void PieChartDisplay::onInitialize()
{
static int count = 0;
rviz::UniformStringStream ss;
ss << "PieChartDisplayObject" << count++;
overlay_.reset(new OverlayObject(ss.str()));
onEnable();
updateSize();
updateLeft();
updateTop();
updateFGColor();
updateBGColor();
updateFGAlpha();
updateFGAlpha2();
updateBGAlpha();
updateMinValue();
updateMaxValue();
updateTextColor();
updateTextAlpha();
updateTextSize();
updateShowCaption();
updateAutoColorChange();
updateMaxColor();
overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_);
overlay_->hide();
}
void Plotter2DDisplay::onInitialize()
{
static int count = 0;
rviz::UniformStringStream ss;
ss << "Plotter2DDisplayObject" << count++;
overlay_.reset(new OverlayObject(ss.str()));
updateBufferSize();
onEnable();
updateShowValue();
updateWidth();
updateHeight();
updateLeft();
updateTop();
updateFGColor();
updateBGColor();
updateFGAlpha();
updateBGAlpha();
updateLineWidth();
updateUpdateInterval();
updateShowBorder();
updateAutoColorChange();
updateMaxColor();
updateShowCaption();
updateTextSize();
updateAutoScale();
updateMinValue();
updateMaxValue();
overlay_->updateTextureSize(width_property_->getInt(),
height_property_->getInt() + caption_offset_);
}
void Plotter2DDisplay::updateAutoScale()
{
auto_scale_ = auto_scale_property_->getBool();
if (auto_scale_) {
min_value_property_->hide();
max_value_property_->hide();
}
else {
min_value_property_->show();
max_value_property_->show();
}
updateMinValue();
updateMaxValue();
}
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()));
}
pChunk DrawnWaveform::
operator()( Signal::pMonoBuffer b )
{
float blobsize = blob(b->sample_rate());
unsigned w = ((unsigned)(b->number_of_samples() / blobsize / drawWaveform_BLOCK_SIZE)) *drawWaveform_BLOCK_SIZE;
if (0 == w)
throw std::logic_error("DrawnWaveform::operator() Not enough data");
size_t free = availableMemoryForSingleAllocation();
free /= 2; // Don't even try to get close to use all memory
// never use more than 64 MB
if (free > 64<<20)
free = 64<<20;
unsigned wmax = free/(drawWaveform_YRESOLUTION*sizeof(Tfr::ChunkElement)*drawWaveform_BLOCK_SIZE ) * drawWaveform_BLOCK_SIZE;
if (0==wmax)
wmax = free/(drawWaveform_YRESOLUTION*sizeof(Tfr::ChunkElement));
if (0==wmax)
wmax = 1;
if (wmax < w)
w = wmax;
updateMaxValue(b);
pChunk c(new DrawnWaveformChunk(this->block_fs));
c->transform_data.reset( new ChunkData(w, drawWaveform_YRESOLUTION, 1));
unsigned readstop = b->number_of_samples();
if (b->getInterval().last > signal_length)
{
if (b->getInterval().first > signal_length)
readstop = 0;
else
readstop = signal_length - b->getInterval().first;
}
float writeposoffs = ((b->sample_offset() / blobsize) - floorf((b->sample_offset() / blobsize).asFloat())).asFloat();
::drawWaveform(
b->waveform_data(),
c->transform_data,
blobsize,
readstop,
maxValue,
writeposoffs);
this->block_fs = 0;
c->chunk_offset = b->sample_offset() / blobsize + writeposoffs;
c->freqAxis = freqAxis( b->sample_rate() );
c->first_valid_sample = 0;
c->n_valid_samples = c->nSamples();
c->original_sample_rate = b->sample_rate();
c->sample_rate = b->sample_rate() / blobsize;
return c;
}
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()));
}
