Program Listing for File mocap4r2_control.hpp

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// Copyright 2021 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RQT_MOCAP4R2_CONTROL__MOCAP4R2_CONTROL__HPP_
#define RQT_MOCAP4R2_CONTROL__MOCAP4R2_CONTROL__HPP_

#include <rqt_gui_cpp/plugin.h>

#include <ui_mocap4r2_control.h>

#include <map>

#include <QAction>
#include <QImage>
#include <QList>
#include <QString>
#include <QSet>
#include <QSize>
#include <QWidget>

#include <vector>

#include "mocap4r2_control_msgs/msg/mocap_info.hpp"

#include "mocap4r2_control/ControllerNode.hpp"
#include "rqt_mocap4r2_control/SystemController.hpp"
#include "rclcpp/rclcpp.hpp"

namespace rqt_mocap4r2_control
{


class MocapControl
  : public rqt_gui_cpp::Plugin
{

  Q_OBJECT

public:
  MocapControl();

  virtual void initPlugin(qt_gui_cpp::PluginContext & context);

  virtual void shutdownPlugin();

  virtual void saveSettings(
    qt_gui_cpp::Settings & plugin_settings,
    qt_gui_cpp::Settings & instance_settings) const;

  virtual void restoreSettings(
    const qt_gui_cpp::Settings & plugin_settings,
    const qt_gui_cpp::Settings & instance_settings);

protected slots:
  // virtual void updateTopicList();

protected:
  // virtual QSet<QString> getTopics(const QSet<QString>& message_types, const QSet<QString>& message_sub_types, const QList<QString>& transports);

  // virtual void selectTopic(const QString& topic);

protected slots:
  void start_capture();
  void select_output_dir();
  void select_record_all(bool checked);
  void select_active_all(bool checked);
  void enable_ros1(int state);
  void spin_loop();
  // virtual void onTopicChanged(int index);
//
// virtual void onZoom1(bool checked);
//
// virtual void onDynamicRange(bool checked);
//
// virtual void saveImage();
//
// virtual void updateNumGridlines();
//
// virtual void onMousePublish(bool checked);
//
// virtual void onMouseLeft(int x, int y);
//
// virtual void onPubTopicChanged();
//
// virtual void onHideToolbarChanged(bool hide);
//
// virtual void onRotateLeft();
// virtual void onRotateRight();

protected:
  // virtual void callbackImage(const sensor_msgs::msg::Image::ConstSharedPtr& msg);
//
// virtual void invertPixels(int x, int y);
//
// QList<int> getGridIndices(int size) const;
//
// virtual void overlayGrid();

  Ui::mocapControlWidget ui_;

  QWidget * widget_;

  // image_transport::Subscriber subscriber_;

private:
  rclcpp::Subscription<mocap4r2_control_msgs::msg::MocapInfo>::SharedPtr mocap4r2_env_sub_;
  std::map<std::string, SystemController *> mocap4r2_env_;

  std::shared_ptr<mocap4r2_control::ControllerNode> controller_node_;
  QTimer * controller_spin_timer_;
  bool capturing_ {false};

  void update_tree(const mocap4r2_control_msgs::msg::MocapInfo::SharedPtr msg);
  void control_callback(const mocap4r2_control_msgs::msg::Control::SharedPtr msg);

  void start_roscore_bridges();
  pid_t pid_roscore_ {0}, pid_bridge1_{0}, pid_bridge2_{0};

  std::string current_output_dir_;
};

}  // namespace rqt_mocap4r2_control

#endif  // RQT_MOCAP4R2_CONTROL__mocap4r2_CONTRO__HPP_