robobuggy / turtlesim_ref / include / turtlesim / turtle_frame.h @ dd5d7f53
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1 | d006cdc0 | Tahm | /*
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2 | * Copyright (c) 2009, Willow Garage, Inc.
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3 | * All rights reserved.
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4 | *
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5 | * Redistribution and use in source and binary forms, with or without
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6 | * modification, are permitted provided that the following conditions are met:
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7 | *
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8 | * * Redistributions of source code must retain the above copyright
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9 | * notice, this list of conditions and the following disclaimer.
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10 | * * Redistributions in binary form must reproduce the above copyright
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11 | * notice, this list of conditions and the following disclaimer in the
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12 | * documentation and/or other materials provided with the distribution.
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13 | * * Neither the name of the Willow Garage, Inc. nor the names of its
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14 | * contributors may be used to endorse or promote products derived from
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15 | * this software without specific prior written permission.
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16 | *
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17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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27 | * POSSIBILITY OF SUCH DAMAGE.
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28 | */
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29 | |||
30 | #include <QFrame> |
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31 | #include <QImage> |
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32 | #include <QPainter> |
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33 | #include <QPaintEvent> |
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34 | #include <QTimer> |
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35 | #include <QVector> |
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36 | |||
37 | // This prevents a MOC error with versions of boost >= 1.48
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38 | #ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 |
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39 | # include <ros/ros.h> |
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40 | |||
41 | # include <std_srvs/Empty.h> |
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42 | dd5d7f53 | tahm | # include <turtlesim_ref/Spawn.h> |
43 | # include <turtlesim_ref/Kill.h> |
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44 | d006cdc0 | Tahm | # include <map> |
45 | |||
46 | # include "turtle.h" |
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47 | #endif
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48 | |||
49 | dd5d7f53 | tahm | namespace turtlesim_ref |
50 | d006cdc0 | Tahm | { |
51 | |||
52 | class TurtleFrame : public QFrame |
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53 | { |
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54 | Q_OBJECT |
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55 | public: |
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56 | TurtleFrame(QWidget* parent = 0, Qt::WindowFlags f = 0); |
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57 | ~TurtleFrame(); |
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58 | |||
59 | std::string spawnTurtle(const std::string& name, float x, float y, float angle); |
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60 | |||
61 | protected:
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62 | void paintEvent(QPaintEvent* event);
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63 | |||
64 | private slots: |
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65 | void onUpdate();
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66 | |||
67 | private:
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68 | void updateTurtles();
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69 | void clear();
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70 | bool hasTurtle(const std::string& name); |
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71 | |||
72 | bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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73 | bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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74 | dd5d7f53 | tahm | bool spawnCallback(turtlesim_ref::Spawn::Request&, turtlesim_ref::Spawn::Response&);
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75 | bool killCallback(turtlesim_ref::Kill::Request&, turtlesim_ref::Kill::Response&);
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76 | d006cdc0 | Tahm | |
77 | ros::NodeHandle nh_; |
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78 | QTimer* update_timer_; |
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79 | QImage path_image_; |
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80 | QPainter path_painter_; |
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81 | |||
82 | uint64_t frame_count_; |
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83 | |||
84 | ros::WallTime last_turtle_update_; |
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85 | |||
86 | ros::ServiceServer clear_srv_; |
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87 | ros::ServiceServer reset_srv_; |
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88 | ros::ServiceServer spawn_srv_; |
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89 | ros::ServiceServer kill_srv_; |
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90 | |||
91 | typedef std::map<std::string, TurtlePtr> M_Turtle;
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92 | M_Turtle turtles_; |
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93 | uint32_t id_counter_; |
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94 | |||
95 | QVector<QImage> turtle_images_; |
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96 | |||
97 | float meter_;
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98 | float width_in_meters_;
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99 | float height_in_meters_;
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100 | }; |
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101 | |||
102 | } |