void init_markers() {
//initialize stamped pose for at a legal (if boring) pose
g_stamped_pose.header.stamp = ros::Time::now();
g_stamped_pose.header.frame_id = "world";
g_stamped_pose.pose.position.x = 0;
g_stamped_pose.pose.position.y = 0;
g_stamped_pose.pose.position.z = 0;
g_stamped_pose.pose.orientation.x = 0;
g_stamped_pose.pose.orientation.y = 0;
g_stamped_pose.pose.orientation.z = 0;
g_stamped_pose.pose.orientation.w = 1;
//the following parameters only need to get set once
arrow_marker_x.type = visualization_msgs::Marker::ARROW;
arrow_marker_x.action = visualization_msgs::Marker::ADD; //create or modify marker
arrow_marker_x.ns = "triad_namespace";
arrow_marker_x.lifetime = ros::Duration(); //never delete
// make the arrow thin
arrow_marker_x.scale.x = 0.01;
arrow_marker_x.scale.y = 0.01;
arrow_marker_x.scale.z = 0.01;
arrow_marker_x.color.r = 1.0; // red, for the x axis
arrow_marker_x.color.g = 0.0;
arrow_marker_x.color.b = 0.0;
arrow_marker_x.color.a = 1.0;
arrow_marker_x.id = 0;
arrow_marker_x.header = g_stamped_pose.header;
//y and z arrow params are the same, except for colors
arrow_marker_y = arrow_marker_x;
arrow_marker_y.color.r = 0.0;
arrow_marker_y.color.g = 1.0; //green for y axis
arrow_marker_y.color.b = 0.0;
arrow_marker_y.color.a = 1.0;
arrow_marker_y.id = 1;
arrow_marker_z = arrow_marker_x;
arrow_marker_z.id = 2;
arrow_marker_z.color.r = 0.0;
arrow_marker_z.color.g = 0.0;
arrow_marker_z.color.b = 1.0; //blue for z axis
arrow_marker_z.color.a = 1.0;
//set the poses of the arrows based on g_stamped_pose
update_arrows();
}
int main(int argc, char** argv) {
ros::init(argc, argv, "triad_display"); // this will be the node name;
ros::NodeHandle nh;
// subscribe to stamped-pose publications
ros::Subscriber pose_sub = nh.subscribe("triad_display_pose", 1, poseCB);
ros::Publisher vis_pub = nh.advertise<visualization_msgs::Marker>("triad_display", 1);
init_markers();
ros::Rate timer(20); //timer to run at 20 Hz
while (ros::ok()) {
update_arrows();
vis_pub.publish(arrow_marker_x); //publish the marker
ros::Duration(0.01).sleep();
vis_pub.publish(arrow_marker_y); //publish the marker
ros::Duration(0.01).sleep();
vis_pub.publish(arrow_marker_z); //publish the marker
ros::spinOnce(); //let callbacks perform an update
timer.sleep();
}
}
GUI_status ScrollWidgetGump::scroll_movement_event(ScrollEventType event)
{
switch(event)
{
case SCROLL_UP :
if(position > 0)
{
//timer = new TimedCallback(this, NULL, 2000);
position--;
update_arrows();
//grab_focus();
}
return GUI_YUM;
case SCROLL_DOWN :
//timer = new TimedCallback(this, NULL, 2000);
if(page_break && position + scroll_height >= msg_buf.size())
{
if(position + scroll_height == msg_buf.size()) // break was just off the page so advance text
position++;
process_page_break();
update_arrows();
}
else if(position + scroll_height < msg_buf.size())
{
position++;
update_arrows();
}
return (GUI_YUM);
case SCROLL_PAGE_UP:
if(position > 0)
{
position = position > scroll_height ? position - scroll_height : 0;
update_arrows();
}
return GUI_YUM;
case SCROLL_PAGE_DOWN:
if(position + scroll_height < msg_buf.size() || page_break)
{
if(position + scroll_height >= msg_buf.size())
position = msg_buf.size();
else
{
position += scroll_height;
update_arrows();
return GUI_YUM;
}
if(page_break) // we didn't have enough text showing to fill out the current page.
{
position = msg_buf.size();
process_page_break();
}
update_arrows();
}
return GUI_YUM;
case SCROLL_TO_BEGINNING :
if(position > 0)
{
position = 0;
update_arrows();
}
return GUI_YUM;
case SCROLL_TO_END :
if(position + scroll_height < msg_buf.size() || page_break)
{
while(position + scroll_height < msg_buf.size() || page_break)
{
if(page_break)
process_page_break();
else // added else just in case noting is added to the buffer
position++;
}
update_arrows();
}
return GUI_YUM;
default :
//release_focus();
//new TimedCallback(this, NULL, 50);
break;
}
return GUI_PASS;
}
void ScrollWidgetGump::display_string(std::string s)
{
MsgScroll::display_string(s);
update_arrows();
}
