132 lines
3.7 KiB
C++
132 lines
3.7 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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#include <sstream>
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#include <vector>
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/gui/gui.hh>
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#include <gazebo/gui/MainWindow.hh>
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#include "MainWindowExampleWidget.hh"
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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(MainWindowExampleWidget)
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void MainWindowExampleWidget::PauseWorld()
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{
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gui::get_main_window()->Pause();
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std::cout << "Got main window" << std::endl;
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}
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/////////////////////////////////////////////////
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MainWindowExampleWidget::MainWindowExampleWidget()
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: GUIPlugin()
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{
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// Set the frame background and foreground colors
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this->setStyleSheet(
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"QFrame { background-color : rgba(100, 100, 100, 255); color : white; }");
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// Create the main layout
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QHBoxLayout *mainLayout = new QHBoxLayout;
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// Create the frame to hold all the widgets
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QFrame *mainFrame = new QFrame();
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// Create the layout that sits inside the frame
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QHBoxLayout *frameLayout = new QHBoxLayout();
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QLabel *label = new QLabel(tr("Sim Time:"));
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// Create a time label
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QLabel *timeLabel = new QLabel(tr("00:00:00.00"));
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// Add the label to the frame's layout
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frameLayout->addWidget(label);
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frameLayout->addWidget(timeLabel);
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connect(this, SIGNAL(SetSimTime(QString)),
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timeLabel, SLOT(setText(QString)), Qt::QueuedConnection);
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// Add frameLayout to the frame
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mainFrame->setLayout(frameLayout);
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// Add the frame to the main layout
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mainLayout->addWidget(mainFrame);
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// Remove margins to reduce space
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frameLayout->setContentsMargins(4, 4, 4, 4);
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mainLayout->setContentsMargins(0, 0, 0, 0);
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this->setLayout(mainLayout);
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// Position and resize this widget
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this->move(200, 10);
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this->resize(200, 30);
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// Create a node for transportation
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this->node = transport::NodePtr(new transport::Node());
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this->node->Init("default");
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this->statsSub = this->node->Subscribe("~/world_stats",
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&MainWindowExampleWidget::OnStats, this);
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this->connections.push_back(gui::Events::ConnectMainWindowReady(
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boost::bind(&MainWindowExampleWidget::PauseWorld, this)));
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}
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/////////////////////////////////////////////////
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MainWindowExampleWidget::~MainWindowExampleWidget()
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{
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}
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/////////////////////////////////////////////////
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void MainWindowExampleWidget::OnStats(ConstWorldStatisticsPtr &_msg)
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{
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this->SetSimTime(QString::fromStdString(
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this->FormatTime(_msg->sim_time())));
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}
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/////////////////////////////////////////////////
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std::string MainWindowExampleWidget::FormatTime(const msgs::Time &_msg) const
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{
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std::ostringstream stream;
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unsigned int day, hour, min, sec, msec;
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stream.str("");
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sec = _msg.sec();
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day = sec / 86400;
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sec -= day * 86400;
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hour = sec / 3600;
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sec -= hour * 3600;
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min = sec / 60;
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sec -= min * 60;
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msec = rint(_msg.nsec() * 1e-6);
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stream << std::setw(2) << std::setfill('0') << day << " ";
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stream << std::setw(2) << std::setfill('0') << hour << ":";
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stream << std::setw(2) << std::setfill('0') << min << ":";
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stream << std::setw(2) << std::setfill('0') << sec << ".";
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stream << std::setw(3) << std::setfill('0') << msec;
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return stream.str();
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}
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