Visualization3DBasic.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
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#ifndef _MIRA_VISUALIZATION3DBASIC_H_
#define _MIRA_VISUALIZATION3DBASIC_H_

#ifndef Q_MOC_RUN
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#endif

#include <visualization/Visualization3D.h>

#include <widgets/OgreUtils.h>

namespace mira {


template <typename T>
class Visualization3DBasic : public Visualization3D
{
public:

    Visualization3DBasic(const std::string channelDisplayName = "Channel") :
        mChannelDisplayName(channelDisplayName),
        mNode(NULL) {
        mDataChannel.setDataChangedCallback(
                boost::bind(&Visualization3DBasic::dataChangedCallback, this, _1));
        mDataChannel.setChannelChangedCallback(
                boost::bind(&Visualization3DBasic::channelChangedCallback, this));
    }

    virtual ~Visualization3DBasic() {
        if(getSite()==NULL)
            return;
        getSite()->getSceneManager()->destroySceneNode(mNode);
    }

    template <typename Reflector>
    void reflect(Reflector& r) {
        MIRA_REFLECT_BASE(r, Visualization3D);
        channelProperty(r, mChannelDisplayName.c_str(), mDataChannel,
                        "The channel to be visualized");
    }

public:

    virtual void setupScene(IVisualization3DSite* site) {
        Ogre::SceneManager* mgr = site->getSceneManager();
        mNode = mgr->getRootSceneNode()->createChildSceneNode();
        setupScene(mgr, mNode);
        mNode->setVisible(isEnabled());
    }

    virtual void setupScene(Ogre::SceneManager* mgr, Ogre::SceneNode* node) = 0;

    virtual Ogre::SceneNode* getNode()
    {
        return mNode;
    }

public:

    void setEnabled(bool enabled) {
        Visualization3D::setEnabled(enabled);
        if (mNode != NULL)
            mNode->setVisible(enabled);
    }

public:

    virtual DataConnection getDataConnection() {
        return DataConnection(mDataChannel);
    }

protected:

    virtual void update(Duration dt) {
        if (!mDataChannel.isValid() || mDataChannel.getDataUpdateCount() == 0)
            return;

        if (mDataFrameID.empty())
            MIRA_THROW(TransformerBase::XTransform,
                       "Data has no frame for transforming it into the view's camera frame");

        RigidTransform3f d;
        try {
            d = getAuthority().template getTransform<RigidTransform3f>(
                mDataFrameID, mDataTimestamp,
                getSite()->getCameraFrame(), Time::now(),
                getSite()->getFixedFrame(), LinearInterpolatorNearestNeighbourExtrapolator());
        }
        catch(Exception& ex) {  // fall back to non interpolating versions
            d = getAuthority().template getTransform<RigidTransform3f>(
                mDataFrameID, mDataTimestamp,
                getSite()->getCameraFrame(), Time::now(),
                getSite()->getFixedFrame());
        }

        OgreUtils::setTransform(mNode, d);
    }

    void dataChangedCallback(ChannelRead<T> data) {
        mDataFrameID = data->frameID;
        mDataTimestamp = data->timestamp;
        dataChanged(data);
    }

    void channelChangedCallback() {
        mDataFrameID = "";
        try {
            this->setName(mDataChannel.getID());
        }
        catch (XRuntime&) {}
        channelChanged();
    }

    virtual void channelChanged() {}

    virtual void dataChanged(ChannelRead<T> data) {
        onDataChanged(data);    // only for backward compatibility
    }

    virtual void onDataChanged(ChannelRead<T> data) {}

protected:

    ChannelProperty<T> mDataChannel;
    std::string mChannelDisplayName;

    std::string mDataFrameID;
    Time mDataTimestamp;

    Ogre::SceneNode* mNode;
};


}

#endif