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mapviz.cpp
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mapviz.cpp
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// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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.
//
// *****************************************************************************
#include <mapviz/mapviz.hpp>
// C++ standard libraries
#include <algorithm>
#include <cmath>
#include <cstdlib>
#include <fstream>
#include <map>
#include <memory>
#include <sstream>
#include <string>
#include <vector>
#if CV_MAJOR_VERSION > 2
#include <opencv2/imgcodecs/imgcodecs.hpp>
#include <opencv2/videoio/videoio.hpp>
#endif
// QT libraries
#if QT_VERSION >= 0x050000
#include <QtWidgets/QApplication>
#else
#include <QtGui/QApplication>
#endif
#include <QFileDialog>
#include <QActionGroup>
#include <QColorDialog>
#include <QLabel>
#include <QMessageBox>
#include <QProcessEnvironment>
#include <QFileInfo>
#include <QListWidgetItem>
#include <QMutexLocker>
// Other Project libraries
#include <swri_math_util/constants.h>
#include <swri_transform_util/frames.h>
#include <mapviz/config_item.h>
#include <QtGui/QtGui>
#include <image_transport/image_transport.hpp>
// YAML libraries
#include <yaml-cpp/yaml.h>
// Boost libraries
#include <boost/algorithm/string/replace.hpp>
#include <boost/algorithm/string/split.hpp>
#include <boost/algorithm/string/join.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem.hpp>
// OpenCV libraries
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
namespace mapviz
{
const QString Mapviz::ROS_WORKSPACE_VAR = "ROS_WORKSPACE";
const QString Mapviz::MAPVIZ_CONFIG_FILE = "/.mapviz_config";
const char Mapviz::IMAGE_TRANSPORT_PARAM[] = "image_transport";
Mapviz::Mapviz(bool is_standalone, int argc, char** argv, QWidget *parent, Qt::WindowFlags flags) :
QMainWindow(parent, flags),
xy_pos_label_(new QLabel("fixed: 0.0,0.0")),
lat_lon_pos_label_(new QLabel("lat/lon: 0.0,0.0")),
argc_(argc),
argv_(argv),
is_standalone_(is_standalone),
initialized_(false),
force_720p_(false),
force_480p_(false),
resizable_(true),
background_(Qt::gray),
capture_directory_("~"),
vid_writer_(nullptr),
updating_frames_(false),
node_(nullptr),
canvas_(nullptr)
{
// Multiple users could be using mapviz, so its name needs to be anonymous,
// but ROS 2 Dashing doesn't have a way to set that through node options;
// we manually do it the same way that ros::init did in ROS 1
std::stringstream name;
name << "mapviz";
char buf[200];
std::snprintf(buf, sizeof(buf), "_%llu", (unsigned long long)rclcpp::Clock().now().nanoseconds());
name << buf;
node_ = std::make_shared<rclcpp::Node>(name.str());
QString default_path = GetDefaultConfigPath();
node_->declare_parameter("config", default_path.toStdString());
node_->declare_parameter("auto_save_backup", true);
node_->declare_parameter("print_profile_data", false);
node_->declare_parameter(IMAGE_TRANSPORT_PARAM, "raw");
ui_.setupUi(this);
xy_pos_label_->setVisible(false);
lat_lon_pos_label_->setVisible(false);
ui_.statusbar->addPermanentWidget(xy_pos_label_);
ui_.statusbar->addPermanentWidget(lat_lon_pos_label_);
spacer1_ = new QWidget(ui_.statusbar);
spacer1_-> setMaximumSize(22, 22);
spacer1_-> setMinimumSize(22, 22);
ui_.statusbar->addPermanentWidget(spacer1_);
screenshot_button_ = new QPushButton();
screenshot_button_->setMinimumSize(22, 22);
screenshot_button_->setMaximumSize(22, 22);
screenshot_button_->setIcon(QIcon(":/images/image-x-generic.png"));
screenshot_button_->setFlat(true);
screenshot_button_->setToolTip("Capture screenshot of display canvas");
ui_.statusbar->addPermanentWidget(screenshot_button_);
spacer2_ = new QWidget(ui_.statusbar);
spacer2_->setMaximumSize(22, 22);
spacer2_->setMinimumSize(22, 22);
ui_.statusbar->addPermanentWidget(spacer2_);
rec_button_ = new QPushButton();
rec_button_->setMinimumSize(22, 22);
rec_button_->setMaximumSize(22, 22);
rec_button_->setIcon(QIcon(":/images/media-record.png"));
rec_button_->setCheckable(true);
rec_button_->setFlat(true);
rec_button_->setToolTip("Start recording video of display canvas");
ui_.statusbar->addPermanentWidget(rec_button_);
stop_button_ = new QPushButton();
stop_button_->setMinimumSize(22, 22);
stop_button_->setMaximumSize(22, 22);
stop_button_->setIcon(QIcon(":/images/media-playback-stop.png"));
stop_button_->setToolTip("Stop recording video of display canvas");
stop_button_->setEnabled(false);
stop_button_->setFlat(true);
ui_.statusbar->addPermanentWidget(stop_button_);
spacer3_ = new QWidget(ui_.statusbar);
spacer3_->setMaximumSize(22, 22);
spacer3_->setMinimumSize(22, 22);
ui_.statusbar->addPermanentWidget(spacer3_);
recenter_button_ = new QPushButton();
recenter_button_->setMinimumSize(22, 22);
recenter_button_->setMaximumSize(22, 22);
recenter_button_->setIcon(QIcon(":/images/arrow_in.png"));
recenter_button_->setToolTip("Reset the viewport to the default location and zoom level");
recenter_button_->setFlat(true);
ui_.statusbar->addPermanentWidget(recenter_button_);
ui_.statusbar->setVisible(true);
QActionGroup* group = new QActionGroup(this);
ui_.actionForce_720p->setActionGroup(group);
ui_.actionForce_480p->setActionGroup(group);
ui_.actionResizable->setActionGroup(group);
ui_.targetframe->addItem("<none>");
canvas_ = new MapCanvas(this);
setCentralWidget(canvas_);
connect(
canvas_,
SIGNAL(Hover(double, double, double)),
this,
SLOT(Hover(double, double, double)));
connect(ui_.configs, SIGNAL(ItemsMoved()), this, SLOT(ReorderDisplays()));
connect(ui_.actionExit, SIGNAL(triggered()), this, SLOT(close()));
connect(ui_.actionClear, SIGNAL(triggered()), this, SLOT(ClearConfig()));
connect(
ui_.bg_color,
SIGNAL(colorEdited(const QColor &)),
this,
SLOT(SelectBackgroundColor(const QColor &)));
connect(recenter_button_, SIGNAL(clicked()), this, SLOT(Recenter()));
connect(rec_button_, SIGNAL(toggled(bool)), this, SLOT(ToggleRecord(bool)));
connect(stop_button_, SIGNAL(clicked()), this, SLOT(StopRecord()));
connect(screenshot_button_, SIGNAL(clicked()), this, SLOT(Screenshot()));
connect(ui_.actionClear_History, SIGNAL(triggered()), this, SLOT(ClearHistory()));
// Use a separate thread for writing video files so that it won't cause
// lag on the main thread.
// It's ok for the video writer to be a pointer that we instantiate here and
// then forget about; the worker thread will delete it when the thread exits.
vid_writer_ = new VideoWriter();
vid_writer_->moveToThread(&video_thread_);
connect(&video_thread_, SIGNAL(finished()), vid_writer_, SLOT(deleteLater()));
connect(this, SIGNAL(FrameGrabbed(QImage)), vid_writer_, SLOT(processFrame(QImage)));
video_thread_.start();
image_transport_menu_ = new QMenu("Default Image Transport", ui_.menu_View);
ui_.menu_View->addMenu(image_transport_menu_);
connect(image_transport_menu_, SIGNAL(aboutToShow()), this, SLOT(UpdateImageTransportMenu()));
ui_.bg_color->setColor(background_);
canvas_->SetBackground(background_);
}
Mapviz::~Mapviz()
{
video_thread_.quit();
video_thread_.wait();
}
rclcpp::Node::SharedPtr Mapviz::GetNode()
{
return node_;
}
void Mapviz::showEvent(QShowEvent* event)
{
Initialize();
}
void Mapviz::closeEvent(QCloseEvent* event)
{
AutoSave();
for (auto& display : plugins_) {
MapvizPluginPtr plugin = display.second;
canvas_->RemovePlugin(plugin);
}
plugins_.clear();
}
void Mapviz::Initialize()
{
if (!initialized_) {
if (is_standalone_) {
spin_timer_.start(30);
connect(&spin_timer_, SIGNAL(timeout()), this, SLOT(SpinOnce()));
}
// Create a sub-menu that lists all available Image Transports
image_transport::ImageTransport it(node_);
std::vector<std::string> transports = it.getLoadableTransports();
QActionGroup* group = new QActionGroup(image_transport_menu_);
for (const auto& iter : transports)
{
QString transport = QString::fromStdString(iter).replace(
QString::fromStdString(IMAGE_TRANSPORT_PARAM) + "/", "");
QAction* action = image_transport_menu_->addAction(transport);
action->setCheckable(true);
group->addAction(action);
}
connect(group, SIGNAL(triggered(QAction*)), this, SLOT(SetImageTransport(QAction*)));
tf_buf_ = std::make_shared<tf2_ros::Buffer>(node_->get_clock());
tf_buf_->setUsingDedicatedThread(true);
tf_ = std::make_shared<tf2_ros::TransformListener>(*tf_buf_, node_, false);
tf_manager_ = std::make_shared<swri_transform_util::TransformManager>(node_);
try
{
tf_manager_->Initialize(tf_buf_);
}
catch (...)
{
RCLCPP_ERROR(node_->get_logger(), "Error initializing tf_manager");
}
loader_ = new pluginlib::ClassLoader<MapvizPlugin>(
"mapviz", "mapviz::MapvizPlugin");
std::vector<std::string> plugins = loader_->getDeclaredClasses();
for (const auto& plugin : plugins) {
RCLCPP_INFO(node_->get_logger(), "Found mapviz plugin: %s", plugin.c_str());
}
canvas_->InitializeTf(tf_buf_);
canvas_->SetFixedFrame(ui_.fixedframe->currentText().toStdString());
canvas_->SetTargetFrame(ui_.targetframe->currentText().toStdString());
add_display_srv_ = node_->create_service<mapviz_interfaces::srv::AddMapvizDisplay>(
"add_mapviz_display",
std::bind(&Mapviz::AddDisplay,
this,
std::placeholders::_1,
std::placeholders::_2));
QString default_path = GetDefaultConfigPath();
std::string config;
node_->get_parameter_or("config", config, default_path.toStdString());
bool auto_save;
node_->get_parameter_or("auto_save_backup", auto_save, true);
Open(config);
UpdateFrames();
frame_timer_.start(1000);
connect(&frame_timer_, SIGNAL(timeout()), this, SLOT(UpdateFrames()));
if (auto_save) {
save_timer_.start(10000);
connect(&save_timer_, SIGNAL(timeout()), this, SLOT(AutoSave()));
}
connect(&record_timer_, SIGNAL(timeout()), this, SLOT(CaptureVideoFrame()));
bool print_profile_data;
node_->get_parameter_or("print_profile_data", print_profile_data, false);
if (print_profile_data) {
profile_timer_.start(2000);
connect(&profile_timer_, SIGNAL(timeout()), this, SLOT(HandleProfileTimer()));
}
setFocus(); // Set the main window as focused object,
// prevent other fields from obtaining focus at startup
initialized_ = true;
}
}
QString Mapviz::GetDefaultConfigPath()
{
QProcessEnvironment env = QProcessEnvironment::systemEnvironment();
QString default_path = QDir::homePath();
if (env.contains(ROS_WORKSPACE_VAR)) {
// If the ROS_WORKSPACE environment variable is defined, try to read our
// config file out of that. If we can't read it, fall back to trying to
// read one from the user's home directory.
QString ws_path = env.value(ROS_WORKSPACE_VAR, default_path);
if (QFileInfo(ws_path + MAPVIZ_CONFIG_FILE).isReadable()) {
default_path = ws_path;
} else {
RCLCPP_WARN(
node_->get_logger(),
"Could not load config file from ROS_WORKSPACE at %s; trying home directory...",
ws_path.toStdString().c_str());
}
}
default_path += MAPVIZ_CONFIG_FILE;
return default_path;
}
void Mapviz::SpinOnce()
{
if (rclcpp::ok()) {
meas_spin_.start();
rclcpp::spin_some(node_);
meas_spin_.stop();
} else {
QApplication::exit();
}
}
void Mapviz::UpdateFrames()
{
std::vector<std::string> frames;
tf_buf_->_getFrameStrings(frames);
std::sort(frames.begin(), frames.end());
if (
ui_.fixedframe->count() >= 0 &&
static_cast<size_t>(ui_.fixedframe->count()) == frames.size())
{
bool changed = false;
for (size_t i = 0; i < frames.size(); i++) {
if (frames[i] != ui_.fixedframe->itemText(i).toStdString()) {
changed = true;
}
}
if (!changed) {
return;
}
}
updating_frames_ = true;
std::string current_fixed = ui_.fixedframe->currentText().toStdString();
ui_.fixedframe->clear();
for (const auto& frame : frames) {
ui_.fixedframe->addItem(frame.c_str());
}
if (!current_fixed.empty()) {
int index = ui_.fixedframe->findText(current_fixed.c_str());
if (index < 0) {
ui_.fixedframe->addItem(current_fixed.c_str());
}
index = ui_.fixedframe->findText(current_fixed.c_str());
ui_.fixedframe->setCurrentIndex(index);
}
std::string current_target = ui_.targetframe->currentText().toStdString();
ui_.targetframe->clear();
ui_.targetframe->addItem("<none>");
for (const auto& frame : frames) {
ui_.targetframe->addItem(frame.c_str());
}
if (!current_target.empty()) {
int index = ui_.targetframe->findText(current_target.c_str());
if (index < 0) {
ui_.targetframe->addItem(current_target.c_str());
}
index = ui_.targetframe->findText(current_target.c_str());
ui_.targetframe->setCurrentIndex(index);
}
updating_frames_ = false;
if (current_target != ui_.targetframe->currentText().toStdString()) {
TargetFrameSelected(ui_.targetframe->currentText());
}
if (current_fixed != ui_.fixedframe->currentText().toStdString()) {
FixedFrameSelected(ui_.fixedframe->currentText());
}
}
void Mapviz::Force720p(bool on)
{
if (force_720p_ != on) {
force_720p_ = on;
if (force_720p_) {
force_480p_ = false;
resizable_ = false;
}
AdjustWindowSize();
}
}
void Mapviz::Force480p(bool on)
{
if (force_480p_ != on) {
force_480p_ = on;
if (force_480p_) {
force_720p_ = false;
resizable_ = false;
}
AdjustWindowSize();
}
}
void Mapviz::SetResizable(bool on)
{
if (resizable_ != on) {
resizable_ = on;
if (resizable_) {
force_720p_ = false;
force_480p_ = false;
}
AdjustWindowSize();
}
}
void Mapviz::AdjustWindowSize()
{
canvas_->setSizePolicy(QSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred));
setSizePolicy(QSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred));
this->setMinimumSize(QSize(100, 100));
this->setMaximumSize(QSize(10000, 10000));
if (force_720p_) {
canvas_->setMinimumSize(1280, 720);
canvas_->setMaximumSize(1280, 720);
canvas_->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
adjustSize();
this->setMaximumSize(this->sizeHint());
this->setMinimumSize(this->sizeHint());
setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
} else if (force_480p_) {
canvas_->setMinimumSize(640, 480);
canvas_->setMaximumSize(640, 480);
canvas_->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
adjustSize();
this->setMaximumSize(this->sizeHint());
this->setMinimumSize(this->sizeHint());
setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
} else if (stop_button_->isEnabled()) {
canvas_->setMinimumSize(canvas_->width(), canvas_->height());
canvas_->setMaximumSize(canvas_->width(), canvas_->height());
canvas_->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
adjustSize();
this->setMaximumSize(this->sizeHint());
this->setMinimumSize(this->sizeHint());
setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
} else {
canvas_->setMinimumSize(100, 100);
canvas_->setMaximumSize(10000, 10000);
}
}
void Mapviz::Open(const std::string& filename)
{
RCLCPP_INFO(node_->get_logger(), "Loading configuration from %s", filename.c_str());
std::string title;
size_t last_slash = filename.find_last_of('/');
if (last_slash != std::string::npos && last_slash != filename.size() - 1) {
title = filename.substr(last_slash + 1) + " (" +
filename.substr(0, last_slash + 1) + ")";
} else {
title = filename;
}
title += " - mapviz";
setWindowTitle(QString::fromStdString(title));
YAML::Node doc = YAML::LoadFile(filename);
if (!doc) {
RCLCPP_ERROR(node_->get_logger(), "Failed to load file: %s", filename.c_str());
return;
}
std::vector<std::string> failed_plugins;
try
{
boost::filesystem::path filepath(filename);
std::string config_path = filepath.parent_path().string();
ClearDisplays();
if (doc["capture_directory"]) {
capture_directory_ = doc["capture_directory"].as<std::string>();
}
if (doc["fixed_frame"]) {
std::string fixed_frame = doc["fixed_frame"].as<std::string>();
ui_.fixedframe->setEditText(fixed_frame.c_str());
}
if (doc["target_frame"]) {
std::string target_frame = doc["target_frame"].as<std::string>();
ui_.targetframe->setEditText(target_frame.c_str());
}
if (doc["fix_orientation"]) {
bool fix_orientation = doc["fix_orientation"].as<bool>();
ui_.actionFix_Orientation->setChecked(fix_orientation);
}
if (doc["rotate_90"]) {
bool rotate_90 = doc["rotate_90"].as<bool>();
ui_.actionRotate_90->setChecked(rotate_90);
}
if (doc["enable_antialiasing"]) {
bool enable_antialiasing = doc["enable_antialiasing"].as<bool>();
ui_.actionEnable_Antialiasing->setChecked(enable_antialiasing);
}
if (doc["show_displays"]) {
bool show_displays = doc["show_displays"].as<bool>();
ui_.actionConfig_Dock->setChecked(show_displays);
}
if (doc["show_capture_tools"]) {
bool show_capture_tools = doc["show_capture_tools"].as<bool>();
ui_.actionShow_Capture_Tools->setChecked(show_capture_tools);
}
if (doc["show_status_bar"]) {
bool show_status_bar = doc["show_status_bar"].as<bool>();
ui_.actionShow_Status_Bar->setChecked(show_status_bar);
}
if (doc["show_capture_tools"]) {
bool show_capture_tools = doc["show_capture_tools"].as<bool>();
ui_.actionShow_Capture_Tools->setChecked(show_capture_tools);
}
if (doc["window_width"]) {
int window_width = doc["window_width"].as<int>();
resize(window_width, height());
}
if (doc["window_height"]) {
int window_height = doc["window_height"].as<int>();
resize(width(), window_height);
}
if (doc["view_scale"]) {
float scale = doc["view_scale"].as<float>();
canvas_->SetViewScale(scale);
}
if (doc["offset_x"]) {
float x = doc["offset_x"].as<float>();
canvas_->SetOffsetX(x);
}
if (doc["offset_y"]) {
float y = doc["offset_y"].as<float>();
canvas_->SetOffsetY(y);
}
if (doc["force_720p"]) {
bool force_720p = doc["force_720p"].as<bool>();
if (force_720p) {
ui_.actionForce_720p->setChecked(true);
}
}
if (doc["force_480p"]) {
bool force_480p = doc["force_480p"].as<bool>();
if (force_480p) {
ui_.actionForce_480p->setChecked(true);
}
}
if (doc[IMAGE_TRANSPORT_PARAM]) {
std::string image_transport = doc[IMAGE_TRANSPORT_PARAM].as<std::string>();
node_->set_parameter({IMAGE_TRANSPORT_PARAM, image_transport});
}
bool use_latest_transforms = true;
if (doc["use_latest_transforms"]) {
use_latest_transforms = doc["use_latest_transforms"].as<bool>();
}
ui_.uselatesttransforms->setChecked(use_latest_transforms);
canvas_->ToggleUseLatestTransforms(use_latest_transforms);
if (doc["background"]) {
std::string color = doc["background"].as<std::string>();
background_ = QColor(color.c_str());
ui_.bg_color->setColor(background_);
canvas_->SetBackground(background_);
}
if (doc["displays"]) {
const YAML::Node& displays = doc["displays"];
for (const auto& display : displays) {
std::string type = display["type"].as<std::string>();
std::string name = display["name"].as<std::string>();
const YAML::Node& config = display["config"];
bool visible = config["visible"].as<bool>();
bool collapsed = config["collapsed"].as<bool>();
try
{
MapvizPluginPtr plugin =
CreateNewDisplay(name, type, visible, collapsed);
plugin->LoadConfig(config, config_path);
plugin->DrawIcon();
}
catch (const pluginlib::LibraryLoadException& e)
{
failed_plugins.push_back(type);
RCLCPP_ERROR(node_->get_logger(), "%s", e.what());
}
}
}
}
catch (const YAML::ParserException& e)
{
RCLCPP_ERROR(node_->get_logger(), "%s", e.what());
return;
}
catch (const YAML::Exception& e)
{
RCLCPP_ERROR(node_->get_logger(), "%s", e.what());
return;
}
if (!failed_plugins.empty()) {
std::stringstream message;
message << "The following plugin(s) failed to load:" << std::endl;
std::string failures = boost::algorithm::join(failed_plugins, "\n");
message << failures << std::endl << std::endl << "Check the ROS log for more details.";
QMessageBox::warning(this, "Failed to load plugins", QString::fromStdString(message.str()));
}
}
void Mapviz::Save(const std::string& filename)
{
std::ofstream fout(filename.c_str());
if (fout.fail()) {
RCLCPP_ERROR(node_->get_logger(), "Failed to open file: %s", filename.c_str());
return;
}
boost::filesystem::path filepath(filename);
std::string config_path = filepath.parent_path().string();
YAML::Emitter out;
out << YAML::BeginMap;
out << YAML::Key << "capture_directory" << YAML::Value << capture_directory_;
out << YAML::Key << "fixed_frame" << YAML::Value << ui_.fixedframe->currentText().toStdString();
out << YAML::Key << "target_frame" << YAML::Value << ui_.targetframe->currentText().toStdString();
out << YAML::Key << "fix_orientation" << YAML::Value << ui_.actionFix_Orientation->isChecked();
out << YAML::Key << "rotate_90" << YAML::Value << ui_.actionRotate_90->isChecked();
out << YAML::Key
<< "enable_antialiasing"
<< YAML::Value
<< ui_.actionEnable_Antialiasing->isChecked();
out << YAML::Key
<< "show_displays"
<< YAML::Value
<< ui_.actionConfig_Dock->isChecked();
out << YAML::Key << "show_status_bar" << YAML::Value << ui_.actionShow_Status_Bar->isChecked();
out << YAML::Key
<< "show_capture_tools"
<< YAML::Value
<< ui_.actionShow_Capture_Tools->isChecked();
out << YAML::Key << "window_width" << YAML::Value << width();
out << YAML::Key << "window_height" << YAML::Value << height();
out << YAML::Key << "view_scale" << YAML::Value << canvas_->ViewScale();
out << YAML::Key << "offset_x" << YAML::Value << canvas_->OffsetX();
out << YAML::Key << "offset_y" << YAML::Value << canvas_->OffsetY();
out << YAML::Key
<< "use_latest_transforms"
<< YAML::Value
<< ui_.uselatesttransforms->isChecked();
out << YAML::Key << "background" << YAML::Value << background_.name().toStdString();
std::string image_transport;
if (node_->get_parameter(IMAGE_TRANSPORT_PARAM, image_transport)) {
out << YAML::Key << IMAGE_TRANSPORT_PARAM << YAML::Value << image_transport;
}
if (force_720p_) {
out << YAML::Key << "force_720p" << YAML::Value << force_720p_;
}
if (force_480p_) {
out << YAML::Key << "force_480p" << YAML::Value << force_480p_;
}
if (ui_.configs->count() > 0) {
out << YAML::Key << "displays"<< YAML::Value << YAML::BeginSeq;
for (int i = 0; i < ui_.configs->count(); i++) {
out << YAML::BeginMap;
out << YAML::Key << "type" << YAML::Value << plugins_[ui_.configs->item(i)]->Type();
out << YAML::Key
<< "name"
<< YAML::Value
<< (dynamic_cast<ConfigItem*>(ui_.configs->itemWidget(ui_.configs->item(i))))
->Name().toStdString();
out << YAML::Key << "config" << YAML::Value;
out << YAML::BeginMap;
out << YAML::Key << "visible" << YAML::Value << plugins_[ui_.configs->item(i)]->Visible();
out << YAML::Key
<< "collapsed"
<< YAML::Value
<< (dynamic_cast<ConfigItem*>(ui_.configs->itemWidget(ui_.configs->item(i))))->Collapsed();
plugins_[ui_.configs->item(i)]->SaveConfig(out, config_path);
out << YAML::EndMap;
out << YAML::EndMap;
}
out << YAML::EndSeq;
}
out << YAML::EndMap;
fout << out.c_str();
fout.close();
}
void Mapviz::AutoSave()
{
QProcessEnvironment env = QProcessEnvironment::systemEnvironment();
QString default_path = QDir::homePath();
if (env.contains(ROS_WORKSPACE_VAR)) {
// Try to save our config in the ROS_WORKSPACE directory, but if we can't write
// to that -- probably because it is read-only -- try to use the home directory
// instead.
QString ws_path = env.value(ROS_WORKSPACE_VAR, default_path);
QString ws_file = ws_path + MAPVIZ_CONFIG_FILE;
QFileInfo file_info(ws_file);
QFileInfo dir_info(ws_path);
if (
(!file_info.exists() && dir_info.isWritable()) ||
file_info.isWritable())
{
// Note that FileInfo::isWritable will return false if a file does not exist, so
// we need to check both if the target file is writable and if the target dir is
// writable if the file doesn't exist.
default_path = ws_path;
} else {
RCLCPP_WARN(node_->get_logger(),
"Could not write config file to %s. Trying home directory.",
(ws_path + MAPVIZ_CONFIG_FILE).toStdString().c_str());
}
}
default_path += MAPVIZ_CONFIG_FILE;
Save(default_path.toStdString());
}
void Mapviz::OpenConfig()
{
QFileDialog dialog(this, "Select Config File");
dialog.setFileMode(QFileDialog::ExistingFile);
dialog.setNameFilter(tr("Mapviz Config Files (*.mvc)"));
dialog.exec();
if (dialog.result() == QDialog::Accepted && dialog.selectedFiles().count() == 1) {
std::string path = dialog.selectedFiles().first().toStdString();
Open(path);
}
}
void Mapviz::ClearConfig()
{
ClearDisplays();
}
void Mapviz::SaveConfig()
{
QFileDialog dialog(this, "Save Config File");
dialog.setFileMode(QFileDialog::AnyFile);
dialog.setAcceptMode(QFileDialog::AcceptSave);
dialog.setNameFilter(tr("Mapviz Config Files (*.mvc)"));
dialog.setDefaultSuffix("mvc");
dialog.exec();
if (dialog.result() == QDialog::Accepted && dialog.selectedFiles().count() == 1) {
std::string path = dialog.selectedFiles().first().toStdString();
std::string title;
size_t last_slash = path.find_last_of('/');
if (last_slash != std::string::npos && last_slash != path.size() - 1) {
title = path.substr(last_slash + 1) + " (" +
path.substr(0, last_slash + 1) + ")";
} else {
title = path;
}
title += " - mapviz";
setWindowTitle(QString::fromStdString(title));
Save(path);
}
}
void Mapviz::ClearHistory()
{
RCLCPP_DEBUG(node_->get_logger(), "Mapviz::ClearHistory()");
for (auto& plugin : plugins_) {
plugin.second->ClearHistory();
}
}
void Mapviz::SelectNewDisplay()
{
RCLCPP_INFO(rclcpp::get_logger("mapviz"), "Select new display ...");
QDialog dialog;
Ui::pluginselect ui;
ui.setupUi(&dialog);
std::vector<std::string> plugins = loader_->getDeclaredClasses();
std::map<std::string, std::string> plugin_types;
for (const auto& plugin : plugins) {
QString type(plugin.c_str());
type = type.split('/').last();
ui.displaylist->addItem(type);
plugin_types[type.toStdString()] = plugin;
}
ui.displaylist->setCurrentRow(0);
dialog.exec();
if (dialog.result() == QDialog::Accepted) {
std::string type_name = ui.displaylist->selectedItems().first()->text().toStdString();
std::string type = plugin_types[type_name];
std::string name = "new display";
try
{
CreateNewDisplay(name, type, true, false);
}
catch (const pluginlib::LibraryLoadException& e)
{
std::stringstream message;
message << "Unable to load " << type << "." << std::endl
<< "Check the ROS log for more details.";
QMessageBox::warning(this, "Plugin failed to load", QString::fromStdString(message.str()));
RCLCPP_ERROR(node_->get_logger(), "%s", e.what());
}
}
}
void Mapviz::AddDisplay(
const mapviz_interfaces::srv::AddMapvizDisplay::Request::SharedPtr req,
mapviz_interfaces::srv::AddMapvizDisplay::Response::SharedPtr resp)
{
std::map<std::string, std::string> properties;
for (auto& property : req->properties) {
properties[property.key] = property.value;
}
YAML::Node config;
for (auto& property_pair : properties) {
config[property_pair.first] = property_pair.second;
}
if (!config) {
// ROS_ERROR("Failed to parse properties into YAML.");
RCLCPP_ERROR(node_->get_logger(), "Failed to parse properties into YAML.");
resp->success = false;
throw std::runtime_error("Failed to parse properties into YAML.");
}
for (auto& display : plugins_) {
MapvizPluginPtr plugin = display.second;
if (!plugin) {
RCLCPP_ERROR(node_->get_logger(), "Invalid plugin ptr.");
continue;
}
if (plugin->Name() == req->name && plugin->Type() == req->type) {
plugin->LoadConfig(config, "");
plugin->SetVisible(req->visible);
if (req->draw_order > 0) {
display.first->setData(Qt::UserRole, QVariant(req->draw_order - 1.1));
ui_.configs->sortItems();
ReorderDisplays();
} else if (req->draw_order < 0) {
display.first->setData(
Qt::UserRole, QVariant(ui_.configs->count() + req->draw_order + 0.1));
ui_.configs->sortItems();
ReorderDisplays();
}
resp->success = true;
return;
}
}
try
{
MapvizPluginPtr plugin =
CreateNewDisplay(req->name, req->type, req->visible, false, req->draw_order);
plugin->LoadConfig(config, "");
plugin->DrawIcon();
resp->success = true;
}