diff --git a/librviz_tutorial/src/myviz.cpp b/librviz_tutorial/src/myviz.cpp old mode 100644 new mode 100755 index 888b65b..547cc8a --- a/librviz_tutorial/src/myviz.cpp +++ b/librviz_tutorial/src/myviz.cpp @@ -4,7 +4,7 @@ #include #include #include -#include +#include #include #include @@ -39,38 +39,14 @@ #include "rviz/selection/selection_manager.h" #include "rviz/panel.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "rviz/properties/property_tree_widget.h" -#include "rviz/selection/selection_manager.h" -#include "rviz/panel.h" - #include "rviz/visualization_manager.h" #include"rviz/tool_manager.h" -#include"rviz/tool_manager.h" #include "rviz/render_panel.h" #include "rviz/display.h" #include "myviz.h" #include "../tools/color.h" #include "qthread.h" -#include "qthread.h" // BEGIN_TUTORIAL // Constructor for MyViz. This does most of the work of the class. MyViz::MyViz( QWidget* parent) @@ -84,8 +60,9 @@ MyViz::MyViz( QWidget* parent) // 全局变量存放处 // 颜色名称，可添加，待设置rgb类型设置颜色 - color_name = {"white","red","green","black","blue","yellow","pink","purple","skyblue","lightgreen","orange", - color_name = {"white","red","green","black","blue","yellow","pink","purple","skyblue","lightgreen","orange", + color_name = { + "white","red","green","black","blue","yellow", + "pink","purple","skyblue","lightgreen","orange", }; // 颜色路径名 color_icon_filename = QString("../Rviz/librviz_ws/src/librviz_tutorial/sources/images/%1.png"); @@ -117,19 +94,18 @@ MyViz::MyViz( QWidget* parent) controls_layout->addWidget( login_button, ctl_index, 0); controls_layout->addWidget( quit_login_button, ctl_index++, 1); - controls_layout->addWidget( move_camera_button, ctl_index, 0); - controls_layout->addWidget( selection_button, ctl_index++ ,1); + // offline 布局 // QPushButton setting!//////////////////////////////////////////////////////////////////////////////////////////////// - QPushButton* play = new QPushButton("play", this); - QPushButton* pause = new QPushButton("pause", this); - QPushButton* but_save = new QPushButton("save", this);// buttonn: save one frame - QPushButton* but_saveMul = new QPushButton("saveMul", this);// button: save multiple frames - QPushButton* but_file = new QPushButton("file", this);// button: select file + QPushButton* play = new QPushButton("播放", this); + QPushButton* pause = new QPushButton("暂停", this); + QPushButton* but_save = new QPushButton("保存一帧", this);// buttonn: save one frame + QPushButton* but_saveMul = new QPushButton("保存多帧", this);// button: save multiple frames + QPushButton* but_file = new QPushButton("打开文件", this);// button: select file // QLabel setting!///////////////////////////////////////////////////////////////////////////////////////////////////// - QLabel* label_speed = new QLabel("speed:");//speed combobox + QLabel* label_speed = new QLabel("播放速度:");//speed combobox QLabel* label_split = new QLabel("");//speed combobox // QSlider setting!//////////////////////////////////////////////////////////////////////////////////////////////////// @@ -144,11 +120,11 @@ MyViz::MyViz( QWidget* parent) but_file->setEnabled(false); // setting button size!//////////////////////////////////////////////////////////////////////////////////////////////// - play->setFixedSize(100, 30); - pause->setFixedSize(100, 30); - but_save->setFixedSize(100, 30); - but_saveMul->setFixedSize(100, 30); - but_file->setFixedSize(100, 30); + play->setFixedSize(120, 30); + pause->setFixedSize(120, 30); + but_save->setFixedSize(120, 30); + but_saveMul->setFixedSize(120, 30); + but_file->setFixedSize(120, 30); for(int i = 0; i < speed_name.size(); i++) speed_combobox->addItem(speed_name[i] + "x"); @@ -159,6 +135,9 @@ MyViz::MyViz( QWidget* parent) controls_layout->addWidget( but_save, ctl_index++, 1 ); controls_layout->addWidget( but_saveMul, ctl_index++, 0 ); + controls_layout->addWidget( move_camera_button, ctl_index, 0); + controls_layout->addWidget( selection_button, ctl_index++ ,1); + controls_layout->addWidget(label_speed,ctl_index,0); controls_layout->addWidget(speed_combobox,ctl_index++,1); @@ -169,26 +148,29 @@ MyViz::MyViz( QWidget* parent) controls_layout->setSpacing(5); // 是否选择显示坐标轴 - QLabel* label_axes = new QLabel("Display Axes:"); - QComboBox * axesBox = new QComboBox(); - axesBox->addItem("no"); - axesBox->addItem("yes"); + QLabel* label_axes = new QLabel("参考坐标系:"); + QCheckBox *axes_checkbox = new QCheckBox("", this); + // QComboBox * axesBox = new QComboBox(); + // axesBox->addItem("不显示"); + // axesBox->addItem("显示"); // 选择圆圈范围 - QLabel* label_circle = new QLabel("Circle Scale(m): "); - QSpinBox* circel_r_text=new QSpinBox(); + QLabel* label_circle = new QLabel("参考圆(m): "); + QLineEdit* circleLineEdit = new QLineEdit(); + circleLineEdit->setPlaceholderText("请输入数字"); + circleLineEdit->setFixedWidth(120); controls_layout->addWidget(label_axes, ctl_index,0); - controls_layout->addWidget(axesBox, ctl_index++,1); + controls_layout->addWidget(axes_checkbox, ctl_index++,1); controls_layout->addWidget(label_circle, ctl_index,0); - controls_layout->addWidget(circel_r_text, ctl_index++,1); + controls_layout->addWidget(circleLineEdit, ctl_index++,1); // 第二个layout - QGridLayout* display_layout = new QGridLayout(); - int display_index = 0; + //QGridLayout* display_layout = new QGridLayout(); + //int display_index = 0; // Tree 全局变量存放地方 - Tree_Display(display_layout, display_index++); + Tree_Display(controls_layout, ctl_index++); // 待解锁子组件设置父组件，方便寻找，登陆后解锁可编辑属性 @@ -196,6 +178,8 @@ MyViz::MyViz( QWidget* parent) login_button->setParent(this); quit_login_button->setObjectName("quit_login_button"); quit_login_button->setParent(this); + quit_login_button->setEnabled(false); + but_file->setObjectName("open_file"); but_file->setParent(this); @@ -216,9 +200,10 @@ MyViz::MyViz( QWidget* parent) connect(move_camera_button, SIGNAL(clicked()), this, SLOT( slot_move_camera())); // 增加坐标变换 - connect(axesBox, SIGNAL(currentIndexChanged(int)), this, SLOT(AxesDisplayChanged(int))); + // connect(axesBox, SIGNAL(currentIndexChanged(int)), this, SLOT(AxesDisplayChanged(int))); + connect(axes_checkbox, SIGNAL(stateChanged(int)), this, SLOT(AxesDisplayChanged(int))); // 增加圆圈变换 - connect(circel_r_text,SIGNAL(valueChanged(int)),this,SLOT(CircleDisplayChanged(int))); + connect(circleLineEdit, SIGNAL(textChanged(const QString&)), this, SLOT(CircleDisplayChanged(const QString&))); //off connect(progress,&QSlider::valueChanged,this,[=](){// 变动会触发 if(!ismoved){ @@ -325,10 +310,6 @@ MyViz::MyViz( QWidget* parent) render_panel_ = new rviz::RenderPanel(); // RVIZ在QT上显示的类 QHBoxLayout* main_layout = new QHBoxLayout; // 主要layout QV垂直，QH水平 - // QSplitter *splitter = new QSplitter(); - // main_layout->addWidget(splitter); - // splitter->addWidget(render_panel_); - // Next we initialize the main RViz classes. // // The VisualizationManager is the container for Display objects, @@ -350,12 +331,13 @@ MyViz::MyViz( QWidget* parent) // qDebug()<< cur_fixed_frame; // 创建select panel - QLabel *select_label = new QLabel("Select Display:"); + QLabel *select_label = new QLabel("坐标点显示:"); tree_widget_ = new rviz::PropertyTreeWidget(); tree_widget_->setModel(manager_->getSelectionManager()->getPropertyModel()); - - display_layout->addWidget(select_label, display_index++, 0); - display_layout->addWidget(tree_widget_, display_index++, 0); + ctl_index++; + controls_layout->addWidget(select_label, ctl_index++, 0); + // controls_layout->addWidget(tree_widget_, ctl_index++, 0); + controls_layout->addWidget(tree_widget_, ctl_index++, 0, 1, 2); // 设置网格某一行伸缩比例,放最后一行 // controls_layout->setRowStretch(--ctl_index, 6); @@ -367,8 +349,6 @@ MyViz::MyViz( QWidget* parent) // cloud = manager_->createDisplay( "rviz/PointCloud2", "point cloud", true ); // ROS_ASSERT( cloud != NULL ); - laser_ = manager_->createDisplay( "rviz/LaserScan", "Qlaser", true ); - ROS_ASSERT( laser_ ); laser_ = manager_->createDisplay( "rviz/LaserScan", "Qlaser", true ); ROS_ASSERT( laser_ ); // 新增雷达 @@ -398,7 +378,7 @@ MyViz::MyViz( QWidget* parent) // Set the top-level layout for this MyViz widget. main_layout->addLayout( controls_layout ); - main_layout->addLayout( display_layout ); + //main_layout->addLayout( controls_layout ); main_layout->addWidget( render_panel_,2); // 存放rviz的位置, stretch 拉伸系数 setLayout( main_layout ); @@ -422,10 +402,10 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){ global->setExpanded(true); // fix frame - QTreeWidgetItem *fixed_frame = new QTreeWidgetItem(global, QStringList("Fixed Frame")); + QTreeWidgetItem *fixed_frame = new QTreeWidgetItem(global, QStringList("固定参考系")); QLineEdit* fixed_frame_text = new QLineEdit(); - fixed_frame_text->setText("laser"); + fixed_frame_text->setText("world"); fixed_frame_text->setStyleSheet("background:transparent;border-width:0;border-style:inset"); // 初始化固定坐标系 cur_fixed_frame = fixed_frame_text->text(); @@ -434,7 +414,7 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){ // 将其他控件(非TreeWidgetItem)放入treeItem中 menu->setItemWidget(fixed_frame, 1, fixed_frame_text); // 将container 放到 Item ,数字为列数 - QTreeWidgetItem *bg_color = new QTreeWidgetItem(global, QStringList("BackGround Color")); + QTreeWidgetItem *bg_color = new QTreeWidgetItem(global, QStringList("背景颜色")); QLineEdit* bg_color_text = new QLineEdit(); bg_color_text->setText("48;48;48"); bg_color_text->setStyleSheet("border-width:0;border-style:outset"); @@ -444,23 +424,20 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){ // global->addChild(fixed_frame); // global->setTextAlignment(1, 2); // (列数，对齐方式) // grid - 一层树 - QTreeWidgetItem * grid = new QTreeWidgetItem(menu, QStringList("Grid")); + QTreeWidgetItem * grid = new QTreeWidgetItem(menu, QStringList("栅格")); // 二层 - QTreeWidgetItem *grid_color = new QTreeWidgetItem(grid, QStringList("Color")); + QTreeWidgetItem *grid_color = new QTreeWidgetItem(grid, QStringList("颜色")); QComboBox * grid_color_cbox = new QComboBox(); for(int i =0 ; i < color_name.size(); ++i){ QString color_path = color_icon_filename.arg(color_name[i]); QIcon color_icon(color_path); grid_color_cbox->addItem(color_icon, color_name[i]); - QString color_path = color_icon_filename.arg(color_name[i]); - QIcon color_icon(color_path); - grid_color_cbox->addItem(color_icon, color_name[i]); } connect(grid_color_cbox, SIGNAL(currentIndexChanged(int)), this, SLOT(GridColorChanged(int))); menu->setItemWidget(grid_color, 1, grid_color_cbox); // grid cell size - QTreeWidgetItem *grid_cell = new QTreeWidgetItem(grid, QStringList("Cell Size")); + QTreeWidgetItem *grid_cell = new QTreeWidgetItem(grid, QStringList("网格大小")); QSlider* cell_size_slider = new QSlider( Qt::Horizontal ); cell_size_slider->setMinimum( 1 ); cell_size_slider->setMaximum( 100 ); @@ -469,7 +446,7 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){ menu->setItemWidget(grid_cell, 1, cell_size_slider); // grid Line Thickness - QTreeWidgetItem *grid_thickness = new QTreeWidgetItem(grid, QStringList("Line Thickness")); + QTreeWidgetItem *grid_thickness = new QTreeWidgetItem(grid, QStringList("线条粗细")); QSlider* thickness_slider = new QSlider( Qt::Horizontal ); thickness_slider->setMinimum( 1 ); thickness_slider->setMaximum( 100 ); @@ -478,9 +455,9 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){ menu->setItemWidget(grid_thickness, 1, thickness_slider); // laser - 一层树 - QTreeWidgetItem * laser = new QTreeWidgetItem(menu, QStringList("Laser")); + QTreeWidgetItem * laser = new QTreeWidgetItem(menu, QStringList("雷达")); // 二层 - QTreeWidgetItem *laser_topic = new QTreeWidgetItem(laser, QStringList("Topic ")); + QTreeWidgetItem *laser_topic = new QTreeWidgetItem(laser, QStringList("话题")); // Topic_Laser 输入雷达 QLineEdit* laser_topic_text = new QLineEdit(); @@ -493,13 +470,13 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){ menu->setItemWidget(laser_topic, 1, laser_topic_text); // Laser size - QTreeWidgetItem *laser_size = new QTreeWidgetItem(laser, QStringList("Size ")); + QTreeWidgetItem *laser_size = new QTreeWidgetItem(laser, QStringList("大小")); QSpinBox* laser_size_text=new QSpinBox(); connect(laser_size_text,SIGNAL(valueChanged(int)),this,SLOT(setLaserSize(int))); menu->setItemWidget(laser_size, 1, laser_size_text); // Laser color - QTreeWidgetItem *laser_color = new QTreeWidgetItem(laser, QStringList("Color ")); + QTreeWidgetItem *laser_color = new QTreeWidgetItem(laser, QStringList("颜色")); QComboBox * laser_color_comboBox = new QComboBox(); for(int i =0 ; i < color_name.size(); ++i){ QString color_path = color_icon_filename.arg(color_name[i]); @@ -513,55 +490,70 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){ connect(laser_color_comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(LaserColorChanged(int))); menu->setItemWidget(laser_color, 1, laser_color_comboBox); - controls_layout->addWidget(menu, index, 0 ); + //controls_layout->addWidget(menu, index, 0 ); + controls_layout->addWidget(menu, index, 0, 1, 2); } void MyViz::quit_login_button_clicked(){ + landed = 0; + // 退出设置登录按钮可用 QWidget * login_button = this->findChild("login_button"); if (login_button) { - // 找到了指定的子组件 在这里可以对子组件进行操作 login_button->setEnabled(true); - landed = 0; }else{ qDebug() << "login_button组件未找到" ; } + // 退出设置退出按钮不可用 + QWidget * quit_button = this->findChild("quit_login_button"); + if (quit_button) { + quit_button->setEnabled(false); + }else{ + qDebug() << "quit_login_button组件未找到" ; + } + // 退出设置其他组件不可用 if(dlg != NULL){ for (int i=0; i< dlg->setting_name.size(); i++){ - QWidget *foundChild = this->findChild(dlg->setting_name[i]); - if (foundChild) { - // 找到了指定的子组件 在这里可以对子组件进行操作 - foundChild->setEnabled(false); - }else{ - qDebug()<<"第" << i+1 <<"组件未找到" ; - } + QWidget *foundChild = this->findChild(dlg->setting_name[i]); + if (foundChild) { + // 找到了指定的子组件 在这里可以对子组件进行操作 + foundChild->setEnabled(false); + }else{ + qDebug()<<"第" << i+1 <<"组件未找到" ; + } } } } void MyViz::login_button_clicked(){ - dlg->setWindowTitle(tr("登录")); + dlg->setWindowTitle(tr("登录")); // dlg->setFixedSize(400, 300); // dlg->open();// 非模态级别对话框 - if(dlg->exec() == QDialog::Accepted){ - // 登录成功后 - qDebug() << "login accepted"; - QWidget * login_button = this->findChild("login_button"); - if (login_button) { - // 找到了指定的子组件 在这里可以对子组件进行操作 - login_button->setEnabled(false); - landed = 1; - }else{ - qDebug()<<"login_button组件未找到" ; - } - + if(dlg->exec() == QDialog::Accepted){ + // 登录成功后 + landed = 1; + qDebug() << "login accepted"; + // 登录设置其他组件和退出可用 + QWidget * quit_button = this->findChild("quit_login_button"); + if (quit_button) { + quit_button->setEnabled(true); }else{ - // 登录失败 - qDebug() << "login refused"; + qDebug() << "quit_login_button组件未找到" ; } + // 登录设置登录不可用 + QWidget * login_button = this->findChild("login_button"); + if (login_button) { + login_button->setEnabled(false); + }else{ + qDebug()<<"login_button组件未找到" ; + } + }else{ + // 登录失败 + qDebug() << "login refused"; + } } -void MyViz::PlayCircle(int index){ +void MyViz::PlayCircle(double index){ int argc =0; char** argv; ros::init(argc, argv, "basic_shapes"); @@ -645,27 +637,29 @@ void MyViz::PlayCircle(int index){ } -void MyViz::CircleDisplayChanged(int r){ - if(r == 0){ +void MyViz::CircleDisplayChanged(const QString& text){ + double index = text.toDouble(); + if(index <= 0){ marker_->setValue(false); }else { marker_->setValue(true); - std::thread ThreadCircle(&MyViz::PlayCircle, this, r);// 新开线程执行操作 + std::thread ThreadCircle(&MyViz::PlayCircle, this, index);// 新开线程执行操作 ThreadCircle.detach();// 执行完成后自动回收资源 } } -void MyViz::AxesDisplayChanged(int index) +void MyViz::AxesDisplayChanged(int stage) { - switch (index) + // 0未被选中，1被部分选中，2 被选中 + switch (stage) { - case 0: // "yes" 选项被选择 + case 0: // 未被选中 if (axes_display != NULL) axes_display->setValue(false); break; - case 1: // "no" 选项被选择 + case 2: // 被选择 if (axes_display != NULL) axes_display->setValue(true); break; diff --git a/librviz_tutorial/src/myviz.h b/librviz_tutorial/src/myviz.h index eeaa1eb..9de4261 100644 --- a/librviz_tutorial/src/myviz.h +++ b/librviz_tutorial/src/myviz.h @@ -70,9 +70,7 @@ public: virtual ~MyViz(); void subCallback(const std_msgs::String& msg); void pubThread(); - void PlayCircle(int index); // 圆圈线程执行函数 - rosbag::View *view; - void PlayCircle(int index); // 圆圈线程执行函数 + void PlayCircle(double index); // 圆圈线程执行函数 rosbag::View *view; private Q_SLOTS: // QT信号和槽 void setThickness( int thickness_percent ); @@ -87,9 +85,7 @@ private Q_SLOTS: // QT信号和槽 void setFixedFrame(const QString &FixedFrame); void setBackgroundColor(const QString& bg_color); // 背景颜色 void AxesDisplayChanged(int index); // axe - void CircleDisplayChanged(int index); // circle - void AxesDisplayChanged(int index); // axe - void CircleDisplayChanged(int index); // circle + void CircleDisplayChanged(const QString& text); // 圆圈变化 void Tree_Display(QGridLayout* layout, int index); void login_button_clicked(); @@ -106,17 +102,12 @@ private: rviz::VisualizationManager* manager_; // rviz::RenderPanel* render_panel_; rviz::ToolManager* tool_manager_; - rviz::ToolManager* tool_manager_; rviz::Display* grid_; rviz::Display* cloud; rviz::Display* laser_; rviz::Display* axes_display; rviz::Display* marker_; rviz::PropertyTreeWidget* tree_widget_ ; - rviz::Display* laser_; - rviz::Display* axes_display; - rviz::Display* marker_; - rviz::PropertyTreeWidget* tree_widget_ ; ros::NodeHandle nh; ros::Subscriber sub; ros::Publisher pub;