VisualizeLidar.hh

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/*
 * Copyright (C) 2020 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 IGNITION_GAZEBO_GUI_VISUALIZELIDAR_HH_
#define IGNITION_GAZEBO_GUI_VISUALIZELIDAR_HH_
 
#include <memory>
 
#include "gz/msgs/laserscan.pb.h"
#include "gz/sim/gui/GuiSystem.hh"
#include "gz/gui/qt.h"
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
{
  class VisualizeLidarPrivate;
 
  class VisualizeLidar : public ignition::gazebo::GuiSystem
  {
    Q_OBJECT
 
    Q_PROPERTY(
      QStringList topicList
      READ TopicList
      WRITE SetTopicList
      NOTIFY TopicListChanged
    )
 
    
    Q_PROPERTY(
      QString minRange
      READ MinRange
      NOTIFY MinRangeChanged
    )
 
    Q_PROPERTY(
      QString maxRange
      READ MaxRange
      NOTIFY MaxRangeChanged
    )
 
    public: VisualizeLidar();
 
    public: ~VisualizeLidar() override;
 
    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
 
    // Documentation Inherited
    public: bool eventFilter(QObject *_obj, QEvent *_event) override;
 
    // Documentation inherited
    public: void Update(const UpdateInfo &,
                        EntityComponentManager &_ecm) override;
 
    public: void OnScan(const msgs::LaserScan &_msg);
 
    public: void LoadLidar();
 
    public: Q_INVOKABLE void UpdateType(int _type);
 
    public: Q_INVOKABLE void UpdateSize(int _size);
 
    public: Q_INVOKABLE QStringList TopicList() const;
 
    public: Q_INVOKABLE void SetTopicList(const QStringList &_topicList);
 
    signals: void TopicListChanged();
 
    public: Q_INVOKABLE void OnTopic(const QString &_topicName);
 
    public: Q_INVOKABLE void UpdateNonHitting(bool _value);
 
    public: Q_INVOKABLE void DisplayVisual(bool _value);
 
    public: Q_INVOKABLE void OnRefresh();
 
    signals: void MinRangeChanged();
 
    signals: void MaxRangeChanged();
 
    public: Q_INVOKABLE QString MaxRange() const;
 
    public: Q_INVOKABLE QString MinRange() const;
 
    private: std::unique_ptr<VisualizeLidarPrivate> dataPtr;
  };
}
}
}
#endif