97 lines
3.0 KiB
C++
97 lines
3.0 KiB
C++
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/*
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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 _GZ_TOPIC_HH_
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#define _GZ_TOPIC_HH_
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#include <string>
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#include <vector>
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#include "gz.hh"
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namespace gazebo
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{
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/// \brief Topic command
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class TopicCommand : public Command
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{
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/// \brief Constructor
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public: TopicCommand();
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// Documentation inherited
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public: virtual void HelpDetailed();
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// Documentation inherited
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protected: virtual bool RunImpl();
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/// \brief Output the topic list.
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private: void List();
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/// \brief Output information about a topic.
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/// \param[in] _topic Topic to print info about.
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private: void Info(const std::string &_topic);
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/// \brief Output messages from a topic.
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/// \param[in] _topic Topic to print messages from.
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private: void Echo(const std::string &_topic);
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/// \brief Get a TopicInfo message from a topic.
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/// \param[in] _topic Topic to get info about.
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/// \return The TopicInfo message about the _topic.
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private: msgs::TopicInfo GetInfo(const std::string &_topic);
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/// \brief Callback used by Echo() to receive topic messages.
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/// \param[in] _data Data message from a topic.
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private: void EchoCB(const std::string &_data);
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/// \brief Callback used by Hz() to receive topic messages.
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/// \param[in] _data Data message from a topic (unused).
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private: void HzCB(const std::string &_data);
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/// \brief Output Hz rate for a topic.
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/// \param[in] _topic Topic name.
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private: void Hz(const std::string &_topic);
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/// \brief Subscription callback used by Bw().
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/// \param[in] _data Message data.
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private: void BwCB(const std::string &_data);
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/// \brief Output bandwidth data for a topic.
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/// \param[in] _topic Topic name.
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private: void Bw(const std::string &_topic);
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/// \brief View topic information using QT.
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/// \param[in] _topic Name of the topic to view. Empty will bring up
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/// a topic selector.
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private: void View(const std::string &_topic);
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/// \brief Message used to hold data received from EchoCB().
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private: boost::shared_ptr<google::protobuf::Message> echoMsg;
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/// \brief Node pointer.
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private: transport::NodePtr node;
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/// \brief Prev time a message was received.
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private: common::Time prevMsgTime;
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/// \brief Buffer of message sizes, used by Bw().
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private: std::vector<int> bwBytes;
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/// \brief Buffer of message publish times, used by Bw().
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private: std::vector<common::Time> bwTime;
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};
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}
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#endif
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