wip (revert this and redo commits)

ros2 · Aug 31, 2017 · 24a66f0 · 24a66f0
1 parent a8bbde2
commit 24a66f0
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Showing 7 changed files with 57 additions and 45 deletions.
diff --git a/rviz_rendering/CMakeLists.txt b/rviz_rendering/CMakeLists.txt
@@ -8,7 +8,8 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
@@ -52,12 +53,16 @@ set(headers_with_q_object
 
 add_library(${PROJECT_NAME}
   ${headers_with_q_object}
+  src/rviz_rendering/camera_base.cpp
   src/rviz_rendering/logging.cpp
+  src/rviz_rendering/object.cpp
   src/rviz_rendering/ogre_logging.cpp
+  src/rviz_rendering/orbit_camera.cpp
   src/rviz_rendering/render_system.cpp
   src/rviz_rendering/render_window.cpp
   src/rviz_rendering/render_window_impl.cpp
   src/rviz_rendering/resource_config.cpp
+  src/rviz_rendering/shape.cpp
 )
 target_link_libraries(${PROJECT_NAME}
   rviz_ogre_vendor::OgreMain

diff --git a/rviz_rendering/include/rviz_rendering/shape.hpp b/rviz_rendering/include/rviz_rendering/shape.hpp
@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2008, Willow Garage, Inc.
+ * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without

diff --git a/rviz_rendering/src/rviz_rendering/camera_base.cpp b/rviz_rendering/src/rviz_rendering/camera_base.cpp
@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2008, Willow Garage, Inc.
+ * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -43,7 +44,7 @@ namespace rviz_rendering
 
 CameraBase::CameraBase(Ogre::SceneManager * scene_manager)
 : scene_manager_(scene_manager),
-  relative_node_(NULL)
+  relative_node_(nullptr)
 {
   std::stringstream ss;
   static uint32_t count = 0;

diff --git a/rviz_rendering/src/rviz_rendering/object.cpp b/rviz_rendering/src/rviz_rendering/object.cpp
@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2008, Willow Garage, Inc.
+ * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without

diff --git a/rviz_rendering/src/rviz_rendering/orbit_camera.cpp b/rviz_rendering/src/rviz_rendering/orbit_camera.cpp
@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2008, Willow Garage, Inc.
+ * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -116,6 +117,7 @@ void OrbitCamera::update()
     Ogre::Vector3 vec = pos - global_focal_point;
     pos = relative_node_->getOrientation() * vec + global_focal_point;
 
+    // relative_node_->attachObject(camera_);
     camera_->setFixedYawAxis(true, relative_node_->getOrientation() * Ogre::Vector3::UNIT_Y);
   }
 
@@ -145,6 +147,7 @@ void OrbitCamera::pitch(float angle)
 
 void OrbitCamera::roll(float angle)
 {
+  (void)angle;
 }
 
 Ogre::Vector3 OrbitCamera::getPosition()

diff --git a/rviz_rendering/src/rviz_rendering/render_window.cpp b/rviz_rendering/src/rviz_rendering/render_window.cpp
@@ -117,16 +117,22 @@ ToString(const EnumType & enumValue)
 bool
 RenderWindow::event(QEvent * event)
 {
-  // // printf("in RenderWindow::event(QEvent *)\n");
-  // switch (event->type()) {
-  //   case QEvent::UpdateRequest:
-  //     // m_update_pending = false;
-  //     this->renderNow();
-  //     return true;
-  //   default:
-  //     return QWindow::event(event);
-  // }
-  return QWindow::event(event);
+  qDebug() <<
+    "[" << QTime::currentTime().toString("HH:mm:ss:zzz") << "]:" <<
+    "event->type() ==" << ToString(event->type());
+  switch (event->type()) {
+    case QEvent::Resize:
+      if (this->isExposed()) {
+        impl_->resize(this->width(), this->height());
+      }
+      return QWindow::event(event);
+    case QEvent::UpdateRequest:
+      this->renderNow();
+      return true;
+    default:
+      return QWindow::event(event);
+  }
+  // return QWindow::event(event);
 }
 
 void
@@ -143,28 +149,25 @@ RenderWindow::exposeEvent(QExposeEvent * expose_event)
 bool
 RenderWindow::eventFilter(QObject * target, QEvent * event)
 {
-  // printf("in RenderWindow::eventFilter(QObject *, QEvent *)\n");
-  if (target == this) {
-    qDebug() <<
-      "[" << QTime::currentTime().toString() << "]: " <<
-      "event->type() == " << ToString(event->type()) << ", " <<
-      "target == " << target;
-    switch (event->type()) {
-      case QEvent::Resize:
-        if (this->isExposed()) {
-          impl_->resize(this->width(), this->height());
-        } else {
-          printf("here\n");
-        }
-        return false;
-      case QEvent::UpdateRequest:
-        this->renderNow();
-        return true;
-      default:
-        return QWindow::event(event);
-    }
-  }
-  return false;
+  // if (target == this) {
+  //   qDebug() <<
+  //     "[" << QTime::currentTime().toString("HH:mm:ss:zzz") << "]:" <<
+  //     "event->type() ==" << ToString(event->type()) <<
+  //     "target ==" << target;
+  //   switch (event->type()) {
+  //     case QEvent::Resize:
+  //       if (this->isExposed()) {
+  //         impl_->resize(this->width(), this->height());
+  //       }
+  //       return false;
+  //     case QEvent::UpdateRequest:
+  //       this->renderNow();
+  //       return true;
+  //     default:
+  //       return QWindow::event(event);
+  //   }
+  // }
+  return QWindow::eventFilter(target, event);
 }
 
 }  // namespace rviz_rendering
diff --git a/rviz_rendering/src/rviz_rendering/shape.cpp b/rviz_rendering/src/rviz_rendering/shape.cpp
@@ -1,5 +1,6 @@
 /*
  * Copyright (c) 2008, Willow Garage, Inc.
+ * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -42,6 +43,8 @@
 #include <OgreTextureManager.h>
 #include <OgreVector3.h>
 
+#include "rviz_rendering/logging.hpp"
+
 namespace rviz_rendering
 {
 
@@ -101,33 +104,28 @@ Shape::Shape(Type type, Ogre::SceneManager * scene_manager, Ogre::SceneNode * pa
 
   ss << "Material";
   material_name_ = ss.str();
-  material_ = Ogre::MaterialManager::getSingleton().create(material_name_, ROS_PACKAGE_NAME);
+  // TODO(wjwwood): remove hard coded rviz_rendering package name, was ROS_PACKAGE_NAME
+  material_ = Ogre::MaterialManager::getSingleton().create(material_name_, "rviz_rendering");
   material_->setReceiveShadows(false);
   material_->getTechnique(0)->setLightingEnabled(true);
   material_->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);
 
   if (entity_) {
     entity_->setMaterialName(material_name_);
   }
-
-#if (OGRE_VERSION_MAJOR <= 1 && OGRE_VERSION_MINOR <= 4)
-  if (entity_) {
-    entity_->setNormaliseNormals(true);
-  }
-#endif
 }
 
 Shape::~Shape()
 {
-  scene_manager_->destroySceneNode(scene_node_->getName() );
-  scene_manager_->destroySceneNode(offset_node_->getName() );
+  scene_manager_->destroySceneNode(scene_node_->getName());
+  scene_manager_->destroySceneNode(offset_node_->getName());
 
   if (entity_) {
     scene_manager_->destroyEntity(entity_);
   }
 
   material_->unload();
-  Ogre::MaterialManager::getSingleton().remove(material_->getName());
+  Ogre::MaterialManager::getSingleton().remove(material_->getName(), "rviz_rendering");
 }
 
 void Shape::setColor(const Ogre::ColourValue & c)
@@ -184,7 +182,7 @@ void Shape::setUserData(const Ogre::Any & data)
   if (entity_) {
     entity_->getUserObjectBindings().setUserAny(data);
   } else {
-    ROS_ERROR(
+    RVIZ_RENDERING_LOG_ERROR(
       "Shape not yet fully constructed. "
       "Cannot set user data. Did you add triangles to the mesh already?");
   }