// BEGIN_TUTORIAL
// Here is the implementation of the TeleopPanel class. TeleopPanel
// has these responsibilities:
//
// - Act as a container for GUI elements DriveWidget and QLineEdit.
// - Publish command velocities 10 times per second (whether 0 or not).
// - Saving and restoring internal state from a config file.
//
// We start with the constructor, doing the standard Qt thing of
// passing the optional *parent* argument on to the superclass
// constructor, and also zero-ing the velocities we will be
// publishing.
TeleopPanel::TeleopPanel( QWidget* parent )
: rviz::Panel( parent )
, linear_velocity_( 0 )
, angular_velocity_( 0 )
{
// Next we lay out the "output topic" text entry field using a
// QLabel and a QLineEdit in a QHBoxLayout.
QHBoxLayout* topic_layout = new QHBoxLayout;
topic_layout->addWidget( new QLabel( "Output Topic:" ));
output_topic_editor_ = new QLineEdit;
topic_layout->addWidget( output_topic_editor_ );
// Then create the control widget.
drive_widget_ = new DriveWidget;
// Lay out the topic field above the control widget.
QVBoxLayout* layout = new QVBoxLayout;
layout->addLayout( topic_layout );
layout->addWidget( drive_widget_ );
setLayout( layout );
// Create a timer for sending the output. Motor controllers want to
// be reassured frequently that they are doing the right thing, so
// we keep re-sending velocities even when they aren't changing.
//
// Here we take advantage of QObject's memory management behavior:
// since "this" is passed to the new QTimer as its parent, the
// QTimer is deleted by the QObject destructor when this TeleopPanel
// object is destroyed. Therefore we don't need to keep a pointer
// to the timer.
QTimer* output_timer = new QTimer( this );
// Next we make signal/slot connections.
connect( drive_widget_, SIGNAL( outputVelocity( float, float )), this, SLOT( setVel( float, float )));
connect( output_topic_editor_, SIGNAL( editingFinished() ), this, SLOT( updateTopic() ));
connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
// Start the timer.
output_timer->start( 100 );
// Make the control widget start disabled, since we don't start with an output topic.
drive_widget_->setEnabled( false );
}
// only the first time
void OverlayTextDisplay::onInitialize()
{
onEnable();
updateTopic();
updateOvertakePositionProperties();
updateOvertakeColorProperties();
updateTop();
updateLeft();
updateWidth();
updateHeight();
updateTextSize();
updateFGColor();
updateFGAlpha();
updateBGColor();
updateBGAlpha();
updateFont();
updateLineWidth();
require_update_texture_ = true;
}
void GoalTool::onInitialize()
{
PoseTool::onInitialize();
setName( "2D Nav Goal" );
updateTopic();
}
OverlayTextDisplay::OverlayTextDisplay() : Display(),
texture_width_(0), texture_height_(0),
text_size_(14),
line_width_(2),
text_(""), font_(""),
bg_color_(0, 0, 0, 0),
fg_color_(255, 255, 255, 255.0),
require_update_texture_(false)
{
update_topic_property_ = new rviz::RosTopicProperty(
"Topic", "",
ros::message_traits::datatype<jsk_rviz_plugins::OverlayText>(),
"jsk_rviz_plugins::OverlayText topic to subscribe to.",
this, SLOT( updateTopic() ));
overtake_position_properties_property_ = new rviz::BoolProperty(
"Overtake Position Properties", false,
"overtake position properties specified by message such as left, top and font",
this, SLOT(updateOvertakePositionProperties()));
overtake_color_properties_property_ = new rviz::BoolProperty(
"Overtake Color Properties", false,
"overtake color properties specified by message such as left, top and font",
this, SLOT(updateOvertakeColorProperties()));
top_property_ = new rviz::IntProperty(
"top", 0,
"top position",
this, SLOT(updateTop()));
top_property_->setMin(0);
left_property_ = new rviz::IntProperty(
"left", 0,
"left position",
this, SLOT(updateLeft()));
left_property_->setMin(0);
width_property_ = new rviz::IntProperty(
"width", 128,
"width position",
this, SLOT(updateWidth()));
width_property_->setMin(0);
height_property_ = new rviz::IntProperty(
"height", 128,
"height position",
this, SLOT(updateHeight()));
height_property_->setMin(0);
text_size_property_ = new rviz::IntProperty(
"text size", 12,
"text size",
this, SLOT(updateTextSize()));
text_size_property_->setMin(0);
line_width_property_ = new rviz::IntProperty(
"line width", 2,
"line width",
this, SLOT(updateLineWidth()));
line_width_property_->setMin(0);
fg_color_property_ = new rviz::ColorProperty(
"Foreground Color", QColor(25, 255, 240),
"Foreground Color",
this, SLOT(updateFGColor()));
fg_alpha_property_ = new rviz::FloatProperty(
"Foreground Alpha", 0.8, "Foreground Alpha",
this, SLOT(updateFGAlpha()));
fg_alpha_property_->setMin(0.0);
fg_alpha_property_->setMax(1.0);
bg_color_property_ = new rviz::ColorProperty(
"Background Color", QColor(0, 0, 0),
"Background Color",
this, SLOT(updateBGColor()));
bg_alpha_property_ = new rviz::FloatProperty(
"Background Alpha", 0.8, "Background Alpha",
this, SLOT(updateBGAlpha()));
bg_alpha_property_->setMin(0.0);
bg_alpha_property_->setMax(1.0);
QFontDatabase database;
font_families_ = database.families();
font_property_ = new rviz::EnumProperty(
"font", "DejaVu Sans Mono",
"font", this,
SLOT(updateFont()));
for (size_t i = 0; i < font_families_.size(); i++) {
font_property_->addOption(font_families_[i], (int)i);
}
}
PieChartDisplay::PieChartDisplay()
: rviz::Display()
{
update_topic_property_ = new rviz::RosTopicProperty(
"Topic", "",
ros::message_traits::datatype<std_msgs::Float32>(),
"std_msgs::Float32 topic to subscribe to.",
this, SLOT( updateTopic() ));
size_property_ = new rviz::IntProperty("size", 128,
"size of the plotter window",
this, SLOT(updateSize()));
left_property_ = new rviz::IntProperty("left", 128,
"left of the plotter window",
this, SLOT(updateLeft()));
top_property_ = new rviz::IntProperty("top", 128,
"top of the plotter window",
this, SLOT(updateTop()));
fg_color_property_ = new rviz::ColorProperty("foreground color",
QColor(25, 255, 240),
"color to draw line",
this, SLOT(updateFGColor()));
fg_alpha_property_
= new rviz::FloatProperty("foreground alpha", 0.7,
"alpha belnding value for foreground",
this, SLOT(updateFGAlpha()));
fg_alpha2_property_
= new rviz::FloatProperty("foreground alpha 2", 0.4,
"alpha belnding value for foreground for indicator",
this, SLOT(updateFGAlpha2()));
bg_color_property_ = new rviz::ColorProperty("background color",
QColor(0, 0, 0),
"background color",
this, SLOT(updateBGColor()));
bg_alpha_property_
= new rviz::FloatProperty("backround alpha", 0.0,
"alpha belnding value for background",
this, SLOT(updateBGAlpha()));
text_color_property_
= new rviz::ColorProperty("text color",
QColor(25, 255, 240),
"text color",
this, SLOT(updateTextColor()));
text_alpha_property_
= new rviz::FloatProperty("text alpha", 1.0,
"alpha belnding value for text",
this, SLOT(updateTextAlpha()));
text_size_property_
= new rviz::IntProperty("text size", 14,
"text size",
this, SLOT(updateTextSize()));
show_caption_property_
= new rviz::BoolProperty("show caption", true,
"show caption",
this, SLOT(updateShowCaption()));
max_value_property_
= new rviz::FloatProperty("max value", 1.0,
"max value of pie chart",
this, SLOT(updateMaxValue()));
min_value_property_
= new rviz::FloatProperty("min value", 0.0,
"min value of pie chart",
this, SLOT(updateMinValue()));
auto_color_change_property_
= new rviz::BoolProperty("auto color change",
false,
"change the color automatically",
this, SLOT(updateAutoColorChange()));
max_color_property_
= new rviz::ColorProperty("max color",
QColor(255, 0, 0),
"only used if auto color change is set to True.",
this, SLOT(updateMaxColor()));
}
void AerialMapDisplay::reset() {
Display::reset();
// unsub,clear,resub
updateTopic();
}
Plotter2DDisplay::Plotter2DDisplay()
: rviz::Display(), min_value_(0.0), max_value_(0.0)
{
update_topic_property_ = new rviz::RosTopicProperty(
"Topic", "",
ros::message_traits::datatype<std_msgs::Float32>(),
"std_msgs::Float32 topic to subscribe to.",
this, SLOT(updateTopic()));
show_value_property_ = new rviz::BoolProperty(
"Show Value", true,
"Show value on plotter",
this, SLOT(updateShowValue()));
buffer_length_property_ = new rviz::IntProperty(
"Buffer length", 100,
ros::message_traits::datatype<std_msgs::Float32>(),
this, SLOT(updateBufferSize()));
width_property_ = new rviz::IntProperty("width", 128,
"width of the plotter window",
this, SLOT(updateWidth()));
width_property_->setMin(1);
width_property_->setMax(2000);
height_property_ = new rviz::IntProperty("height", 128,
"height of the plotter window",
this, SLOT(updateHeight()));
height_property_->setMin(1);
height_property_->setMax(2000);
left_property_ = new rviz::IntProperty("left", 128,
"left of the plotter window",
this, SLOT(updateLeft()));
left_property_->setMin(0);
top_property_ = new rviz::IntProperty("top", 128,
"top of the plotter window",
this, SLOT(updateTop()));
top_property_->setMin(0);
auto_scale_property_ = new rviz::BoolProperty(
"auto scale", true,
"enable auto scale",
this, SLOT(updateAutoScale()));
max_value_property_ = new rviz::FloatProperty(
"max value", 1.0,
"max value, used only if auto scale is disabled",
this, SLOT(updateMaxValue()));
min_value_property_ = new rviz::FloatProperty(
"min value", -1.0,
"min value, used only if auto scale is disabled",
this, SLOT(updateMinValue()));
fg_color_property_ = new rviz::ColorProperty(
"foreground color", QColor(25, 255, 240),
"color to draw line",
this, SLOT(updateFGColor()));
fg_alpha_property_ = new rviz::FloatProperty(
"foreground alpha", 0.7,
"alpha belnding value for foreground",
this, SLOT(updateFGAlpha()));
fg_alpha_property_->setMin(0);
fg_alpha_property_->setMax(1.0);
bg_color_property_ = new rviz::ColorProperty(
"background color", QColor(0, 0, 0),
"background color",
this, SLOT(updateBGColor()));
bg_alpha_property_ = new rviz::FloatProperty(
"backround alpha", 0.0,
"alpha belnding value for background",
this, SLOT(updateBGAlpha()));
bg_alpha_property_->setMin(0);
bg_alpha_property_->setMax(1.0);
line_width_property_ = new rviz::IntProperty("linewidth", 1,
"linewidth of the plot",
this, SLOT(updateLineWidth()));
line_width_property_->setMin(1);
line_width_property_->setMax(1000);
show_border_property_ = new rviz::BoolProperty(
"border", true,
"show border or not",
this, SLOT(updateShowBorder()));
text_size_property_ = new rviz::IntProperty("text size", 12,
"text size of the caption",
this, SLOT(updateTextSize()));
text_size_property_->setMin(1);
text_size_property_->setMax(1000);
show_caption_property_ = new rviz::BoolProperty(
"caption", true,
"show caption or not",
this, SLOT(updateShowCaption()));
update_interval_property_ = new rviz::FloatProperty(
"update interval", 0.04,
"update interval of the plotter",
this, SLOT(updateUpdateInterval()));
update_interval_property_->setMin(0.0);
update_interval_property_->setMax(100);
auto_color_change_property_
= new rviz::BoolProperty("auto color change",
false,
"change the color automatically",
this, SLOT(updateAutoColorChange()));
max_color_property_
= new rviz::ColorProperty(
"max color",
QColor(255, 0, 0),
"only used if auto color change is set to True.",
this, SLOT(updateMaxColor()));
}
