playback_panel.hpp

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// Copyright Thinking Cars GmbH
// SPDX-License-Identifier: Apache-2.0
 
#ifndef PLAYBACK_PANEL_HPP_
#define PLAYBACK_PANEL_HPP_
 
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
 
#include <QEvent>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QSpinBox>
#include <QString>
#include <QTimer>
#include <QWidget>
 
#include "rclcpp/rclcpp.hpp"
#include "rviz_common/panel.hpp"
 
#include "autonomy_datasets_msgs/srv/request_samples.hpp"
 
namespace autonomy_datasets_rviz_plugins {
 
class PlaybackPanel : public rviz_common::Panel {
  Q_OBJECT
 
 public:
  explicit PlaybackPanel(QWidget* parent = nullptr);
 
  ~PlaybackPanel() override;
 
  PlaybackPanel(const PlaybackPanel&) = delete;
 
  PlaybackPanel& operator=(const PlaybackPanel&) = delete;
 
  PlaybackPanel(PlaybackPanel&&) = delete;
 
  PlaybackPanel& operator=(PlaybackPanel&&) = delete;
 
  void onInitialize() override;
 
  void load(const rviz_common::Config& config) override;
 
  void save(rviz_common::Config config) const override;
 
 Q_SIGNALS:
  // Moc generates the definition of the signal with parameter names of its own making
  // NOLINTNEXTLINE(readability-inconsistent-declaration-parameter-name)
  void requestFinished(const QString& position, const QString& status, bool success);
 
 private:  // NOLINT(readability-redundant-access-specifiers)
  void onServiceNameChanged();
 
  void onPauseClicked();
 
  void onStepClicked();
 
  void onSkipClicked();
 
  void onPlayClicked();
 
  void updateAvailability();
 
  void applyRequestResult(const QString& position, const QString& status, bool success);
 
  bool eventFilter(QObject* watched, QEvent* event) override;
 
  void setupUi();
 
  void showPosition(const QString& text);
 
  void showStatus(const QString& text);
 
  static void showElided(QLabel* label, const QString& text);
 
  void createClient();
 
  void sendRequest(uint8_t mode, uint64_t num_samples, const std::vector<uint64_t>& sample_ids, const QString& pending_status);
 
  void updateControlState();
 
  std::vector<uint64_t> parseSampleIds(QString* error) const;
 
  static QString describePosition(const autonomy_datasets_msgs::srv::RequestSamples::Response& response);
 
  QLineEdit* service_name_edit_{nullptr};
  QSpinBox* step_size_spin_{nullptr};
  QLineEdit* sample_ids_edit_{nullptr};
  QPushButton* pause_button_{nullptr};
  QPushButton* step_button_{nullptr};
  QPushButton* skip_button_{nullptr};
  QPushButton* play_button_{nullptr};
  QLabel* position_label_{nullptr};
  QLabel* status_label_{nullptr};
  QTimer* availability_timer_{nullptr};
 
  rclcpp::Node::SharedPtr node_;
  rclcpp::Client<autonomy_datasets_msgs::srv::RequestSamples>::SharedPtr client_;
  bool request_in_flight_{false};
  bool service_available_{false};
  QString position_text_;
  QString status_text_;
};
 
}  // namespace autonomy_datasets_rviz_plugins
 
#endif  // PLAYBACK_PANEL_HPP_