interactive_object_detection_frame.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef INTERACTIVE_MANIPULATION_FRAME
00031 #define INTERACTIVE_MANIPULATION_FRAME
00032 
00033 #include <QWidget>
00034 
00035 #include <ros/ros.h>
00036 
00037 #include "pr2_interactive_object_detection/UserCommandAction.h"
00038 
00039 #include <actionlib/client/simple_action_client.h>
00040 
00041 namespace Ui
00042 {
00043 class MainFrame;
00044 }
00045 
00046 namespace pr2_interactive_object_detection {
00047 
00048 class InteractiveObjectDetectionFrame : public QWidget
00049 {
00050 Q_OBJECT
00051 public:
00052   InteractiveObjectDetectionFrame( QWidget* parent = 0 );
00053   ~InteractiveObjectDetectionFrame();
00054 
00055   void update();
00056 
00057 protected Q_SLOTS:
00058   void segButtonClicked();
00059   void recButtonClicked();
00060   void detButtonClicked();
00061   void cancelButtonClicked();
00062   void resetButtonClicked();
00063 
00064 protected:
00065   // callbacks for user_cmd_action_client_
00066   void userCmdDone(const actionlib::SimpleClientGoalState& state,
00067       const pr2_interactive_object_detection::UserCommandResultConstPtr& result);
00068   void userCmdActive();
00069   void userCmdFeedback(const pr2_interactive_object_detection::UserCommandFeedbackConstPtr& feedback);
00070 
00071   // execute a user command in a new thread
00072   void requestUserCommand( int8_t request, bool interactive );
00073 
00074   // execute a user command (send request to action server). May only be called from spawnUserCommand
00075   void executeRequest( int8_t request, bool interactive );
00076 
00077   // connection to the back end node which does the actual work
00078   actionlib::SimpleActionClient<pr2_interactive_object_detection::UserCommandAction> user_cmd_action_client_;
00079 
00080   bool action_requested_;
00081 
00082   //basic system stuff
00083   ros::NodeHandle root_nh_;
00084   ros::NodeHandle priv_nh_;
00085 
00086   std::string status_;
00087 
00088   std::string seg_status_;
00089   std::string rec_status_;
00090   std::string det_status_;
00091 
00092   UserCommandGoal user_command_goal_;
00093 
00094   boost::mutex mutex_;
00095 
00096   boost::thread *executing_thread_;
00097 
00098 private:
00099   Ui::MainFrame* ui_; // UI object created by uic from main_frame.ui
00100 };
00101 
00102 
00103 }
00104 
00105 #endif


pr2_interactive_object_detection
Author(s): David Gossow
autogenerated on Fri Jan 3 2014 12:04:26