127 lines
3.7 KiB
C++
127 lines
3.7 KiB
C++
|
/*
|
||
|
|
* Copyright 2015 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* 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.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "gazebo/gui/MainWindow.hh"
|
||
|
|
#include "gazebo/gui/GuiIface.hh"
|
||
|
|
#include "gazebo/gui/GuiEvents.hh"
|
||
|
|
|
||
|
|
#include "RestUiPlugin.hh"
|
||
|
|
|
||
|
|
using namespace gazebo;
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
RestUiPlugin::RestUiPlugin()
|
||
|
|
: menuTitle("Web service"),
|
||
|
|
loginTitle("Web service login"),
|
||
|
|
urlLabel("url"),
|
||
|
|
defaultUrl("https://"),
|
||
|
|
widget(NULL)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
void RestUiPlugin::Load(int _argc, char ** _argv)
|
||
|
|
{
|
||
|
|
gzmsg << "RestUiPlugin: cmd line arguments (menu=, title=, label=, url=)\n";
|
||
|
|
for (int i = 0; i < _argc; ++i)
|
||
|
|
{
|
||
|
|
std::string arg = _argv[i];
|
||
|
|
if (arg.find("menu=") == 0)
|
||
|
|
{
|
||
|
|
this->menuTitle = arg.substr(5);
|
||
|
|
}
|
||
|
|
else if (arg.find("title=") == 0 )
|
||
|
|
{
|
||
|
|
this->loginTitle = arg.substr(6);
|
||
|
|
}
|
||
|
|
else if (arg.find("label=") == 0 )
|
||
|
|
{
|
||
|
|
this->urlLabel = arg.substr(6);
|
||
|
|
}
|
||
|
|
else if (arg.find("url=") == 0 )
|
||
|
|
{
|
||
|
|
this->defaultUrl = arg.substr(4);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
gzmsg << " menu title: " << this->menuTitle << std::endl;
|
||
|
|
gzmsg << " Login window title: " << this->loginTitle << std::endl;
|
||
|
|
gzmsg << " Login window label: " << this->urlLabel << std::endl;
|
||
|
|
gzmsg << " Web servide URL: " << this->defaultUrl << std::endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
void RestUiPlugin::Init()
|
||
|
|
{
|
||
|
|
// Connect to the sensor update event.
|
||
|
|
this->connections.push_back(
|
||
|
|
gui::Events::ConnectMainWindowReady(
|
||
|
|
boost::bind(&RestUiPlugin::OnMainWindowReady, this)));
|
||
|
|
|
||
|
|
this->connections.push_back(
|
||
|
|
event::Events::ConnectPreRender(
|
||
|
|
boost::bind(&RestUiPlugin::Update, this)));
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
void RestUiPlugin::Update()
|
||
|
|
{
|
||
|
|
if (this->widget)
|
||
|
|
{
|
||
|
|
this->widget->Update();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
void RestUiPlugin::OnMainWindowReady()
|
||
|
|
{
|
||
|
|
// add menu for this plugin
|
||
|
|
std::string menuStr("&");
|
||
|
|
menuStr += this->menuTitle;
|
||
|
|
QMenu *menu = new QMenu(QString(menuStr.c_str()));
|
||
|
|
|
||
|
|
QAction *loginAct = new QAction(QString("&Login"), menu);
|
||
|
|
loginAct->setStatusTip(QString("Login to web service"));
|
||
|
|
QAction *logoutAct = new QAction(QString("Log&out"), menu);
|
||
|
|
logoutAct->setStatusTip(QString("Logout from web service"));
|
||
|
|
logoutAct->setEnabled(false);
|
||
|
|
|
||
|
|
gui::MainWindow *mainWindow = gui::get_main_window();
|
||
|
|
// create a global widget instance, to act as a global QT object
|
||
|
|
// the RestUiPlugin class is not a QT object
|
||
|
|
this->widget = new RestUiWidget(mainWindow,
|
||
|
|
*loginAct,
|
||
|
|
*logoutAct,
|
||
|
|
this->menuTitle.c_str(),
|
||
|
|
this->loginTitle.c_str(),
|
||
|
|
this->urlLabel.c_str(),
|
||
|
|
this->defaultUrl.c_str());
|
||
|
|
|
||
|
|
QObject::connect(loginAct, SIGNAL(triggered()),
|
||
|
|
this->widget, SLOT(Login()));
|
||
|
|
menu->addAction(loginAct);
|
||
|
|
|
||
|
|
QObject::connect(logoutAct, SIGNAL(triggered()),
|
||
|
|
this->widget, SLOT(Logout()));
|
||
|
|
|
||
|
|
menu->addAction(logoutAct);
|
||
|
|
|
||
|
|
mainWindow->AddMenu(menu);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Register this plugin with the simulator
|
||
|
|
GZ_REGISTER_SYSTEM_PLUGIN(RestUiPlugin)
|