ros_thread.cpp

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// *****************************************************************************
//
// Copyright (c) 2015, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
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#include <QCoreApplication>
#include "include/swri_console/ros_thread.h"
 
using namespace swri_console;
 
RosThread::RosThread(int argc, char** argv) :
  is_connected_(false),
  is_running_(true)
{
  ros::init(argc, argv, "swri_console",
            ros::init_options::AnonymousName |
            ros::init_options::NoRosout |
            ros::init_options::NoSigintHandler);
}
 
void RosThread::run()
{
  while (is_running_)
  {
    bool master_status = ros::master::check();
 
    if (!is_connected_ && master_status) {
      startRos();
    } else if (is_connected_ && !master_status) {
      stopRos();
    } else if (is_connected_ && master_status) {
      ros::spinOnce();
      Q_EMIT spun();
    }
    msleep(50);
  }
}
 
 
void RosThread::shutdown()
{
  is_running_ = false;
  if (ros::isStarted())
  {
    ros::shutdown();
    ros::waitForShutdown();
  }
}
 
void RosThread::startRos()
{
  ros::start();
  is_connected_ = true;
 
  ros::NodeHandle nh;
  rosout_sub_ = nh.subscribe("/rosout_agg", 10000,
                             &RosThread::handleRosout,
                             this);
  Q_EMIT connected(true);
}
 
void RosThread::stopRos()
{
  ros::shutdown();
  is_connected_ = false;
  Q_EMIT connected(false);
}
 
void RosThread::handleRosout(const rosgraph_msgs::LogConstPtr &msg)
{
  Q_EMIT logReceived(msg);
}