Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

#ifndef ROS_UI_H

#define ROS_UI_H

#include <QMainWindow>

#include <QGridLayout>

#include "glviewer.h"

#include "parameter_server.h"

#include <QObject>

#include "rgbdslam/rgbdslam_ros_ui.h"

#include "rgbdslam/rgbdslam_ros_ui_b.h"

#include "rgbdslam/rgbdslam_ros_ui_f.h"

class QAction;

///Headless version of the Graphical_UI

///works with service-calls and offers the possibility to run rgbdslam without a GUI

class RosUi: public QObject{

    Q_OBJECT

public:

    RosUi(const char* service_namespace);

    ///a service-client for all methods not needing an argument: {reset, quick_save, save_all, save_individual, send_all, delete_frame}

    bool services(rgbdslam::rgbdslam_ros_ui::Request  &req, rgbdslam::rgbdslam_ros_ui::Response &res);

    ///a service-client for all methods with bool as argument: {pause, record}

    bool services_b(rgbdslam::rgbdslam_ros_ui_b::Request  &req, rgbdslam::rgbdslam_ros_ui_b::Response &res);

    ///a service-client for changing the maximal depth of a point: {set_max}

    bool services_f(rgbdslam::rgbdslam_ros_ui_f::Request  &req, rgbdslam::rgbdslam_ros_ui_f::Response &res);

Q_SIGNALS:

    ///User selected to reset the graph

    void reset(); 

    ///User selected to start or resume processing

    void togglePause();

    ///User selected to start or resume bag recording

    void toggleBagRecording();

    ///User wants the next frame to be processed

    void getOneFrame();

    ///User wants the last node to be removed from the graph

    void deleteLastFrame();

    void sendAllClouds(); ///< Signifies the sending of the whole model

    ///User wants the current world model to be saved to a pcd-file or ply file

    void saveAllClouds(QString filename);

    ///User wants the current world model to be saved to one pcd-file per node

    void saveIndividualClouds(QString file_basename);

    void setMaxDepth(float max_depth);

    ///User wants logfiles of the trajectory estimate (and ground truth if available)

    void saveTrajectory(QString);

    void optimizeGraph();

public Q_SLOTS:

    void sendFinished();

private:

    void resetCmd();

    void sendAll();

    void setMax(float val);

    void saveAll();

    void saveIndividual();

    void quickSaveAll();

    void pause(bool);

    void bagRecording(bool);

    void getOneFrameCmd();

    void deleteLastFrameCmd();

private:

    void createActions(const char* service_namespace);

    bool pause_on;

    QString filename;

    bool record_on;

    ros::ServiceServer server;

    ros::ServiceServer server_b;

    ros::ServiceServer server_f;

};

#endif