106 lines
3.1 KiB
C++
106 lines
3.1 KiB
C++
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/*
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* Copyright (C) 2016 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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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <gazebo/transport/Node.hh>
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#include "KeyboardGUIPlugin.hh"
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namespace gazebo
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{
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/// \brief Private data for the KeyboardGUIPlugin class
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class KeyboardGUIPluginPrivate
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{
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/// \brief Pointer to a node for communication.
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public: transport::NodePtr gzNode;
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/// \brief keyboard publisher.
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public: transport::PublisherPtr keyboardPub;
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};
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}
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using namespace gazebo;
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// Register this plugin with the simulator
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GZ_REGISTER_GUI_PLUGIN(KeyboardGUIPlugin)
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/////////////////////////////////////////////////
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KeyboardGUIPlugin::KeyboardGUIPlugin()
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: GUIPlugin(), dataPtr(new KeyboardGUIPluginPrivate)
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{
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gazebo::gui::MainWindow *mainWindow = gazebo::gui::get_main_window();
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if (!mainWindow)
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{
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gzerr << "Couldn't get main window, keyboard events won't be filtered."
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<< std::endl;
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return;
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}
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mainWindow->installEventFilter(this);
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// Make this invisible
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this->move(0, 0);
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this->resize(0, 0);
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// Initialize transport.
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this->dataPtr->gzNode = transport::NodePtr(new transport::Node());
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this->dataPtr->gzNode->Init();
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this->dataPtr->keyboardPub =
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this->dataPtr->gzNode->Advertise<msgs::Any>("~/keyboard/keypress");
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}
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/////////////////////////////////////////////////
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KeyboardGUIPlugin::~KeyboardGUIPlugin()
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{
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this->dataPtr->keyboardPub.reset();
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this->dataPtr->gzNode->Fini();
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}
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/////////////////////////////////////////////////
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void KeyboardGUIPlugin::OnKeyPress(const gazebo::common::KeyEvent &_event)
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{
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msgs::Any msg;
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msg.set_type(msgs::Any_ValueType_INT32);
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msg.set_int_value(_event.key);
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this->dataPtr->keyboardPub->Publish(msg);
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}
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/////////////////////////////////////////////////
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bool KeyboardGUIPlugin::eventFilter(QObject *_obj, QEvent *_event)
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{
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// Check if there was a keypress in a child
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if (_event->type() == QEvent::ShortcutOverride)
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{
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QKeyEvent *qtKeyEvent = dynamic_cast<QKeyEvent *>(_event);
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gazebo::common::KeyEvent gazeboKeyEvent;
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gazeboKeyEvent.text = qtKeyEvent->text().toStdString();
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// QKeyEvent::key() does not distiguish between lowercase and uppercase.
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// Need to use QKeyEvent::text() to get the unicode character.
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// Special keys (shift, ctrl) will have an empty text field.
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gazeboKeyEvent.key = !gazeboKeyEvent.text.empty() ? gazeboKeyEvent.text[0] :
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qtKeyEvent->key();
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this->OnKeyPress(gazeboKeyEvent);
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}
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return QObject::eventFilter(_obj, _event);
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}
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