marble_plugin.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

/* -- BEGIN LICENSE BLOCK ----------------------------------------------

 Copyright (c) 2013, TB
 All rights reserved.

 Redistribution and use in source and binary forms are permitted
 provided that the above copyright notice and this paragraph are
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 TB may not be used to endorse or promote products derived
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 THIS SOFTWARE IS PROVIDED ``AS IS'' AND WITHOUT ANY EXPRESS OR
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 -- END LICENSE BLOCK ----------------------------------------------*/

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef _MARBLE_PLUGIN_H
#define _MARBLE_PLUGIN_H

#include <QtCore/QObject>
#include <QMutex>
#include <marble/RouteRequest.h>
#include <marble/RoutingManager.h>
#include <marble/MapThemeManager.h>

#include <ros/ros.h>
#include <rqt_gui_cpp/plugin.h>
#include <sensor_msgs/NavSatFix.h>

#include <rqt_marble/bridge_ros_marble.h>
#include <ui_marble_plugin.h> // Generated into ./build/rqt_robot_plugins/rqt_marble by Catkin.

namespace rqt_marble
{

class MarblePlugin : public rqt_gui_cpp::Plugin
{
Q_OBJECT
public:
  MarblePlugin();
  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);

  // Comment in to signal that the plugin has a way to configure it
  //bool hasConfiguration() const;
  //void triggerConfiguration();

  void gpsCallback(const sensor_msgs::NavSatFixConstPtr& gpspt);

private:

Q_SIGNALS:

  void newGpsPosition(qreal, qreal);

private Q_SLOTS:

  void changeGpsTopic(const QString &topic_name);
  void setKmlFile(bool envoke_file_dialog = true);
  void changeMarbleModelTheme(int idx);
  void enableNavigation(bool checked);
  void routeChanged();

private:
  Ui_MarblePluginWidget ui_;
  QWidget* widget_;
  ros::Subscriber m_sat_nav_fix_subscriber;
  Marble::RoutingManager* routing_manager;
  Marble::RouteRequest* request;
  Marble::RoutingModel* routeModel;
  Marble::MapThemeManager* map_theme_manager;
  rqt_marble::BridgeRosMarble* ros_navigation;

  void initWidget(qt_gui_cpp::PluginContext& context);

  void findGpsTopics();
};
} // namespace
#endif // _MARBLE_PLUGIN_H