From 210acd949892c41141e1840d0150af8d222a7aab Mon Sep 17 00:00:00 2001
From: Rescue Group <rescue@rescuelap2.(none)>
Date: Wed, 19 Jun 2013 17:39:15 +1000
Subject: [PATCH] MM: Image render now uses image transports

---
 crosbot_ui/CMakeLists.txt                            |  2 +-
 crosbot_ui/Makefile                                  |  4 +++-
 .../include/crosbot_ui/renders/robot/image.hpp       | 12 +++++++-----
 .../include/crosbot_ui/renders/robot/simple.hpp      |  1 -
 crosbot_ui/package.xml                               |  2 ++
 crosbot_ui/src/renders/robot/image.cpp               | 11 ++++++++---
 crosbot_ui/src/renders/robot/simple.cpp              |  4 ++--
 7 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/crosbot_ui/CMakeLists.txt b/crosbot_ui/CMakeLists.txt
index 897d424..b273160 100644
--- a/crosbot_ui/CMakeLists.txt
+++ b/crosbot_ui/CMakeLists.txt
@@ -4,7 +4,7 @@ project(crosbot_ui)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp crosbot crosbot_map crosbot_fastslam)
+find_package(catkin REQUIRED COMPONENTS roscpp crosbot crosbot_map crosbot_fastslam image_transport)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
diff --git a/crosbot_ui/Makefile b/crosbot_ui/Makefile
index 5004622..b0f7a86 100644
--- a/crosbot_ui/Makefile
+++ b/crosbot_ui/Makefile
@@ -1,5 +1,7 @@
+PACKAGE=$(shell basename `pwd` )
+
 default: all
 
 all:
-	make -C ../..
+	make -C ../.. $(PACKAGE)
 
diff --git a/crosbot_ui/include/crosbot_ui/renders/robot/image.hpp b/crosbot_ui/include/crosbot_ui/renders/robot/image.hpp
index 30fb2f8..fe8aead 100644
--- a/crosbot_ui/include/crosbot_ui/renders/robot/image.hpp
+++ b/crosbot_ui/include/crosbot_ui/renders/robot/image.hpp
@@ -8,10 +8,11 @@
 #ifndef CROSBOT_RENDER_IMAGE_HPP_
 #define CROSBOT_RENDER_IMAGE_HPP_
 
+#include <ros/ros.h>
 #include <crosbot_ui/panels/robot.hpp>
 
 #include <sensor_msgs/Image.h>
-#include <ros/ros.h>
+#include <image_transport/image_transport.h>
 
 namespace crosbot {
 
@@ -27,9 +28,9 @@ public:
 	virtual void render();
 
 	virtual bool isHidden();
-	virtual bool keyPressEvent(QKeyEvent *ke);
+	virtual bool keyPressEvent(QKeyEvent *e);
 
-	void callback(sensor_msgs::ImageConstPtr);
+	void callback(const sensor_msgs::ImageConstPtr&);
 protected:
 	ImagePtr image, textureImage;
 	bool hidden;
@@ -37,8 +38,9 @@ protected:
 
 	Colour4f colour;
 	GLuint textureId;
-	std::string topic;
-	ros::Subscriber subscriber;
+	std::string topic, transport;
+	image_transport::Subscriber subscriber;
+
 };
 
 } // namespace gui
diff --git a/crosbot_ui/include/crosbot_ui/renders/robot/simple.hpp b/crosbot_ui/include/crosbot_ui/renders/robot/simple.hpp
index c91b6c3..aa3f78f 100644
--- a/crosbot_ui/include/crosbot_ui/renders/robot/simple.hpp
+++ b/crosbot_ui/include/crosbot_ui/renders/robot/simple.hpp
@@ -60,7 +60,6 @@ protected:
 	std::string topic;
 	ros::Subscriber subscriber;
 
-
 	Colour4f lineColour, fillColour;
 };
 
diff --git a/crosbot_ui/package.xml b/crosbot_ui/package.xml
index 66a27f8..16d1642 100644
--- a/crosbot_ui/package.xml
+++ b/crosbot_ui/package.xml
@@ -44,11 +44,13 @@
   <build_depend>crosbot_map</build_depend>
   <build_depend>crosbot_fastslam</build_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>image_transport</build_depend>
   <build_depend>qt4</build_depend>
   <run_depend>crosbot</run_depend>
   <run_depend>crosbot_map</run_depend>
   <run_depend>crosbot_fastslam</run_depend>
   <run_depend>roscpp</run_depend>
+  <run_depend>image_transport</run_depend>
   <run_depend>qt4</run_depend>
 
 
diff --git a/crosbot_ui/src/renders/robot/image.cpp b/crosbot_ui/src/renders/robot/image.cpp
index a2a6dd3..e50bb57 100644
--- a/crosbot_ui/src/renders/robot/image.cpp
+++ b/crosbot_ui/src/renders/robot/image.cpp
@@ -31,14 +31,16 @@ ImageRender::ImageRender(RobotPanel& panel, ConfigElementPtr config) :
 	topic = config->getParam(PARAM_TOPIC);
 	topic = config->getParam(RENDER_IMAGE, topic);
 	topic = config->getParam(PARAM_NAME, topic);
+	transport = config->getParam("transport", "raw");
 }
 
 void ImageRender::start() {
 	if (topic != "") {
 		ros::NodeHandle nh("~");
-		subscriber = nh.subscribe(topic, 1, &ImageRender::callback, this);
+		image_transport::ImageTransport it(nh);
+		image_transport::TransportHints hint(transport);
+		subscriber = it.subscribe(topic, 1, &ImageRender::callback, this, hint);
 	}
-
 }
 
 void ImageRender::stop() {
@@ -59,8 +61,11 @@ bool ImageRender::keyPressEvent(QKeyEvent *ke) {
 	return false;
 }
 
-void ImageRender::callback(sensor_msgs::ImageConstPtr rosImage) {
+void ImageRender::callback(const sensor_msgs::ImageConstPtr& rosImage) {
 	ImagePtr image = new Image(rosImage);
+	if (image->encoding == Image::Unknown) {
+		ERROR("crosbot::Image: Unknown encoding %s\n", rosImage->encoding.c_str());
+	}
 
 	this->image = image;
 }
diff --git a/crosbot_ui/src/renders/robot/simple.cpp b/crosbot_ui/src/renders/robot/simple.cpp
index f3c232d..ed7d6b3 100644
--- a/crosbot_ui/src/renders/robot/simple.cpp
+++ b/crosbot_ui/src/renders/robot/simple.cpp
@@ -96,7 +96,7 @@ void SpeedRender::render() {
 #define MOUSE_DELTA		120
 bool SpeedRender::wheelEvent(QWheelEvent *we) {
 	float currentSpeed, currentTurnRate;
-	panel.getCurrentSpeeds(currentSpeed, currentTurnRate);
+	panel.getThrottle(currentSpeed, currentTurnRate);
 	if(we->modifiers() != 0) {
 			float newTurnRate = currentTurnRate;
 
@@ -120,7 +120,7 @@ bool SpeedRender::wheelEvent(QWheelEvent *we) {
 		}
 		currentSpeed = newSpeed;
 	}
-	panel.setCurrentSpeeds(currentSpeed, currentTurnRate);
+	panel.setThrottle(currentSpeed, currentTurnRate);
 	return true;
 }
 
-- 
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