Right_Click_Services

mapviz/CMakeLists.txt

@@ -194,6 +194,7 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 )
 add_dependencies(${PROJECT_NAME}
   ${PROJECT_NAME}_gencpp
+  ${catkin_EXPORTED_TARGETS}
 )
 
 ### Install mapviz ###

mapviz/include/mapviz/map_canvas.h

@@ -62,6 +62,9 @@ namespace mapviz
     explicit MapCanvas(QWidget *parent = 0);
     ~MapCanvas();
 
+    std::string showCustomContextMenu(const QPoint &pos,std::vector<std::string> result);
+
+
     void InitializeTf(boost::shared_ptr<tf::TransformListener> tf);
 
     void AddPlugin(MapvizPluginPtr plugin, int order);
@@ -181,12 +184,14 @@ namespace mapviz
     void mouseMoveEvent(QMouseEvent* e);
     void keyPressEvent(QKeyEvent* e);
 
+
     void Recenter();
     void TransformTarget(QPainter* painter);
     void Zoom(float factor);
 
     void InitializePixelBuffers();
 
+    std::string service_name;
     bool canvas_able_to_move_ = true;
     bool has_pixel_buffers_;
     int32_t pixel_buffer_size_;

mapviz/src/map_canvas.cpp

@@ -31,8 +31,15 @@
 #include <GL/glew.h>
 #include <GL/gl.h>
 #include <GL/glu.h>
-
+#include <iostream>
 #include <mapviz/map_canvas.h>
+#include <QMenu>
+#include <QAction>
+#include "ros/ros.h"
+#include <vector>
+#include <string>
+#include <sstream>
+#include <iostream>
 
 // C++ standard libraries
 #include <cmath>
@@ -90,6 +97,7 @@ MapCanvas::MapCanvas(QWidget* parent) :
   setFrameRate(50.0);
   frame_rate_timer_.start();
   setFocusPolicy(Qt::StrongFocus);
+  this->setContextMenuPolicy(Qt::CustomContextMenu);
 }
 
 MapCanvas::~MapCanvas()
@@ -319,13 +327,15 @@ void MapCanvas::Zoom(float factor)
 
 void MapCanvas::mousePressEvent(QMouseEvent* e)
 {
-  mouse_x_ = e->x();
-  mouse_y_ = e->y();
-  mouse_previous_y_ = mouse_y_;
-  drag_x_ = 0;
-  drag_y_ = 0;
-  mouse_pressed_ = true;
-  mouse_button_ = e->button();
+
+    mouse_x_ = e->x();
+    mouse_y_ = e->y();
+    mouse_previous_y_ = mouse_y_;
+    drag_x_ = 0;
+    drag_y_ = 0;
+    mouse_pressed_ = true;
+    mouse_button_ = e->button();
+
 }
 
 void MapCanvas::keyPressEvent(QKeyEvent* event)
@@ -614,4 +624,34 @@ double MapCanvas::frameRate() const
 {
   return 1000.0 / frame_rate_timer_.interval();
 }
-}  // namespace mapviz
+
+std::string MapCanvas::showCustomContextMenu(const QPoint &pos,std::vector<std::string> result){
+   QMenu contextMenu(this);
+   std::vector<QAction *> actions;
+
+   for(auto service : result){
+                    QAction * act= new QAction(service.c_str(),this);
+                    actions.push_back(act);
+   }
+   for(auto action: actions){       
+           contextMenu.addAction(action);
+       }
+
+   QAction* selectedItem=contextMenu.exec(pos);
+   for(auto action: actions){
+           action->deleteLater();
+       }
+
+   if (selectedItem){
+       ROS_INFO("make call to %s",selectedItem->text().toStdString().c_str());
+       return selectedItem->text().toStdString().c_str();
+   }else{
+    ROS_ERROR("Service:''  doesn't exist");
+    return "";
+   }
+
+}
+
+
+}
+

mapviz_plugins/CMakeLists.txt

@@ -26,7 +26,22 @@ set(DEPENDENCIES
   visualization_msgs
 )
 
-find_package(catkin REQUIRED COMPONENTS ${DEPENDENCIES})
+find_package(catkin REQUIRED COMPONENTS ${DEPENDENCIES}
+            std_msgs
+            geometry_msgs
+            message_generation
+            )
+
+add_message_files(DIRECTORY msg
+                  FILES
+                  Location.msg
+)
+
+add_service_files(FILES
+  AvailableServices.srv
+  GPSCommand.srv
+)
+generate_messages(DEPENDENCIES std_msgs geometry_msgs)
 
 ### QT ###
 if("$ENV{ROS_DISTRO}" STRLESS "kinetic")
@@ -101,6 +116,7 @@ set(UI_FILES
     ui/path_config.ui
     ui/plan_route_config.ui
     ui/point_click_publisher_config.ui
+    ui/right_click_services_config.ui
     ui/pointcloud2_config.ui
     ui/robot_image_config.ui
     ui/route_config.ui
@@ -127,6 +143,7 @@ set(SRC_FILES
     src/placeable_window_proxy.cpp
     src/plan_route_plugin.cpp
     src/point_click_publisher_plugin.cpp
+    src/right_click_services_plugin.cpp
     src/pointcloud2_plugin.cpp
     src/point_drawing_plugin.cpp
     src/robot_image_plugin.cpp
@@ -155,6 +172,7 @@ set(HEADER_FILES
     include/${PROJECT_NAME}/placeable_window_proxy.h
     include/${PROJECT_NAME}/plan_route_plugin.h
     include/${PROJECT_NAME}/point_click_publisher_plugin.h
+    include/${PROJECT_NAME}/right_click_services_plugin.h
     include/${PROJECT_NAME}/pointcloud2_plugin.h
     include/${PROJECT_NAME}/point_drawing_plugin.h
     include/${PROJECT_NAME}/robot_image_plugin.h

mapviz_plugins/include/mapviz_plugins/canvas_click_filter.h

@@ -55,7 +55,7 @@ namespace mapviz_plugins
     void setMaxClickMovement(qreal max_distance);
 
   Q_SIGNALS:
-    void pointClicked(const QPointF&);
+    void pointClicked(const QPointF&, const Qt::MouseButton&);
 
   protected:
     bool eventFilter(QObject *object, QEvent* event);

mapviz_plugins/include/mapviz_plugins/point_click_publisher_plugin.h

@@ -78,7 +78,7 @@ namespace mapviz_plugins
     QWidget* GetConfigWidget(QWidget* parent);
 
   protected Q_SLOTS:
-    void pointClicked(const QPointF& point);
+    void pointClicked(const QPointF& point, const Qt::MouseButton& button);
     void topicChanged(const QString& topic);
     void updateFrames();
 

mapviz_plugins/include/mapviz_plugins/right_click_services_plugin.h

@@ -0,0 +1,82 @@
+// *****************************************************************************
+//  handling right click event, calls service which will display a
+//  number of services that are available on that specific location
+//
+// *****************************************************************************
+
+
+#ifndef MAPVIZ_PLUGINS_right_click_services_H
+#define MAPVIZ_PLUGINS_right_click_services_H
+
+// Include mapviz_plugin.h first to ensure GL deps are included in the right order
+#include <mapviz/mapviz_plugin.h>
+
+#include <QGLWidget>
+#include <QTimer>
+#include <mapviz/map_canvas.h>
+#include <QMouseEvent>
+#include <mapviz_plugins/canvas_click_filter.h>
+
+#include <ros/ros.h>
+
+// QT autogenerated files
+#include "ui_right_click_services_config.h"
+#include "ui_topic_select.h"
+
+/**
+ * This is a pretty straightforward plugin.  It watches for user clicks on the
+ * canvas, then converts the coordinates into a specified frame and publishes
+ * them as PointStamped messages on a specified topic.
+ */
+namespace mapviz_plugins
+{
+  class RightClickServicesPlugin : public mapviz::MapvizPlugin
+  {
+    Q_OBJECT;
+  public:
+
+    RightClickServicesPlugin();
+    virtual ~RightClickServicesPlugin();
+
+    bool Initialize(QGLWidget* canvas);
+    void Shutdown() {}
+
+    virtual void SetNode(const ros::NodeHandle& node);
+    virtual void PrintError(const std::string& message);
+    virtual void PrintInfo(const std::string& message);
+    virtual void PrintWarning(const std::string& message);
+
+    void Draw(double x, double y, double scale);
+
+    void Transform() {}
+
+    void LoadConfig(const YAML::Node& node, const std::string& path);
+    void SaveConfig(YAML::Emitter& emitter, const std::string& path);
+
+    QWidget* GetConfigWidget(QWidget* parent);
+
+
+    void serviceCall(std::string service);
+
+
+  protected Q_SLOTS:
+
+    void pointClicked(const QPointF& point, const Qt::MouseButton& button);
+    void topicChanged(const QString& topic);
+    void updateFrames();
+
+
+  private:
+    void showContextMenu(const QPoint& pos, boost::shared_ptr<geometry_msgs::PointStamped> stamped);
+    Ui::right_click_services_config ui_;
+    QWidget* config_widget_;
+
+    CanvasClickFilter click_filter_;
+    mapviz::MapCanvas* canvas_;
+
+    QTimer frame_timer_;
+    ros::Publisher point_publisher_;
+  };
+}
+
+#endif //MAPVIZ_PLUGINS_right_click_services_H

mapviz_plugins/mapviz_plugins.xml

@@ -64,6 +64,9 @@
   <class name="mapviz_plugins/point_click_publisher" type="mapviz_plugins::PointClickPublisherPlugin" base_class_type="mapviz::MapvizPlugin">
     <description>Publishes a StampedPoint when a point on the map canvas is clicked.</description>
   </class>
+  <class name="mapviz_plugins/right_click_services" type="mapviz_plugins::RightClickServicesPlugin" base_class_type="mapviz::MapvizPlugin">
+    <description>displays list of Services availableat that GPS location</description>
+  </class>
   <class name="mapviz_plugins/string" type="mapviz_plugins::StringPlugin" base_class_type="mapviz::MapvizPlugin">
     <description>Displays a std_msgs/String at a fixed point on the canvas.</description>
   </class>

mapviz_plugins/msg/Location.msg

@@ -0,0 +1,8 @@
+#Location
+# Latitude (degrees). Positive is north of equator; negative is south.
+float64 latitude
+# Longitude [degrees]. Positive is east of prime meridian; negative is west.
+float64 longitude
+# Altitude [m]. Positive is above the WGS 84 ellipsoid
+# (quiet NaN if no altitude is available).
+float64 altitude

mapviz_plugins/package.xml

@@ -11,11 +11,14 @@
   <license>BSD</license>
   <url>https://github.com/swri-robotics/mapviz</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>qt_qmake</buildtool_depend>
-
   <build_depend>libqt_dev</build_depend>
   <build_depend>libqt_opengl_dev</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>message_runtime</build_export_depend>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>qt_qmake</buildtool_depend>
 
   <depend>actionlib</depend>
   <depend>cv_bridge</depend>
@@ -39,9 +42,10 @@
   <depend>swri_yaml_util</depend>
   <depend>tf</depend>
   <depend>visualization_msgs</depend>
-  
+
   <exec_depend>libqt_core</exec_depend>
   <exec_depend>libqt_opengl</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
 
   <export>
     <mapviz plugin="${prefix}/mapviz_plugins.xml" />

mapviz_plugins/src/canvas_click_filter.cpp

@@ -83,9 +83,9 @@ namespace mapviz_plugins
         if (msecsDiff < max_ms_ && distance <= max_distance_)
         {
 #if QT_VERSION >= 0x050000
-          Q_EMIT pointClicked(me->localPos());
+          Q_EMIT pointClicked(me->localPos(), me->button());
 #else
-          Q_EMIT pointClicked(me->posF());
+          Q_EMIT pointClicked(me->posF(), me->button());
 #endif
         }
       }

mapviz_plugins/src/point_click_publisher_plugin.cpp

@@ -108,7 +108,7 @@ namespace mapviz_plugins
   }
 
 
-  void PointClickPublisherPlugin::pointClicked(const QPointF& point)
+  void PointClickPublisherPlugin::pointClicked(const QPointF& point, const Qt::MouseButton& button)
   {
     QPointF transformed = canvas_->MapGlCoordToFixedFrame(point);