Program Listing for File point_click_publisher_plugin.h

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#ifndef MAPVIZ_PLUGINS__POINT_CLICK_PUBLISHER_PLUGIN_H_
#define MAPVIZ_PLUGINS__POINT_CLICK_PUBLISHER_PLUGIN_H_

// Include mapviz_plugin.h first to ensure GL deps are included in the right order
#include <mapviz/mapviz_plugin.h>

#include <QGLWidget>
#include <QTimer>
#include <mapviz/map_canvas.h>

#include <mapviz_plugins/canvas_click_filter.h>

#include <rclcpp/rclcpp.hpp>

#include <geometry_msgs/msg/point_stamped.hpp>

// C++ Standard Libraries
#include <string>

// QT autogenerated files
#include "ui_point_click_publisher_config.h"
#include "ui_topic_select.h"

namespace mapviz_plugins
{
class PointClickPublisherPlugin : public mapviz::MapvizPlugin
{
  Q_OBJECT;
public:
  PointClickPublisherPlugin();
  ~PointClickPublisherPlugin() override;

  bool Initialize(QGLWidget* canvas) override;
  void Shutdown() override {}

  void SetNode(rclcpp::Node& node) override;
  void PrintError(const std::string& message) override;
  void PrintInfo(const std::string& message) override;
  void PrintWarning(const std::string& message) override;

  void Draw(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;

protected Q_SLOTS:
  void pointClicked(const QPointF& point);
  void topicChanged(const QString& topic);
  void updateFrames();

private:
  Ui::point_click_publisher_config ui_{};
  QWidget* config_widget_;

  CanvasClickFilter click_filter_;
  mapviz::MapCanvas* canvas_;

  QTimer frame_timer_;
  rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr point_publisher_;
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__POINT_CLICK_PUBLISHER_PLUGIN_H_