add emptybutton

button_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.8)
+project(button_rviz_plugin)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_rendering REQUIRED)
+
+set(CMAKE_AUTOMOC ON)
+
+add_library(${PROJECT_NAME} SHARED
+  src/button_panel.cpp
+)
+ament_target_dependencies(${PROJECT_NAME}
+  rviz_common
+  rviz_rendering
+)
+install(TARGETS
+  ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

button_rviz_plugin/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>button_rviz_plugin</name>
+  <version>0.0.0</version>
+  <description>button rviz plugin for CoRE_viewer</description>
+  <maintainer email="[email protected]">Ar-Ray-code</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rviz_common</depend>
+  <depend>rviz_rendering</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

button_rviz_plugin/plugins_description.xml

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+<library path="button_rviz_plugin">
+  <class name="button_rviz_plugin/EmptyButton" type="button_rviz_plugin::EmptyButton" base_class_type="rviz_common::Panel">
+    <description>button panel</description>
+  </class>
+</library>

button_rviz_plugin/src/button_handler.hpp

@@ -0,0 +1,83 @@
+// Copyright 2024 StrayedCats.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/empty.hpp>
+
+namespace button_rviz_plugin
+{
+class ButtonHandler
+{
+public:
+  ButtonHandler(void) {}
+
+  void setRosNodePtr(const rclcpp::Node::SharedPtr node_ptr)
+  {
+    node_ptr_ = node_ptr;
+  }
+
+  bool initializePublisher(const std::string topic_name)
+  {
+    if (topic_name == "") {
+      return false;
+    }
+    button_publisher_ =
+      node_ptr_->create_publisher<std_msgs::msg::Empty>(topic_name, 10);
+    return true;
+  }
+
+  void finalizePublisher(void)
+  {
+    button_publisher_.reset();
+  }
+
+  void publishButton(bool button)
+  {
+    if (button)
+    {
+      std_msgs::msg::Empty msg;
+      button_publisher_->publish(msg);
+    }
+  }
+
+  std::vector<std::string> getEmptyTopicList(void) const
+  {
+    return getTopicList("std_msgs/msg/Empty");
+  }
+
+private:
+  std::vector<std::string> getTopicList(const std::string type_name) const
+  {
+    std::map<std::string,
+      std::vector<std::string>> topic_map = node_ptr_->get_topic_names_and_types();
+
+    std::vector<std::string> output;
+    for (auto pair : topic_map) {
+      for (auto s : pair.second) {
+        if (s == type_name) {
+          output.push_back(pair.first);
+          break;
+        }
+      }
+    }
+    return output;
+  }
+
+  rclcpp::Node::SharedPtr node_ptr_;
+  rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr button_publisher_;
+};
+
+} // namespace button_rviz_plugin

button_rviz_plugin/src/button_panel.cpp

@@ -0,0 +1,136 @@
+// Copyright 2024 StrayedCats.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "button_panel.hpp"
+
+#include <rviz_common/config.hpp>
+#include <rviz_common/display_context.hpp>
+
+#include <QPainter>
+#include <QMouseEvent>
+#include <QSizePolicy>
+
+namespace button_rviz_plugin
+{
+EmptyButton::EmptyButton(QWidget * parent)
+: rviz_common::Panel(parent)
+{
+  QVBoxLayout * layout = new QVBoxLayout;
+
+  QHBoxLayout * layout_1st = new QHBoxLayout;
+  enable_check_ = new QCheckBox("Enable");
+  layout_1st->addWidget(enable_check_);
+  topic_combo_ = new QComboBox();
+  topic_combo_->setEditable(true);
+  layout_1st->addWidget(topic_combo_);
+  // layout->addLayout(layout_1st);
+
+  // QHBoxLayout * layout_3rd = new QHBoxLayout;
+  a_button_ = new QPushButton("click");
+  layout_1st->addWidget(a_button_);
+  layout->addLayout(layout_1st);
+
+  setLayout(layout);
+
+  interval_timer_ = new QTimer(this);
+
+  connect(interval_timer_, &QTimer::timeout, this, &EmptyButton::onTick);
+  connect(enable_check_, &QCheckBox::stateChanged, this, &EmptyButton::onCheckChange);
+  connect(a_button_, &QPushButton::clicked, this, &EmptyButton::onClickA);
+
+  interval_timer_->start(100);
+}
+
+void EmptyButton::onInitialize()
+{
+  button_handler_.setRosNodePtr(
+    this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node());
+  updateTopicList();
+}
+
+void EmptyButton::onCheckChange(int state)
+{
+  if (state == Qt::Checked) {
+    std::string topic_name = topic_combo_->currentText().toStdString();
+    bool ret = button_handler_.initializePublisher(topic_name);
+    if (!ret) {
+      return;
+    }
+    is_active_ = true;
+  } else {
+    button_handler_.finalizePublisher();
+    is_active_ = false;
+    updateTopicList();
+  }
+}
+
+void EmptyButton::onClickA()
+{
+  a_clicked_ = true;
+}
+
+void EmptyButton::onTick()
+{
+  if (is_active_) {
+    button_handler_.publishButton(a_clicked_);
+    a_clicked_ = false;
+  }
+}
+
+void EmptyButton::save(rviz_common::Config config) const
+{
+  rviz_common::Panel::save(config);
+  config.mapSetValue("BaseTopic", topic_combo_->currentText());
+  config.mapSetValue("Checked", enable_check_->isChecked());
+}
+
+void EmptyButton::load(const rviz_common::Config & config)
+{
+  rviz_common::Panel::load(config);
+  QString tmp_text;
+  bool tmp_bool;
+  if (config.mapGetString("BaseTopic", &tmp_text)) {
+    topic_combo_->setCurrentText(tmp_text);
+  }
+  if (config.mapGetBool("Checked", &tmp_bool)) {
+    enable_check_->setChecked(tmp_bool);
+  }
+}
+
+void EmptyButton::updateTopicList(void)
+{
+  std::string previous_topic_name = topic_combo_->currentText().toStdString();
+  auto topic_list = button_handler_.getEmptyTopicList();
+  topic_combo_->clear();
+  int same_topic_index = -1;
+  for (auto t : topic_list) {
+    topic_combo_->addItem(t.c_str());
+    if (t == previous_topic_name) {
+      same_topic_index = topic_combo_->count() - 1;
+    }
+  }
+
+  if (previous_topic_name != "") {
+    if (same_topic_index < 0) {
+      topic_combo_->addItem(previous_topic_name.c_str());
+      same_topic_index = topic_combo_->count() - 1;
+    }
+    topic_combo_->setCurrentIndex(same_topic_index);
+  }
+}
+
+} // namespace button_rviz_plugin
+
+#include <pluginlib/class_list_macros.hpp>
+PLUGINLIB_EXPORT_CLASS(button_rviz_plugin::EmptyButton, rviz_common::Panel)

button_rviz_plugin/src/button_panel.hpp

@@ -0,0 +1,55 @@
+// Copyright 2024 StrayedCats.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <QtWidgets>
+#include <QComboBox>
+
+#ifndef Q_MOC_RUN
+#include "button_handler.hpp"
+#include <rviz_common/panel.hpp>
+#endif
+
+namespace button_rviz_plugin
+{
+
+class EmptyButton : public rviz_common::Panel
+{
+  Q_OBJECT
+
+public:
+  EmptyButton(QWidget * parent = nullptr);
+  void onInitialize() override;
+  void load(const rviz_common::Config & config) override;
+  void save(rviz_common::Config config) const override;
+
+public Q_SLOTS:
+  void onCheckChange(int state);
+  void onClickA(void);
+  void onTick(void);
+
+private:
+  void updateTopicList(void);
+
+  ButtonHandler button_handler_{};
+  QCheckBox * enable_check_;
+  QComboBox * topic_combo_;
+  QPushButton * a_button_;
+  QTimer * interval_timer_;
+  bool is_active_{false};
+  bool a_clicked_{false};
+};
+
+}  // namespace button_rviz_plugin