pipeline.hpp

#ifndef VELODYNEUTILS_PIPELINE_HPP
#define VELODYNEUTILS_PIPELINE_HPP

#include <string>
#include <vector>

#include <pcl/visualization/pcl_visualizer.h>

#include "executives.hpp"

namespace jafar {
namespace velodyneutils {

enum PlaybackState {
    STOPPED,
    PAUSED,
    PLAYING
};

class KeyboardPortBase {
public:
    virtual const bool* getControlAddress() const = 0;
    virtual void setControl(bool set) = 0;
    virtual void toggleControl() = 0;
    virtual const void* getNumAddress(int index) const = 0;
    virtual void setNumValue(int index, void* value) = 0;
    virtual void setNumValue(int index) = 0;
    virtual void appendToNumString(const std::string& numString) = 0;
    virtual void increaseNumValue(int index) = 0;
    virtual void decreaseNumValue(int index) = 0;
    virtual bool isId(const std::string& id) const = 0;
};

template<typename NumType>
class KeyboardPort : KeyboardPortBase {
public:
    KeyboardPort(int numSize, const std::string& idIn);
    ~KeyboardPort();

    virtual const bool* getControlAddress() const;
    virtual void setControl(bool set);
    virtual void toggleControl();
    virtual const void* getNumAddress(int index) const;
    virtual void setNumValue(int index, void* value);
    virtual void setNumValue(int index);
    virtual void appendToNumString(const std::string& numString);
    virtual void increaseNumValue(int index);
    virtual void decreaseNumValue(int index);
    virtual bool isId(const std::string& id) const;

private:
    bool control;
    std::vector<NumType> numValues;
    std::string numString;
    NumType valueIncrement;
    std::string id;
};

class Visualizer {
public:
    Visualizer(pcl::visualization::PCLVisualizer* visualizerIn);
    ~Visualizer();

    void init();

    // Executive functions
    void addExecutive(Executive* executive);
    void updateExecutives();

    // KeyboardPort functions
    void addKeyboardPort(KeyboardPortBase* port);
    void selectPort(const std::string& id);
    void toggleKeyboardPortControl();
    void setKeyboardPortNumValue(int index, void* value);
    void setKeyboardPortNumValue(int index);
    void appendToKeyboardPortNumString(const std::string& numString);
    void increaseKeyboardPortNumValue(int index);
    void decreaseKeyboardPortNumValue(int index);

    void render();
//     void play();
//     void togglePlaybackState();
    void stop();
//     void goToBeginning();
//     void goTo(int num);
//     void setPlaybackSpeed(int speed);
//     void toggleBackwardsPlayback();

private:
    pcl::visualization::PCLVisualizer* visualizer;
    PlaybackState playbackState;
    int sleepMicroseconds;

    std::vector<Executive*> executives;
    std::vector<KeyboardPortBase*> keyboardPorts;

    int selectedPort;
};

void keyboardEventCallback(const pcl::visualization::KeyboardEvent& event,
                           void* visualizer);

} // namespace velodyneutils
} // namespace jafar

#endif // VELODYNEUTILS_PIPELINE_HPP