librviz-dev 1.11.10+dfsg-1build1 / usr / include / rviz / tool.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
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */

#ifndef RVIZ_TOOL_H
#define RVIZ_TOOL_H

#include <QString>
#include <QIcon>
#include <QCursor>
#include <QObject>

#include "rviz/config.h"

class QMouseEvent;
class QKeyEvent;

namespace Ogre
{
class SceneManager;
}

namespace rviz
{
class DisplayContext;
class Property;
class RenderPanel;
class ViewportMouseEvent;

class Tool : public QObject
{
Q_OBJECT
public:
  /** Default constructor.  Pluginlib only instantiates classes via
   * default constructors.  Subclasses of Tool should shortcut_key_
   * field in their constructors.
   *
   * Properties to appear in the Tool Properties panel are typically
   * created in the constructor, as children of the property from
   * getPropertyContainer(), which is set up in this Tool
   * constructor. */
  Tool();
  virtual ~Tool();

  /** Initialize the tool.  Sets the DisplayContext and calls
   * onInitialize(). */
  void initialize( DisplayContext* context );

  /** @brief Return the container for properties of this Tool. */
  virtual Property* getPropertyContainer() const { return property_container_; }

  char getShortcutKey() { return shortcut_key_; }

  bool accessAllKeys() { return access_all_keys_; }

  virtual void activate() = 0;
  virtual void deactivate() = 0;

  virtual void update(float wall_dt, float ros_dt) {}

  enum {
    Render = 1,
    Finished = 2
  };

  /** Process a mouse event.  This is the central function of all the
   * tools, as it defines how the mouse is used. */
  virtual int processMouseEvent( ViewportMouseEvent& event ) { return 0; }

  /** Process a key event.  Override if your tool should handle any
      other keypresses than the tool shortcuts, which are handled
      separately. */
  virtual int processKeyEvent( QKeyEvent* event, RenderPanel* panel ) { return 0; }

  QString getName() const { return name_; }

  /** @brief Set the name of the tool.
   *
   * This is called by ToolManager during tool initialization.  If you
   * want a different name than it gives you, call this from
   * onInitialize() (or thereafter). */
  void setName( const QString& name );

  /** @brief Set the description of the tool.  This is called by
   * ToolManager during tool initialization. */
  QString getDescription() const { return description_; }
  void setDescription( const QString& description );

  /** @brief Return the class identifier which was used to create this
   * instance.  This version just returns whatever was set with
   * setClassId(). */
  virtual QString getClassId() const { return class_id_; }

  /** @brief Set the class identifier used to create this instance.
   * Typically this will be set by the factory object which created it. */
  virtual void setClassId( const QString& class_id ) { class_id_ = class_id; }

  /** @brief Load properties from the given Config.
   *
   * Most tools won't need to override this, because any child
   * Properties of property_container_ are automatically loaded by
   * this function. */
  virtual void load( const Config& config );

  /** @brief Save this entire tool into the given Config node.
   *
   * Most tools won't need to override this, because any child
   * Properties of property_container_ are automatically saved by
   * this function. */
  virtual void save( Config config ) const;

  /** @brief Set the toolbar icon for this tool (will also set its cursor). */
  void setIcon( const QIcon& icon );

  /** @brief Get the icon of this tool. */
  const QIcon& getIcon() { return icon_; }

  /** @brief Set the cursor for this tool. */
  void setCursor( const QCursor& cursor );

  /** @brief Get current cursor of this tool. */
  const QCursor& getCursor() { return cursor_; }

  void setStatus( const QString & message );

protected:
  /** Override onInitialize to do any setup needed after the
      DisplayContext has been set.  This is called by
      Tool::initialize().  The base implementation here does
      nothing. */
  virtual void onInitialize() {}

  Ogre::SceneManager* scene_manager_;
  DisplayContext* context_;

  char shortcut_key_;
  bool access_all_keys_;

  QIcon icon_;

  QCursor cursor_;

private:
  QString class_id_;
  Property* property_container_;
  QString name_;
  QString description_;
};

}

#endif