70 lines
2.2 KiB
C++
70 lines
2.2 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 _MAIN_WINDOW_EXAMPLE_WIDGET_HH_
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#define _MAIN_WINDOW_EXAMPLE_WIDGET_HH_
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#include <string>
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#include <vector>
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#include <gazebo/common/Plugin.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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class GAZEBO_VISIBLE MainWindowExampleWidget : public GUIPlugin
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{
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Q_OBJECT
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/// \brief Constructor
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public: MainWindowExampleWidget();
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/// \brief Destructor
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public: virtual ~MainWindowExampleWidget();
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/// \brief Callback function to pause the world.
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public: void PauseWorld();
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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 SetSimTime(QString _string);
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/// \brief Callback that received world statistics messages.
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/// \param[in] _msg World statistics message that is received.
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protected: void OnStats(ConstWorldStatisticsPtr &_msg);
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/// \brief Helper function to format time string.
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/// \param[in] _msg Time message.
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/// \return Time formatted as a string.
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private: std::string FormatTime(const msgs::Time &_msg) const;
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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 world statistics messages.
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private: transport::SubscriberPtr statsSub;
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/// \brief The event connections for this plugin.
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private: std::vector<event::ConnectionPtr> connections;
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};
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}
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#endif
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