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separate background color from drawn paths, trigger repaint on parameter changes #75

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merged 1 commit into from
Oct 18, 2019
Merged

separate background color from drawn paths, trigger repaint on parameter changes #75

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4 changes: 4 additions & 0 deletions turtlesim/include/turtlesim/turtle_frame.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
# include <rclcpp/rclcpp.hpp>
# include <ament_index_cpp/get_package_share_directory.hpp>

# include <rcl_interfaces/msg/parameter_event.hpp>
# include <std_srvs/srv/empty.hpp>
# include <turtlesim/srv/spawn.hpp>
# include <turtlesim/srv/kill.hpp>
Expand Down Expand Up @@ -76,6 +77,8 @@ private slots:
bool spawnCallback(const turtlesim::srv::Spawn::Request::SharedPtr, turtlesim::srv::Spawn::Response::SharedPtr);
bool killCallback(const turtlesim::srv::Kill::Request::SharedPtr, turtlesim::srv::Kill::Response::SharedPtr);

void parameterEventCallback(const rcl_interfaces::msg::ParameterEvent::SharedPtr);

rclcpp::Node::SharedPtr nh_;

QTimer* update_timer_;
Expand All @@ -90,6 +93,7 @@ private slots:
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_srv_;
rclcpp::Service<turtlesim::srv::Spawn>::SharedPtr spawn_srv_;
rclcpp::Service<turtlesim::srv::Kill>::SharedPtr kill_srv_;
rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;

typedef std::map<std::string, TurtlePtr> M_Turtle;
M_Turtle turtles_;
Expand Down
34 changes: 25 additions & 9 deletions turtlesim/src/turtle_frame.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,10 @@ TurtleFrame::TurtleFrame(rclcpp::Node::SharedPtr& node_handle, QWidget* parent,
spawn_srv_ = nh_->create_service<turtlesim::srv::Spawn>("spawn", std::bind(&TurtleFrame::spawnCallback, this, std::placeholders::_1, std::placeholders::_2));
kill_srv_ = nh_->create_service<turtlesim::srv::Kill>("kill", std::bind(&TurtleFrame::killCallback, this, std::placeholders::_1, std::placeholders::_2));

rclcpp::QoS qos(rclcpp::KeepLast(100), rmw_qos_profile_sensor_data);
parameter_event_sub_ = nh_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
"/parameter_events", qos, std::bind(&TurtleFrame::parameterEventCallback, this, std::placeholders::_1));

RCLCPP_INFO(nh_->get_logger(), "Starting turtlesim with node name %s", nh_->get_node_names()[0].c_str());

width_in_meters_ = (width() - 1) / meter_;
Expand Down Expand Up @@ -152,6 +156,16 @@ bool TurtleFrame::killCallback(const turtlesim::srv::Kill::Request::SharedPtr re
return true;
}

void TurtleFrame::parameterEventCallback(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
{
// only consider events from this node
if (event->node == nh_->get_fully_qualified_name())
{
// since parameter events for this even aren't expected frequently just always call update()
update();
}
}

bool TurtleFrame::hasTurtle(const std::string& name)
{
return turtles_.find(name) != turtles_.end();
Expand Down Expand Up @@ -193,15 +207,8 @@ std::string TurtleFrame::spawnTurtle(const std::string& name, float x, float y,

void TurtleFrame::clear()
{
int r = DEFAULT_BG_R;
int g = DEFAULT_BG_G;
int b = DEFAULT_BG_B;

nh_->get_parameter("background_r", r);
nh_->get_parameter("background_g", g);
nh_->get_parameter("background_b", b);

path_image_.fill(qRgb(r, g, b));
// make all pixels fully transparent
path_image_.fill(qRgba(255, 255, 255, 0));
update();
}

Expand All @@ -222,6 +229,15 @@ void TurtleFrame::paintEvent(QPaintEvent*)
{
QPainter painter(this);

int r = DEFAULT_BG_R;
int g = DEFAULT_BG_G;
int b = DEFAULT_BG_B;
nh_->get_parameter("background_r", r);
nh_->get_parameter("background_g", g);
nh_->get_parameter("background_b", b);
QRgb background_color = qRgb(r, g, b);
painter.fillRect(0, 0, width(), height(), background_color);

painter.drawImage(QPoint(0, 0), path_image_);

M_Turtle::iterator it = turtles_.begin();
Expand Down