       void Shutdown() override {}
   
       void Draw(double x, double y, double scale) override;
       void Paint(QPainter* painter, double x, double y, double scale) override;
   
       void Transform() override {}
   
       void LoadConfig(const YAML::Node& node, const std::string& path) override;
       void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;
   
       QWidget* GetConfigWidget(QWidget* parent) override;
   
       bool SupportsPainting() override
       {
         return true;
       }
   
     protected:
       void PaintText(QPainter* painter);
       void PrintError(const std::string& message) override;
       void PrintInfo(const std::string& message) override;
       void PrintWarning(const std::string& message) override;
   
     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);
       void PostfixEdited();
   
     private:
       Ui::float_config ui_;
       QWidget* config_widget_;
   
       std::string topic_;
       std::string postfix_;
       Anchor anchor_;
       Units units_;
       int offset_x_;
       int offset_y_;
   
       rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr float32_sub_;
       rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr float64_sub_;
       rclcpp::Subscription<marti_common_msgs::msg::Float32Stamped>::SharedPtr float32_stamped_sub_;
       rclcpp::Subscription<marti_common_msgs::msg::Float64Stamped>::SharedPtr float64_stamped_sub_;
       rclcpp::Subscription<marti_sensor_msgs::msg::Velocity>::SharedPtr velocity_sub_;
       bool has_message_;
       bool has_painted_;
   
       QColor color_;
       QFont font_;
       QStaticText message_;
   
       void floatCallback(double value);
   
       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;
       static const char* POSTFIX_KEY;
     };
   }
   
   
   #endif //MAPVIZ_PLUGINS_FLOAT_PLUGIN_H