qt_tutorials: qt_tutorials: qadd.cpp Source File

00001 
00009 /*****************************************************************************
00010 ** Includes
00011 *****************************************************************************/
00012 
00013 #include <ros/ros.h>
00014 #include <string>
00015 #include <sstream>
00016 #include "qadd.hpp"
00017 #include <std_msgs/String.h>
00018 
00019 /*****************************************************************************
00020 ** Implementation
00021 *****************************************************************************/
00022 
00023 QAdd::QAdd(int argc, char** argv ) :
00024         QNode(argc,argv,"qadd_client")
00025         {}
00026 
00027 void QAdd::ros_comms_init() {
00028     ros::NodeHandle n;
00029     add_client = n.serviceClient<qt_tutorials::TwoInts>("add_two_ints");
00030 }
00031 
00032 void QAdd::run() {
00033         ros::Rate loop_rate(1);
00034         int last_sum = 0;
00035         int count = 1;
00036         while( ros::ok() ) {
00037                 qt_tutorials::TwoInts srv;
00038                 srv.request.a = count;
00039                 srv.request.b = last_sum;
00040                 std::stringstream logging_msg;
00041                 if ( add_client.call(srv) ) {
00042                         ROS_INFO_STREAM("Sum: " << srv.response.sum);
00043                         last_sum = srv.response.sum;
00044                         logging_msg << "[ INFO] [" << ros::Time::now() << "]: " << srv.request.a << " + " << srv.request.b << " = " << srv.response.sum;
00045                         ++count;
00046                 } else {
00047                         ROS_INFO_STREAM("failed to contact the server");
00048                         logging_msg << "[ INFO] [" << ros::Time::now() << "]: failed to contact the server";
00049                 }
00050                 logging.insertRows(0,1);
00051                 QVariant new_row(QString(logging_msg.str().c_str()));
00052                 logging.setData(logging.index(0),new_row);
00053                 ros::spinOnce();
00054                 loop_rate.sleep();
00055         }
00056         std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
00057         Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
00058 }