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_server")
00025         {}
00026 
00027 void QAdd::ros_comms_init() {
00028     ros::NodeHandle n;
00029     add_server = n.advertiseService("add_two_ints", &QAdd::add, this);
00030 }
00031 
00032 bool QAdd::add(qt_tutorials::TwoInts::Request  &req, qt_tutorials::TwoInts::Response &res) {
00033         res.sum = req.a + req.b;
00034         ROS_INFO_STREAM(req.a << " + " << req.b << " = " << res.sum);
00035 
00036         logging.insertRows(0,1);
00037         std::stringstream logging_msg;
00038         logging_msg << "[ INFO] [" << ros::Time::now() << "]: " << req.a << " + " << req.b << " = " << res.sum;
00039         QVariant new_row(QString(logging_msg.str().c_str()));
00040         logging.setData(logging.index(0),new_row);
00041 
00042         return true;
00043 }
00044 
00045 void QAdd::run() {
00046         ros::spin();
00047     std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
00048     Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
00049 }