ppovb5fc7/gazebo/plugins/rest_web/RestUiWidget.hh

/*
 * 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.
 *
*/

#ifndef _GAZEBO_RESTUI_WIDGET_HH_
#define _GAZEBO_RESTUI_WIDGET_HH_

#include <string>
#include <list>
#include <vector>

// See: https://bugreports.qt-project.org/browse/QTBUG-22829
#ifndef Q_MOC_RUN
# include <gazebo/gazebo.hh>
#endif
#include <gazebo/util/system.hh>
#include "RestUiLoginDialog.hh"

namespace gazebo
{
  namespace gui
  {
    class TopToolbar;
  }

  /// \class RestUiWidget RestUiWidget.hh RestUiWidget.hh
  /// \brief REST user interface widget
  class GAZEBO_VISIBLE RestUiWidget : public QWidget
  {
    Q_OBJECT

    /// \brief Constructor
    /// \param[in] _parent Parent widget.
    /// \param[in] _menuTitle Menu title.
    /// \param[in] _loginTitle Login title.
    /// \param[in] _urlLabel Url label.
    /// \param[in] _defaultUrl Default url.
    public: RestUiWidget(QWidget *_parent,
                         QAction &_login,
                         QAction &_logout,
                         const std::string &_menuTitle,
                         const std::string &_loginTitle,
                         const std::string &_urlLabel,
                         const std::string &_defautlUrl);

    /// \brief Destructor
    public: virtual ~RestUiWidget() = default;

    /// \brief QT callback (from the window menu)
    public slots: void Login();

    /// \brief QT callback (from the window menu)
    public slots: void Logout();

    /// \brief Called before rendering, from the GUI thread this is called from
    /// the plugin's update.
    public: void Update();

    /// \brief Called everytime a response message is received.
    /// \param[in] _msg Rest response message.
    private: void OnResponse(ConstRestResponsePtr &_msg);

    /// \brief Callback when window mode is changed.
    /// \param[in] _mode New window mode.
    private: void OnWindowMode(const std::string &_mode);

    /// \brief Login menu item
    private: QAction &loginMenuAction;

    /// \brief Logout menu item
    private: QAction &logoutMenuAction;

    /// \brief The title to use when displaying dialog/message windows
    private: std::string title;

    /// \brief Pub/sub node to communicate with gzserver.
    private: gazebo::transport::NodePtr node;

    /// \brief Login dialog.
    private: gui::RestUiLoginDialog loginDialog;

    /// \brief Gazebo login topic publisher
    private: gazebo::transport::PublisherPtr loginPub;

    /// \brief Gazebo logout topic publisher
    private: gazebo::transport::PublisherPtr logoutPub;

    /// \brief Gazebo response topic subscriber.
    private: gazebo::transport::SubscriberPtr responseSub;

    /// \brief List of unprocessed response messages to be displayed from the
    /// gui thread.
    private: std::list<boost::shared_ptr<const gazebo::msgs::RestResponse>>
        msgRespQ;

    /// \brief Gazebo main window toolbar.
    private: gui::TopToolbar *toolbar;

    /// \brief Label to display name of user who is logged in.
    private: QLabel *loginLabel;

    /// \brief ID of this rest service client
    private: unsigned int restID;

    /// \brief Pointer to the Qt action associated with the login label.
    private: QAction *loginLabelAct;

    /// \brief Pointer to the Qt action associated with the spacer widget
    /// before the login label.
    private: QAction *spacerAct;

    /// \brief Event based connections.
    public: std::vector<event::ConnectionPtr> connections;
  };
}

#endif