ImageDisplay.hh

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/*
 * Copyright (C) 2017 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 GZ_GUI_PLUGINS_IMAGEDISPLAY_HH_
#define GZ_GUI_PLUGINS_IMAGEDISPLAY_HH_
 
#include <QImage>
#include <QString>
#include <QStringList>
#include <QQuickImageProvider>
 
#include <gz/msgs/image.pb.h>
 
#ifndef _WIN32
#  define ImageDisplay_EXPORTS_API __attribute__ ((visibility ("default")))
#else
#  if (defined(ImageDisplay_EXPORTS))
#    define ImageDisplay_EXPORTS_API __declspec(dllexport)
#  else
#    define ImageDisplay_EXPORTS_API __declspec(dllimport)
#  endif
#endif
 
#include "gz/gui/Plugin.hh"
 
#include <gz/utils/ImplPtr.hh>
 
namespace gz::gui::plugins
{
  class ImageProvider : public QQuickImageProvider
  {
    public: ImageProvider()
       : QQuickImageProvider(QQuickImageProvider::Image)
    {
    }
 
    public: QImage requestImage(const QString &, QSize *,
        const QSize &) override
    {
      if (!this->img.isNull())
      {
        // Must return a copy
        return this->img;
      }
 
      // Placeholder in case we have no image yet
      QImage i(400, 400, QImage::Format_RGB888);
      i.fill(QColor(128, 128, 128, 100));
      return i;
    }
 
    public: void SetImage(const QImage &_image)
    {
      this->img = _image;
    }
 
    private: QImage img;
  };
 
  class ImageDisplay_EXPORTS_API ImageDisplay : public Plugin
  {
    Q_OBJECT
 
    Q_PROPERTY(
      QStringList topicList
      READ TopicList
      WRITE SetTopicList
      NOTIFY TopicListChanged
    )
 
    
    public: ImageDisplay();
 
    public: virtual ~ImageDisplay();
 
    // Documentation inherited
    public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem);
 
    public slots: void OnRefresh();
 
    public slots: void OnTopic(const QString _topic);
 
    public: Q_INVOKABLE QStringList TopicList() const;
 
    public: Q_INVOKABLE void SetTopicList(const QStringList &_topicList);
 
    public: Q_INVOKABLE void RegisterImageProvider(const QString &_uniqueName);
 
    public: Q_INVOKABLE QString ImageProviderName();
 
    public: inline void SetEnableDepthFlip(bool _enable);
 
    public: Q_INVOKABLE void SetFlipDepthVisualization(bool _value);
 
    signals: void TopicListChanged();
 
    signals: void newImage();
 
    private slots: void ProcessImage();
 
    private: void OnImageMsg(const gz::msgs::Image &_msg);
 
    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };
}  // namespace gz::gui::plugins
 
#endif  // GZ_GUI_PLUGINS_IMAGEDISPLAY_HH_