librviz-dev 1.12.4+dfsg-2 / usr / include / rviz / visualization_manager.h

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */


#ifndef RVIZ_VISUALIZATION_MANAGER_H_
#define RVIZ_VISUALIZATION_MANAGER_H_

#include <deque>

#include <ros/time.h>

#include "rviz/bit_allocator.h"
#include "rviz/config.h"
#include "rviz/display_context.h"

class QKeyEvent;
class QTimer;

namespace Ogre
{
class Root;
class SceneManager;
class SceneNode;
class Light;
}

namespace ros
{
class CallbackQueueInterface;
}

namespace tf
{
class TransformListener;
}

namespace rviz
{

class ColorProperty;
class Display;
class DisplayFactory;
class DisplayGroup;
class FrameManager;
class Property;
class IntProperty;
class PropertyTreeModel;
class RenderPanel;
class SelectionManager;
class StatusList;
class TfFrameProperty;
class ViewportMouseEvent;
class WindowManagerInterface;
class Tool;
class OgreRenderQueueClearer;

class VisualizationManagerPrivate;

/**
 * \brief The VisualizationManager class is the central manager class
 *        of rviz, holding all the Displays, Tools, ViewControllers,
 *        and other managers.
 *
 * It keeps the current view controller for the main render window.
 * It has a timer which calls update() on all the displays.  It
 * creates and holds pointers to the other manager objects:
 * SelectionManager, FrameManager, the PropertyManager s, and
 * Ogre::SceneManager.
 *
 * The "protected" members should probably all be "private", as
 * VisualizationManager is not intended to be subclassed.
 */
class VisualizationManager: public DisplayContext
{
Q_OBJECT
public:
  /**
   * \brief Constructor
   * Creates managers and sets up global properties.
   * @param render_panel a pointer to the main render panel widget of the app.
   * @param wm a pointer to the window manager (which is really just a
   *        VisualizationFrame, the top-level container widget of rviz).
   * @param tf a pointer to tf::TransformListener which will be internally used by FrameManager.
   */
  VisualizationManager( RenderPanel* render_panel, WindowManagerInterface* wm = 0, boost::shared_ptr<tf::TransformListener> tf = boost::shared_ptr<tf::TransformListener>() );

  /**
   * \brief Destructor
   * Stops update timers and destroys all displays, tools, and managers.
   */
  virtual ~VisualizationManager();

  /**
   * \brief Do initialization that wasn't done in constructor.
   * Initializes tool manager, view manager, selection manager.
   */
  void initialize();

  /**
   * \brief Start timers.
   * Creates and starts the update and idle timers, both set to 30Hz (33ms).
   */
  void startUpdate();

  /*
   * \brief Stop the update timers. No Displays will be updated and no ROS
   *        callbacks will be called during this period.
   */
  void stopUpdate();

  /**
   * \brief Create and add a display to this panel, by class lookup name
   * @param class_lookup_name "lookup name" of the Display subclass, for pluginlib.
   *        Should be of the form "packagename/displaynameofclass", like "rviz/Image".
   * @param name The name of this display instance shown on the GUI, like "Left arm camera".
   * @param enabled Whether to start enabled
   * @return A pointer to the new display.
   */
  Display* createDisplay( const QString& class_lookup_name, const QString& name, bool enabled );

  /**
   * \brief Add a display to be managed by this panel
   * @param display The display to be added
   */
  void addDisplay( Display* display, bool enabled );

  /**
   * \brief Remove and delete all displays
   */
  void removeAllDisplays();

  /** @brief Load the properties of each Display and most editable rviz data.
   * 
   * This is what is called when loading a "*.rviz" file.
   *
   * @param config The Config object to read from.  Expected to be a Config::Map type.
   * @sa save()
   */
  void load( const Config& config );

  /**
   * \brief Save the properties of each Display and most editable rviz
   *        data.
   * 
   * This is what is called when saving a "*.vcg" file.
   * \param config The object to write to.
   * \sa loadDisplayConfig()
   */
  void save( Config config ) const;

  /** @brief Return the fixed frame name.
   * @sa setFixedFrame() */
  QString getFixedFrame() const;

  /** @brief Set the coordinate frame we should be transforming all fixed data into.
   * @param frame The name of the frame -- must match the frame name broadcast to libTF
   * @sa getFixedFrame() */
  void setFixedFrame( const QString& frame );
  
  /**
   * @brief Convenience function: returns getFrameManager()->getTFClient().
   */
  tf::TransformListener* getTFClient() const;

  /**
   * @brief Returns the Ogre::SceneManager used for the main RenderPanel.
   */
  Ogre::SceneManager* getSceneManager() const { return scene_manager_; }

  /**
   * @brief Return the main RenderPanel.
   */
  RenderPanel* getRenderPanel() const { return render_panel_; }

  /**
   * @brief Return the wall clock time, in seconds since 1970.
   */
  double getWallClock();

  /**
   * @brief Return the ROS time, in seconds.
   */
  double getROSTime();

  /**
   * @brief Return the wall clock time in seconds since the last reset.
   */
  double getWallClockElapsed();

  /**
   * @brief Return the ROS time in seconds since the last reset.
   */
  double getROSTimeElapsed();

  /**
   * @brief Handle a single key event for a given RenderPanel.
   *
   * If the key is Escape, switches to the default Tool (via
   * getDefaultTool()).  All other key events are passed to the
   * current Tool (via getCurrentTool()).
   */
  void handleChar( QKeyEvent* event, RenderPanel* panel );

  /**
   * @brief Handle a mouse event.
   *
   * This just copies the given event into an event queue.  The events
   * in the queue are processed by onUpdate() which is called from the
   * main thread by a timer every 33ms.
   */
  void handleMouseEvent( const ViewportMouseEvent& event );

  /**
   * @brief Resets the wall and ROS elapsed time to zero and calls resetDisplays().
   */
  void resetTime();

  /**
   * @brief Return a pointer to the SelectionManager.
   */
  SelectionManager* getSelectionManager() const { return selection_manager_; }

  /** @brief Return a pointer to the ToolManager. */
  virtual ToolManager* getToolManager() const { return tool_manager_; }

  /** @brief Return a pointer to the ViewManager. */
  virtual ViewManager* getViewManager() const { return view_manager_; }

  /**
   * @brief Lock a mutex to delay calls to Ogre::Root::renderOneFrame().
   */
  void lockRender();

  /**
   * @brief Unlock a mutex, allowing calls to Ogre::Root::renderOneFrame().
   */
  void unlockRender();

  /**
   * \brief Queues a render.  Multiple calls before a render happens will only cause a single render.
   * \note This function can be called from any thread.
   */
  void queueRender();

  /**
   * @brief Return the window manager, if any.
   */
  WindowManagerInterface* getWindowManager() const { return window_manager_; }

  /**
   * @brief Return the CallbackQueue using the main GUI thread.
   */
  ros::CallbackQueueInterface* getUpdateQueue();

  /**
   * @brief Return a CallbackQueue using a different thread than the main GUI one.
   */
  ros::CallbackQueueInterface* getThreadedQueue();

  /** @brief Return the FrameManager instance. */
  FrameManager* getFrameManager() const { return frame_manager_; }

  /** @brief Return the current value of the frame count.
   *
   * The frame count is just a number which increments each time a
   * frame is rendered.  This lets clients check if a new frame has
   * been rendered since the last time they did something. */
  uint64_t getFrameCount() const { return frame_count_; }

  /** @brief Notify this VisualizationManager that something about its
   * display configuration has changed. */
  void notifyConfigChanged();

  /** @brief Return a factory for creating Display subclasses based on a class id string. */
  virtual DisplayFactory* getDisplayFactory() const { return display_factory_; }

  PropertyTreeModel* getDisplayTreeModel() const { return display_property_tree_model_; }

  /** @brief Emits statusUpdate() signal with the given @a message. */
  void emitStatusUpdate( const QString& message );

  virtual DisplayGroup* getRootDisplayGroup() const { return root_display_group_; }

  virtual uint32_t getDefaultVisibilityBit() const { return default_visibility_bit_; }

  virtual BitAllocator* visibilityBits() { return &visibility_bit_allocator_; }

  virtual void setStatus( const QString & message );

  virtual void setHelpPath( const QString& help_path ) { help_path_ = help_path; }
  virtual QString getHelpPath() const { return help_path_; }

Q_SIGNALS:

  /** @brief Emitted before updating all Displays */
  void preUpdate();

  /** @brief Emitted whenever the display configuration changes. */
  void configChanged();

  /** @brief Emitted during file-loading and initialization to indicate progress. */
  void statusUpdate( const QString& message );

protected Q_SLOTS:
  /** @brief Call update() on all managed objects.
   *
   * This is the central place where update() is called on most rviz
   * objects.  Display objects, the FrameManager, the current
   * ViewController, the SelectionManager, PropertyManager.  Also
   * calls ros::spinOnce(), so any callbacks on the global
   * CallbackQueue get called from here as well.
   *
   * It is called at 30Hz from the update timer. */
  void onUpdate();

  void onToolChanged( Tool* );

protected:
  void updateTime();
  void updateFrames();

  void createColorMaterials();

  void threadedQueueThreadFunc();

  Ogre::Root* ogre_root_;                                 ///< Ogre Root
  Ogre::SceneManager* scene_manager_;                     ///< Ogre scene manager associated with this panel

  QTimer* update_timer_;                                 ///< Update timer.  Display::update is called on each display whenever this timer fires
  ros::Time last_update_ros_time_;                        ///< Update stopwatch.  Stores how long it's been since the last update
  ros::WallTime last_update_wall_time_;

  volatile bool shutting_down_;

  PropertyTreeModel* display_property_tree_model_;
  DisplayGroup* root_display_group_;

  ToolManager* tool_manager_;
  ViewManager* view_manager_;

  Property* global_options_;
  TfFrameProperty* fixed_frame_property_;          ///< Frame to transform fixed data to
  StatusList* global_status_;
  IntProperty* fps_property_;

  RenderPanel* render_panel_;

  ros::WallTime wall_clock_begin_;
  ros::Time ros_time_begin_;
  ros::WallDuration wall_clock_elapsed_;
  ros::Duration ros_time_elapsed_;

  ColorProperty* background_color_property_;

  float time_update_timer_;
  float frame_update_timer_;

  SelectionManager* selection_manager_;

  uint32_t render_requested_;
  uint64_t frame_count_;

  WindowManagerInterface* window_manager_;
  
  FrameManager* frame_manager_;

  OgreRenderQueueClearer* ogre_render_queue_clearer_;

private Q_SLOTS:
  void updateFixedFrame();
  void updateBackgroundColor();
  void updateFps();

private:
  DisplayFactory* display_factory_;
  VisualizationManagerPrivate* private_;
  uint32_t default_visibility_bit_;
  BitAllocator visibility_bit_allocator_;
  QString help_path_;
  Ogre::Light* directional_light_;
};

}

#endif /* RVIZ_VISUALIZATION_MANAGER_H_ */