time_panel.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * 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 the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QHBoxLayout>

#include "visualization_manager.h"

#include "time_panel.h"

namespace rviz
{

TimePanel::TimePanel( QWidget* parent )
  : QWidget( parent )
  , manager_( NULL )
{
  wall_time_label_ = makeTimeLabel();
  wall_elapsed_label_ = makeTimeLabel();
  ros_time_label_ = makeTimeLabel();
  ros_elapsed_label_ = makeTimeLabel();

  QPushButton* reset_button = new QPushButton( "Reset" );

  QHBoxLayout* layout = new QHBoxLayout;
  layout->addWidget( new QLabel( "Wall Time:" ));
  layout->addWidget( wall_time_label_ );
  layout->addStretch( 1000 );
  layout->addWidget( new QLabel( "Wall Elapsed:" ));
  layout->addWidget( wall_elapsed_label_ );
  layout->addStretch( 1000 );
  layout->addWidget( new QLabel( "ROS Time:" ));
  layout->addWidget( ros_time_label_ );
  layout->addStretch( 1000 );
  layout->addWidget( new QLabel( "ROS Elapsed:" ));
  layout->addWidget( ros_elapsed_label_ );
  layout->addStretch( 1000 );
  layout->addWidget( reset_button );
  layout->setContentsMargins( 11, 5, 11, 5 );
  setLayout( layout );

  connect( reset_button, SIGNAL( clicked( bool )), this, SLOT( reset() ));
}

QLineEdit* TimePanel::makeTimeLabel()
{
  QLineEdit* label = new QLineEdit;
  label->setReadOnly( true );
  return label;
}

void TimePanel::initialize(VisualizationManager* manager)
{
  manager_ = manager;

  connect( manager_, SIGNAL( timeChanged() ), this, SLOT( update() ));
}

void TimePanel::fillTimeLabel( QLineEdit* label, double time )
{
  label->setText( QString::number( time, 'f', 2 ));
}

void TimePanel::update()
{
  fillTimeLabel( wall_time_label_, manager_->getWallClock() );
  fillTimeLabel( wall_elapsed_label_, manager_->getWallClockElapsed() );
  fillTimeLabel( ros_time_label_, manager_->getROSTime() );
  fillTimeLabel( ros_elapsed_label_, manager_->getROSTimeElapsed() );
}

void TimePanel::reset()
{
  manager_->resetTime();
}

} // namespace rviz