.. _program_listing_file_src_overlay.hpp:

Program Listing for File overlay.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_overlay.hpp>` (``src/overlay.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 Kenji Brameld
   //
   // 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.
   
   #ifndef OVERLAY_HPP_
   #define OVERLAY_HPP_
   
   #include <QColor>
   #include <memory>
   #include <string>
   #include "pluginlib/class_loader.hpp"
   #include "rclcpp/clock.hpp"
   #include "msg_storage.hpp"
   
   // Forward Declaration
   namespace rclcpp
   {
   class Node;
   class GenericSubscription;
   class SerializedMessage;
   class Time;
   }
   class QPainter;
   namespace rqt_image_overlay_layer {class PluginInterface;}
   namespace rqt_image_overlay {class OverlayTimeInfo;}
   
   namespace rqt_image_overlay
   {
   
   class Overlay
   {
   public:
     Overlay(
       std::string pluginClass,
       pluginlib::ClassLoader<rqt_image_overlay_layer::PluginInterface> & pluginLoader,
       const std::shared_ptr<rclcpp::Node> & node);
     void setTopic(std::string topic);
     void setEnabled(bool enabled);
     void setColor(QColor color);
   
     std::string getTopic() const;
     std::string getPluginClass() const;
     std::string getMsgType() const;
     std::string getReceivedStatus() const;
     QColor getColor() const;
     bool isEnabled() const;
   
     void overlay(QPainter & painter, const OverlayTimeInfo & overlayTimeInfo) const;
   
   private:
     const std::string pluginClass;
     const std::shared_ptr<rqt_image_overlay_layer::PluginInterface> instance;
     const std::string msgType;
     std::string topic;
     bool enabled = true;
     QColor color;
     std::shared_ptr<rclcpp::GenericSubscription> subscription;
     const std::shared_ptr<rclcpp::Node> & node;
   
     bool useHeaderTimestamp;
     MsgStorage<std::shared_ptr<rclcpp::SerializedMessage>> msgStorage;
     rclcpp::Clock systemClock{RCL_SYSTEM_TIME};
   
     void msgCallback(std::shared_ptr<rclcpp::SerializedMessage> msg);
   };
   
   }  // namespace rqt_image_overlay
   
   #endif  // OVERLAY_HPP_