149 lines
4.8 KiB
C++
149 lines
4.8 KiB
C++
/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GUI_TIMER_PLUGIN_HH_
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#define _GUI_TIMER_PLUGIN_HH_
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#include <string>
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#include <vector>
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#include <boost/thread/mutex.hpp>
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#include <gazebo/common/Events.hh>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/common/Timer.hh>
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#include <gazebo/gui/GuiPlugin.hh>
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#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
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# include <gazebo/transport/transport.hh>
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# include <gazebo/gui/gui.hh>
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#endif
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namespace gazebo
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{
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/// \brief A GUI plugin that displays a timer. Control of this timer
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/// is managed via a topic that is ~/timer_control by default. The
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/// topic may be specified in the plugin's SDF. The topic receives
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/// string messages where:
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///
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/// "start" == start the timer
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/// "stop" == stop the timer
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/// "reset" == reset the timer
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///
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/// <plugin name="timer_plugin" filename="libTimerGUIPlugin.so">
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/// <topic>~/my_timer_control</topic>
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/// <pos>pixel_x_pos pixel_y_pos</pos>
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/// <size>pixel_width pixel_height</size>
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/// <start_stop_button>visible</start_stop_button>
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/// <reset_button>visible</reset_button>
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/// </plugin>
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///
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/// Note that the size has to be large enough to fit all widgets.
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class GAZEBO_VISIBLE TimerGUIPlugin : public GUIPlugin
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{
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Q_OBJECT
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/// \brief Constructor
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public: TimerGUIPlugin();
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/// \brief Destructor
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public: virtual ~TimerGUIPlugin();
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// Documentation inherited
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public: void Load(sdf::ElementPtr _elem);
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/// \brief Get the current time listed in the timer.
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/// \return Gazebo time object representing the time.
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public: common::Time GetCurrentTime() const;
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/// \brief A signal used to set the sim time line edit.
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/// \param[in] _string String representation of sim time.
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signals: void SetTime(QString _string);
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/// \brief A signal used to set the style of the start/stop button.
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/// \param[in] _string State ("Start"/"Stop").
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signals: void SetStartStopButton(QString _state);
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/// \brief Callback that receives timer control message.
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/// \param[in] _msg "start" = start timer, "stop" = stop timer, "reset"
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/// = reset timer.
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private: void OnTimerCtrl(ConstGzStringPtr &_msg);
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/// \brief Start the timer.
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private: void Start();
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/// \brief Stop the timer.
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private: void Stop();
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/// \brief Reset the timer.
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private: void Reset();
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/// \brief Callback when the start/stop button is pressed.
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private slots: void OnStartStopButton();
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/// \brief Callback to set the start/stop button style.
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/// \param[in] _string State ("Start"/"Stop").
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private slots: void OnSetStartStopButton(QString _state);
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/// \brief Callback when the reset button is pressed.
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private slots: void OnResetButton();
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/// \brief Handles the prerender callback
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private: void PreRender();
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/// \brief Qt event filter currently used to filter resize events.
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/// \param[in] _obj Object that is watched by the event filter.
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/// \param[in] _event Qt event.
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/// \return True if the event is handled.
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private: bool eventFilter(QObject *_obj, QEvent *_event);
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/// \brief Node used to establish communication with gzserver.
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private: transport::NodePtr node;
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/// \brief Subscriber to control signals.
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private: transport::SubscriberPtr ctrlSub;
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/// \brief The actual timer
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private: common::Timer timer;
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/// \brief Set of Gazebo signal connections.
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private: std::vector<event::ConnectionPtr> connections;
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/// \brief Mutex to protect timer updates.
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private: boost::mutex timerMutex;
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/// \brief Start/stop button.
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private: QPushButton *startStopButton;
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/// \brief QT style for the start setting of the start/stop button
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private: std::string startStyle;
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/// \brief QT style for the stop setting of the start/stop button
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private: std::string stopStyle;
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/// \brief Reset button.
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private: QPushButton *resetButton;
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/// \brief Number of pixels from the timer's left side and the
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/// window's right side. Only needed for negative positions.
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private: int posX;
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/// \brief Number of pixels from the timer's top and the window's
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/// bottom. Only needed for negative positions.
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private: int posY;
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};
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}
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#endif
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