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 MainWindow::loadSettings(){
setFullScreen(false);
setHideMenu(false);
QSettings settingsNative;
resize(settingsNative.value("size", QSize(320, 480 + ui.menuBar->height())).toSize());
move(settingsNative.value("pos", QPoint(0, 0)).toPoint());
int red = settingsNative.value("backgroundRed", 240).toInt();
int green = settingsNative.value("backgroundGreen", 240).toInt();
int blue = settingsNative.value("backgroundBlue", 240).toInt();
QColor backgroundColor = QColor(red, green, blue);
red = settingsNative.value("canvasRed", 255).toInt();
green = settingsNative.value("canvasGreen", 255).toInt();
blue = settingsNative.value("canvasBlue", 255).toInt();
QColor canvasColor = QColor(red, green, blue);
red = settingsNative.value("infoRed", 0).toInt();
green = settingsNative.value("infoGreen", 0).toInt();
blue = settingsNative.value("infoBlue", 0).toInt();
QColor infoColor = QColor(red, green, blue);
setBackgroundColor(backgroundColor);
setCanvasColor(canvasColor);
setInfoColor(infoColor);
updateBackgroundColor();
updateCanvasColor();
updateInfoColor();
QSettings settings(Constants::SETTINGS_FOLDER + "/" + Constants::PLAYER_SETTINGS_FILE, QSettings::IniFormat);
setWidth(settings.value("width", 320).toInt());
setHeight(settings.value("height", 480).toInt());
setScale(settings.value("scale", 100).toInt());
setFps(settings.value("fps", 60).toInt());
setOrientation(static_cast<Orientation>(settings.value("orientation", ePortrait).toInt()));
setDrawInfos(settings.value("drawInfos", false).toBool());
setAutoScale(settings.value("autoScale", false).toBool());
setAlwaysOnTop(settings.value("alwaysOnTop", false).toBool());
checkLoadedSettings();
updateFps();
updateDrawInfos();
updateAlwaysOnTop();
updateAutoScale();
updateOrientation();
updateResolution();
}
void MainWindow::fullScreenWindow(bool _fullScreen){
setAutoScale(_fullScreen);
setFullScreen(_fullScreen);
actionFull_Screen(fullScreen());
updateAutoScale();
}
void MainWindow::actionAuto_Scale(bool checked){
setAutoScale(checked);
updateAutoScale();
}
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()));
}
