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simpleguielements.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef ORCAGUI_SIMPLE_GUI_ELEMENTS_H #define ORCAGUI_SIMPLE_GUI_ELEMENTS_H // for setInit() #include <orcaobj/orcaobj.h> #include <orcaqguielementutil/ptricestormelement.h> #include <orcaqguielementutil/icestormelement.h> #include <hydroqgui/hydroqgui.h> #include <hydroqguielementutil/iknowsplatformposition2d.h> #include <orcaqgui2dfactory/connectutils.h> // Include various painter types #include <orcaqgui2dfactory/laserscanner2dpainter.h> #include <orcaqgui2dfactory/localise3dpainter.h> #include <orcaqgui2dfactory/odometry2dpainter.h> #include <orcaqgui2dfactory/particle2dpainter.h> #include <orcaqgui2dfactory/polarfeature2dpainter.h> #include <orcaqgui2dfactory/qgraphics2dpainter.h> // // A list of simple gui elements that listen to one icestorm topic, for one object type. // namespace orcaqgui2d { class PolarFeature2dElement : public orcaqguielementutil::IceStormElement<PolarFeature2dPainter, orca::PolarFeature2dData, orca::PolarFeature2dPrx, orca::PolarFeature2dConsumer, orca::PolarFeature2dConsumerPrx> { public: PolarFeature2dElement( const orcaice::Context &context, const std::string &proxyString, int timeoutMs=30000 ) : orcaqguielementutil::IceStormElement<PolarFeature2dPainter, orca::PolarFeature2dData, orca::PolarFeature2dPrx, orca::PolarFeature2dConsumer, orca::PolarFeature2dConsumerPrx>( context, proxyString, painter_, timeoutMs ) {}; virtual bool isInGlobalCS() { return false; } virtual void actionOnConnection() { getExtractorInfo(); paintInitialData<orca::PolarFeature2dPrx, PolarFeature2dPainter> ( context_, listener_.interfaceName(), painter_ ); } virtual QStringList contextMenu(); // virtual void execute( int action ) { painter_.execute( action ); }; private: void getExtractorInfo(); PolarFeature2dPainter painter_; }; class LaserScanner2dElement : public orcaqguielementutil::PtrIceStormElement<LaserScanner2dPainter, orca::RangeScanner2dData, orca::RangeScanner2dDataPtr, orca::LaserScanner2dPrx, orca::RangeScanner2dConsumer, orca::RangeScanner2dConsumerPrx> { public: LaserScanner2dElement( const orcaice::Context &context, const std::string &proxyString, int timeoutMs=30000, QColor outlineColor=QColor( 102,102,153, 255 ), float outlineThickness=-1, float brightReturnWidth=0.2 ) : orcaqguielementutil::PtrIceStormElement<LaserScanner2dPainter, orca::RangeScanner2dData, orca::RangeScanner2dDataPtr, orca::LaserScanner2dPrx, orca::RangeScanner2dConsumer, orca::RangeScanner2dConsumerPrx>(context, proxyString, painter_, timeoutMs ), painter_( outlineColor, outlineThickness, brightReturnWidth ) {}; virtual bool isInGlobalCS() { return false; } virtual void actionOnConnection() { getLaserInfo(); } virtual QStringList contextMenu(); virtual void execute( int action ) { painter_.execute( action ); }; virtual void setColor( QColor color ) { painter_.setColor(color); } virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); }; private: void getLaserInfo(); LaserScanner2dPainter painter_; }; class RangeScanner2dElement : public orcaqguielementutil::PtrIceStormElement<LaserScanner2dPainter, orca::RangeScanner2dData, orca::RangeScanner2dDataPtr, orca::RangeScanner2dPrx, orca::RangeScanner2dConsumer, orca::RangeScanner2dConsumerPrx> { public: RangeScanner2dElement( const orcaice::Context &context, const std::string &proxyString, int timeoutMs=30000, QColor outlineColor=QColor( 102,102,153, 255 ), float outlineThickness=-1, float brightReturnWidth=0.2 ) : orcaqguielementutil::PtrIceStormElement<LaserScanner2dPainter, orca::RangeScanner2dData, orca::RangeScanner2dDataPtr, orca::RangeScanner2dPrx, orca::RangeScanner2dConsumer, orca::RangeScanner2dConsumerPrx>(context, proxyString, painter_, timeoutMs ), painter_( outlineColor, outlineThickness, brightReturnWidth ) {}; virtual bool isInGlobalCS() { return false; } virtual void actionOnConnection() { getScannerInfo(); } virtual QStringList contextMenu(); virtual void execute( int action ) { painter_.execute( action ); }; virtual void setColor( QColor color ) { painter_.setColor(color); } virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); }; private: void getScannerInfo(); LaserScanner2dPainter painter_; }; class Localise3dElement : public orcaqguielementutil::IceStormElement<Localise3dPainter, orca::Localise3dData, orca::Localise3dPrx, orca::Localise3dConsumer, orca::Localise3dConsumerPrx>, public hydroqguielementutil::IKnowsPlatformPosition2d { public: Localise3dElement( const orcaice::Context &context, const std::string &proxyString, bool beginDisplayHistory=false, int timeoutMs=30000 ) : orcaqguielementutil::IceStormElement<Localise3dPainter, orca::Localise3dData, orca::Localise3dPrx, orca::Localise3dConsumer, orca::Localise3dConsumerPrx>(context, proxyString, painter_, timeoutMs ), painter_( beginDisplayHistory ), x_(0), y_(0), theta_(0) { Ice::PropertiesPtr prop = context_.properties(); std::string prefix = context_.tag(); prefix += ".Config."; orcaobj::setInit( origin_ ); orcaobj::getPropertyAsCartesianPoint( prop, prefix+"General.Offset", origin_ ); } virtual bool isInGlobalCS() { return true; } virtual void actionOnConnection(); virtual QStringList contextMenu(); virtual void execute( int action ); virtual void setColor( QColor color ) { painter_.setColor(color); } virtual void setFocus( bool inFocus ) { painter_.setFocus( inFocus ); }; virtual void setUseTransparency( bool useTransparency ) { painter_.setUseTransparency( useTransparency ); }; // Need a special update function to set (x,y,theta) // The Localise3dElement needs this because it's special kind of GuiElement: // A platform has a position in the world and various other things are // drawn with respect to that position. virtual void update(); // Access to ML estimate. virtual double x() const { return x_; } virtual double y() const { return y_; } virtual double theta() const { return theta_; } virtual int platformKnowledgeReliability() const { return 7; } virtual QPointF pos() const { return QPointF(x_,y_); }; private: Localise3dPainter painter_; double x_; double y_; double theta_; void tryToGetGeometry(); bool haveGeometry_; orca::CartesianPoint origin_; }; class Particle2dElement : public orcaqguielementutil::IceStormElement<Particle2dPainter, orca::Particle2dData, orca::Particle2dPrx, orca::Particle2dConsumer, orca::Particle2dConsumerPrx> { public: Particle2dElement( const orcaice::Context &context, const std::string &proxyString, int timeoutMs=60000 ) : orcaqguielementutil::IceStormElement<Particle2dPainter, orca::Particle2dData, orca::Particle2dPrx, orca::Particle2dConsumer, orca::Particle2dConsumerPrx>(context, proxyString, painter_, timeoutMs ) {}; virtual bool isInGlobalCS() { return true; } virtual void actionOnConnection() { paintInitialData<orca::Particle2dPrx, Particle2dPainter> ( context_, listener_.interfaceName(), painter_ ); } virtual void setColor( QColor color ) { painter_.setColor(color); } virtual void setUseTransparency( bool useTransparency ) { painter_.setUseTransparency( useTransparency ); }; private: Particle2dPainter painter_; }; class QGraphics2dElement : public orcaqguielementutil::IceStormElement<QGraphics2dPainter, orca::QGraphics2dData, orca::QGraphics2dPrx, orca::QGraphics2dConsumer, orca::QGraphics2dConsumerPrx> { public: QGraphics2dElement( const orcaice::Context &context, const std::string &proxyString, int timeoutMs=-1 ) : orcaqguielementutil::IceStormElement<QGraphics2dPainter, orca::QGraphics2dData, orca::QGraphics2dPrx, orca::QGraphics2dConsumer, orca::QGraphics2dConsumerPrx>(context, proxyString, painter_, timeoutMs ) { }; virtual bool isInGlobalCS() { return painter_.isInGlobalCS(); } virtual void actionOnConnection() { paintInitialData<orca::QGraphics2dPrx,QGraphics2dPainter> ( context_, listener_.interfaceName(), painter_ ); } private: void getInitialAppearance(); QGraphics2dPainter painter_; }; class Odometry2dElement : public orcaqguielementutil::IceStormElement<Odometry2dPainter, orca::Odometry2dData, orca::Odometry2dPrx, orca::Odometry2dConsumer, orca::Odometry2dConsumerPrx> { public: Odometry2dElement( const orcaice::Context &context, const std::string &proxyString, int timeoutMs=60000 ) : orcaqguielementutil::IceStormElement<Odometry2dPainter, orca::Odometry2dData, orca::Odometry2dPrx, orca::Odometry2dConsumer, orca::Odometry2dConsumerPrx>(context, proxyString, painter_, timeoutMs ) {}; virtual bool isInGlobalCS() { return false; } virtual void actionOnConnection() { paintInitialData<orca::Odometry2dPrx, Odometry2dPainter> ( context_, listener_.interfaceName(), painter_ ); } virtual void setColor( QColor color ) { painter_.setColor(color); } virtual void setUseTransparency( bool useTransparency ) { painter_.setUseTransparency( useTransparency ); }; private: Odometry2dPainter painter_; }; } // namespace #endif

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