00001 00008 /***************************************************************************** 00009 ** Ifdefs 00010 *****************************************************************************/ 00011 00012 #ifndef rocon_qorchestra_QNODE_HPP_ 00013 #define rocon_qorchestra_QNODE_HPP_ 00014 00015 /***************************************************************************** 00016 ** Includes 00017 *****************************************************************************/ 00018 00019 #include <ros/ros.h> 00020 #include <string> 00021 #include <QThread> 00022 #include <QMutex> 00023 #include <QStandardItemModel> 00024 #include <concert_msgs/ConcertClients.h> 00025 #include "implementations.hpp" 00026 00027 /***************************************************************************** 00028 ** Namespaces 00029 *****************************************************************************/ 00030 00031 namespace rocon_qorchestra 00032 { 00033 00034 /***************************************************************************** 00035 ** Class 00036 *****************************************************************************/ 00037 00038 class QNode : public QThread 00039 { 00040 Q_OBJECT 00041 public: 00042 QNode(int argc, char** argv ); 00043 virtual ~QNode(); 00044 bool init(); 00045 bool init(const std::string &master_url, const std::string &host_url); 00046 void run(); 00047 00048 /********************* 00049 ** Models 00050 **********************/ 00051 QStandardItemModel* concertClientsModel() { return &concert_clients_model_; } 00052 void checkSolution( const QModelIndex &index ); 00053 00054 /********************* 00055 ** Variables 00056 **********************/ 00057 Implementations implementations; 00058 00059 public Q_SLOTS: 00060 void retrieveClientAppList( const QModelIndex &index ); 00061 void retrieveAppDetails( const QModelIndex &index ); 00062 void installApp( const QModelIndex &index ); 00063 void uninstallApp( const QModelIndex &index ); 00064 void installMissingApps( const QStandardItem* ); 00065 void startSolution() { triggerSolution(true); } 00066 void stopSolution() { triggerSolution(false); } 00067 00068 Q_SIGNALS: 00069 void rosShutdown(); 00070 void concertClientsUpdate(); 00071 void clientAppListRetrieved( QStandardItemModel* ); 00072 void appDetailsRetrieved( QStandardItemModel* ); 00073 void installMissingAppsRequest ( const QStandardItem* ); 00074 void missingAppsInstalled( const QModelIndex &index ); 00075 void solutionRequirementsMet(); 00076 00077 private: 00078 /********************* 00079 ** Ros Comms 00080 **********************/ 00081 void establishRosComms(); 00082 void subscribeConcertClients(const concert_msgs::ConcertClientsConstPtr concert); 00083 QStandardItem* createConcertClientDataElement(const std::string &str, 00084 const Qt::Alignment &alignment = Qt::AlignHCenter); 00085 QStandardItem* createConcertClientAppsDataElement(const std::string &str, 00086 const Qt::Alignment &alignment = Qt::AlignHCenter); 00087 void getClientAppsData(std::string robot_namespace); 00088 00089 /********************* 00090 ** Concert Client Intro 00091 **********************/ 00092 bool clientIsConnected(const int &row); 00093 bool clientIsAndroid(const int &row); 00094 QString clientDeviceTriple(const int &row); 00095 00096 /********************* 00097 ** Backends 00098 **********************/ 00099 void triggerSolution(bool start = true); 00100 00101 int init_argc_; 00102 char** init_argv_; 00103 ros::Publisher chatter_publisher_; 00104 ros::Subscriber concert_clients_subscriber_; 00105 QStandardItemModel concert_clients_model_; 00106 QStandardItemModel concert_clients_apps_model_; 00107 QStandardItemModel client_apps_model_; 00108 QStandardItemModel app_details_model_; 00109 QMutex mutex_; 00110 QStringList solution_device_configurations_; 00111 00112 concert_msgs::ConcertClientsConstPtr concert_clients_ptr_; 00113 QModelIndex current_client_index_, check_solution_index_; 00114 unsigned int current_highlighted_app_; 00115 QList<QStandardItem*> client_installable_apps_list_, client_installed_apps_list_; 00116 }; 00117 00118 } // namespace rocon_qorchestra 00119 00120 #endif /* rocon_qorchestra_QNODE_HPP_ */
