LaserView.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GAZEBO_GUI_VIEWERS_LASERVIEW_HH_
#define GAZEBO_GUI_VIEWERS_LASERVIEW_HH_

#include <string>
#include <vector>
#include <mutex>

#include "gazebo/common/Time.hh"
#include "gazebo/msgs/msgs.hh"

#include "gazebo/transport/TransportTypes.hh"

#include "gazebo/gui/qt.h"
#include "gazebo/gui/viewers/TopicView.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    class GZ_GUI_VISIBLE LaserView : public TopicView
    {
      Q_OBJECT

      public: explicit LaserView(QWidget *_parent = NULL);

      public: virtual ~LaserView();

      // Documentation inherited
      public: virtual void SetTopic(const std::string &_topicName);

      // Documentation inherited
      private: virtual void UpdateImpl();

      protected: virtual void resizeEvent(QResizeEvent *_event);

      private: void OnScan(ConstLaserScanStampedPtr &_msg);

      private slots: void OnFitInView();

      private slots: void OnDegree(bool _toggled);

      private: class LaserItem : public QGraphicsItem
               {
                 public: LaserItem();

                 public: void Clear();

                 public: unsigned int GetRangeCount();

                 public: void AddRange(double _range);

                 public: void SetRange(unsigned int _index, double _range);

                 public: QRectF GetBoundingRect() const;

                 public: double GetHoverRange() const;

                 public: double GetHoverAngle() const;

                 public: void Update(double _angleMin, double _angleMax,
                             double _angleStep, double _rangeMax,
                             double _rangeMin);

                 public: void UpdateGeometry();

                 private: virtual QRectF boundingRect() const;

                 private: virtual void paint(QPainter *_painter,
                              const QStyleOptionGraphicsItem *_option,
                              QWidget *_widget);

                 private: virtual void hoverEnterEvent(
                              QGraphicsSceneHoverEvent *_event);

                 private: virtual void hoverLeaveEvent(
                              QGraphicsSceneHoverEvent *_event);

                 private: void hoverMoveEvent(QGraphicsSceneHoverEvent *_event);

                 private: std::vector<QPointF> points;

                 private: std::vector<QPointF> noHitPoints;

                 private: std::vector<double> ranges;

                 private: double angleMin;

                 private: double angleMax;

                 private: double angleStep;

                 private: double rangeMax;

                 private: double rangeMin;

                 private: double indexAngle;

                 private: double scale;

                 public: bool radians;

                 private: mutable std::mutex mutex;

                 private: bool dirty = false;
               };

      private: class CustomView : public QGraphicsView
               {
                 public: explicit CustomView(QWidget *_parent)
                         : QGraphicsView(_parent), viewZoomed(false) {}

                 private: void wheelEvent(QWheelEvent *_event)
                 {
                   this->viewZoomed = true;
                   _event->delta() > 0 ? this->scale(1.15, 1.15) :
                                         this->scale(1.0 / 1.15, 1.0 / 1.15);
                   _event->accept();
                 }

                 public: bool viewZoomed;
               };

      private: LaserItem *laserItem;

      private: CustomView *view;

      private: bool firstMsg;

      private: QLineEdit *rangeEdit;

      private: QLineEdit *angleEdit;

      private: QSpinBox *vertScanSpin;
    };
  }
}
#endif