void OverlayMenuDisplay::redraw()
{
ROS_DEBUG("redraw");
prepareOverlay();
{
ScopedPixelBuffer buffer = overlay_->getBuffer();
QColor bg_color(0, 0, 0, 255.0 / 2.0);
QColor fg_color(25, 255, 240, 255.0);
QImage Hud = buffer.getQImage(*overlay_, bg_color);
QPainter painter( &Hud );
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setPen(QPen(fg_color, 1, Qt::SolidLine));
painter.setFont(font());
int line_height = fontMetrics().height();
int w = drawAreaWidth(next_menu_);
painter.drawText(menu_padding_x, menu_padding_y,
w, line_height,
Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop,
next_menu_->title.c_str());
for (size_t i = 0; i < next_menu_->menus.size(); i++) {
std::string menu = getMenuString(next_menu_, i);
painter.drawText(menu_padding_x, line_height * ( 1 + i ) + menu_padding_y + menu_last_padding_y,
w, line_height,
Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop,
menu.c_str());
}
if (next_menu_->current_index <= next_menu_->menus.size()) {
// draw '>'
painter.drawText(menu_padding_x - fontMetrics().width(">") * 2,
line_height * ( 1 + next_menu_->current_index ) + menu_padding_y + menu_last_padding_y,
w, line_height,
Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop,
">");
}
// draw line
int texture_width = overlay_->getTextureWidth();
int texture_height = overlay_->getTextureHeight();
painter.drawLine(menu_padding_x / 2, menu_last_padding_y / 2 + line_height,
menu_padding_x / 2, texture_height - menu_last_padding_y / 2);
painter.drawLine(texture_width - menu_padding_x / 2, menu_last_padding_y / 2 + line_height,
texture_width - menu_padding_x / 2, texture_height - menu_last_padding_y / 2);
painter.drawLine(menu_padding_x / 2, menu_last_padding_y / 2 + line_height,
texture_width - menu_padding_x / 2, menu_last_padding_y / 2 + line_height);
painter.drawLine(menu_padding_x / 2, texture_height - menu_last_padding_y / 2,
texture_width - menu_padding_x / 2, texture_height - menu_last_padding_y / 2);
painter.end();
current_menu_ = next_menu_;
}
overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight());
int window_width = context_->getViewManager()->getRenderPanel()->width();
int window_height = context_->getViewManager()->getRenderPanel()->height();
double window_left = (window_width - (int)overlay_->getTextureWidth()) / 2.0;
double window_top = (window_height - (int)overlay_->getTextureHeight()) / 2.0;
overlay_->setPosition(window_left, window_top);
}
int OverlayMenuDisplay::drawAreaWidth(
const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg)
{
QFontMetrics fm = fontMetrics();
int max_width = 0;
for (size_t i = 0; i < msg->menus.size(); i++) {
int w = fm.width(getMenuString(msg, i).c_str());
if (max_width < w) {
max_width = w;
}
}
int w = fm.width(msg->title.c_str());
if (max_width < w) {
max_width = w;
}
return max_width + menu_padding_x * 2;
}
void LCDDisplay::refresh()
{
char blockNumber1[1]={128};//first character of the display
char playbackOutputString[1]={0};//initialise the playback output string as NULL
char playIcon[1]={62}; //ASCII value of closest symbol to play icon
char pauseIcon[1]={4}; //ASCII value of closest symbol to pause icon
char rewindIcon[1]={127}; //ASCII value of closest symbol to rewind icon
char fForwardIcon[1]={126}; //ASCII value of closest symbol to fast forward icon
char *playbackString; //char pointer for the playback String
char *trackInfoString; //char pointer for the track Info String
char *menuString; //char pointer for the menu String
char *errorString; //char pointer for the error String
struct timeval currentTime; // contains the struct needed for gettimeofday to function
gettimeofday(¤tTime,NULL);//saves the current time in seconds that refresh was called
//if the last time the function ran is half a second more than the current time:
if ((((blocks[0].lastTime.tv_sec*1000000)+blocks[0].lastTime.tv_usec)+500000) <
((currentTime.tv_sec*1000000)+currentTime.tv_usec)) {
setPlaybackDirty(true); // set the playback dirty flag
}
//if the playback region is dirty and the string does not contain a NULL:
if (playbackIsDirty() && getPlaybackString(&playbackString) != NULL) {
std::cout << "playback Button Pressed\n";
int tokenSize = strlen(playbackString);
//Based on the letter passed by the playback String enter a following case:
switch(*playbackString){
case 'p':
//copy the ASCII value into the playback output String
strncpy(playbackOutputString,playIcon,8);
break;
case 'w':
//copy the ASCII value into the playback output String
strncpy(playbackOutputString,pauseIcon,8);
break;
case 'f':
//copy the ASCII value into the playback output String
strncpy(playbackOutputString,fForwardIcon,8);
break;
case 'r':
//copy the ASCII value into the playback output String
strncpy(playbackOutputString,rewindIcon,8);
break;
}
write(displayDevice, &displayOptionMode, 1);//enter the option mode for the device
write(displayDevice, &blockNumber1, 1);//set the device to begin writing to block 1
//write the currrent contents of the playback string to the display
write(displayDevice, playbackOutputString, 1);
delete playbackString; //delete the contents of the playback String
setPlaybackDirty(false); //set the playback region flag to clean
}
//if the track info region is dirty:
if (trackInfoIsDirty()==true){
blocks[1].scrollPosition=0;//set the scroll position to the first character of the region
}
//if the region is not dirty wait until half a second has passed and make the region dirty.
else if ((((blocks[1].lastTime.tv_sec*1000000)+blocks[1].lastTime.tv_usec)+500000) <
((currentTime.tv_sec*1000000)+currentTime.tv_usec)) {
setTrackInfoDirty(true);//Set the region flag to dirty
}
// if the track info region is dirty and the track info string does not contain NULL :
if (trackInfoIsDirty() && getTrackInfoString(&trackInfoString) != NULL) {
//call the write block function passing the track info string and the block number 1
writeBlock(1,trackInfoString);
delete trackInfoString; // delete the track info string
setTrackInfoDirty(false); // set the track info region flag to clean
}
//if the menu region is dirty
if (menuIsDirty()==true){
blocks[2].scrollPosition=0;//set the scroll position to 0
}
//if the region is not dirty wait until half a second has passed and make the region dirty
else if ((((blocks[2].lastTime.tv_sec*1000000)+blocks[2].lastTime.tv_usec)+500000) <
((currentTime.tv_sec*1000000)+currentTime.tv_usec)) {
setMenuDirty(true);//Set the region flag to dirty
}
//if the menu region is dirt and the menuString doesnt contain NULL
if (menuIsDirty() && getMenuString(&menuString) != NULL) {
//call the write block function passing the menu string and the block number 2
writeBlock(2,menuString);
delete menuString;//delete the menu String
setMenuDirty(false); // set the menu region flag to clean
}
// if the error String is not NULL :
if (getErrorString(&errorString) != NULL) {
//call the write block function passing the Error string and the block number 3
writeBlock(3,errorString);
delete errorString; // delete the error String
setErrorString(NULL); // set the Error String to NULL
}
}
