136 lines
3.9 KiB
C++
136 lines
3.9 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <boost/bind.hpp>
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#include "gazebo/transport/transport.hh"
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#include "gazebo/rendering/Scene.hh"
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#include "gazebo/rendering/DynamicLines.hh"
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#include "gazebo/rendering/TransmitterVisualPrivate.hh"
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#include "gazebo/rendering/TransmitterVisual.hh"
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using namespace gazebo;
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using namespace rendering;
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/////////////////////////////////////////////////
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TransmitterVisual::TransmitterVisual(const std::string &_name, VisualPtr _vis,
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const std::string &_topicName)
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: Visual(*new TransmitterVisualPrivate, _name, _vis)
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{
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TransmitterVisualPrivate *dPtr =
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reinterpret_cast<TransmitterVisualPrivate *>(this->dataPtr);
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dPtr->type = VT_SENSOR;
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dPtr->isFirst = true;
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dPtr->receivedMsg = false;
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dPtr->node = transport::NodePtr(new transport::Node());
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dPtr->node->Init(dPtr->scene->Name());
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dPtr->points = NULL;
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dPtr->signalPropagationSub = dPtr->node->Subscribe(_topicName,
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&TransmitterVisual::OnNewPropagationGrid, this);
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dPtr->connections.push_back(
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event::Events::ConnectPreRender(
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boost::bind(&TransmitterVisual::Update, this)));
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}
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/////////////////////////////////////////////////
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TransmitterVisual::~TransmitterVisual()
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{
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TransmitterVisualPrivate *dPtr =
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reinterpret_cast<TransmitterVisualPrivate *>(this->dataPtr);
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DeleteDynamicLine(dPtr->points);
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dPtr->signalPropagationSub.reset();
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}
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/////////////////////////////////////////////////
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void TransmitterVisual::Load()
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{
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Visual::Load();
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TransmitterVisualPrivate *dPtr =
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reinterpret_cast<TransmitterVisualPrivate *>(this->dataPtr);
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dPtr->points = this->CreateDynamicLine(rendering::RENDERING_POINT_LIST);
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dPtr->points->setMaterial("Gazebo/PointCloud");
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}
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/////////////////////////////////////////////////
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void TransmitterVisual::OnNewPropagationGrid(ConstPropagationGridPtr &_msg)
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{
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TransmitterVisualPrivate *dPtr =
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reinterpret_cast<TransmitterVisualPrivate *>(this->dataPtr);
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boost::mutex::scoped_lock lock(dPtr->mutex);
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// Just copy the received data but do not update the UI
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dPtr->gridMsg = _msg;
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dPtr->receivedMsg = true;
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}
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////////////////////////////////////////////////
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void TransmitterVisual::Update()
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{
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TransmitterVisualPrivate *dPtr =
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reinterpret_cast<TransmitterVisualPrivate *>(this->dataPtr);
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gazebo::msgs::PropagationParticle p;
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boost::mutex::scoped_lock lock(dPtr->mutex);
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if (!dPtr->gridMsg || !dPtr->receivedMsg)
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return;
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// Update the visualization of the last propagation grid received
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dPtr->receivedMsg = false;
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if (dPtr->isFirst)
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{
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for (int i = 0; i < dPtr->gridMsg->particle_size(); ++i)
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{
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p = dPtr->gridMsg->particle(i);
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dPtr->points->AddPoint(p.x(), p.y(), 0.0);
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}
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dPtr->isFirst = false;
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}
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// Update the list of visual elements
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for (int i = 0; i < dPtr->gridMsg->particle_size(); ++i)
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{
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p = dPtr->gridMsg->particle(i);
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dPtr->points->SetPoint(i, ignition::math::Vector3d(p.x(), p.y(), 0));
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// Crop the signal strength between 0 and 255
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double strength = std::min(std::max(0.0, -p.signal_level()), 255.0);
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// Normalize
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strength = 1.0 - (strength / 255.0);
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// Set the color in gray scale
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common::Color color(strength, strength, strength);
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dPtr->points->SetColor(i, color);
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}
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}
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