tablet_controller_panel.h

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// -*- mode: c++ -*-
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#ifndef JSK_RVIZ_PLUGINS_TABLET_CONTROLLER_PANEL_H_
#define JSK_RVIZ_PLUGINS_TABLET_CONTROLLER_PANEL_H_

#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <rviz/panel.h>
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
#  include <QtWidgets>
#else
#  include <QtGui>
#endif
#include <QPainter>
#include <QLineEdit>
#include <QPushButton>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QDialog>
#include <QListWidget>
#include <QListWidgetItem>
#include <QLabel>
#include <QTimer>
#include <QRadioButton>
#include <QPaintEvent>
#include <QMouseEvent>
#include <geometry_msgs/Twist.h>
#include <jsk_rviz_plugins/StringStamped.h>
#include <visualization_msgs/MarkerArray.h>
#include <boost/thread.hpp>
#endif

namespace jsk_rviz_plugins
{
  class TabletCmdVelArea: public QWidget
  {
    Q_OBJECT
  public:
    TabletCmdVelArea(QWidget* parent, ros::Publisher& pub_cmd_vel);
    virtual QSize minimumSizeHint() const;
    virtual QSize sizeHint() const;
  protected:
    virtual void paintEvent(QPaintEvent* event);
    virtual void mouseMoveEvent(QMouseEvent* event);
    virtual void mousePressEvent(QMouseEvent* event);
    virtual void mouseReleaseEvent(QMouseEvent* event);
    virtual void publishVelocity(int mouse_x, int mouse_y, int cx, int cy);
    virtual void publishCmdVel(double x, double y, double theta);
    int mouse_x_;
    int mouse_y_;
    ros::Publisher pub_cmd_vel_;
  };
  
  class TabletControllerPanel: public rviz::Panel
  {
    Q_OBJECT
  public:
    TabletControllerPanel(QWidget* parent = 0);
    virtual ~TabletControllerPanel();
    virtual void load(const rviz::Config& config);
    virtual void save(rviz::Config config) const;

  protected:
    // methods
    virtual void spotCallback(
      const visualization_msgs::MarkerArray::ConstPtr& marker);
    virtual QString defaultButtonStyleSheet();
    virtual QString executeButtonStyleSheet();
    virtual QString radioButtonStyleSheet();
    virtual QString listStyleSheet();
    // GUI variables
    
    QVBoxLayout* layout_;
    QPushButton* task_button_;
    QPushButton* spot_button_;
    TabletCmdVelArea* cmd_vel_area_;
    
    QDialog* task_dialog_;
    QVBoxLayout* task_dialog_layout_;
    QHBoxLayout* task_dialog_button_layout_;
    QPushButton* task_execute_button_;
    QPushButton* task_cancel_button_;
    std::vector<QRadioButton*> task_radio_buttons_;

    std::vector<std::string> spots_;
    QDialog* spot_dialog_;
    QVBoxLayout* spot_dialog_layout_;
    QHBoxLayout* spot_dialog_button_layout_;
    QPushButton* spot_go_button_;
    QPushButton* spot_cancel_button_;
    QListWidget* spot_list_;
    // ROS variables
    ros::Publisher pub_cmd_vel_;
    ros::Publisher pub_spot_;
    ros::Publisher pub_start_demo_;
    ros::Subscriber sub_spots_;
    boost::mutex mutex_;
    
    
  protected Q_SLOTS:
    // callbacks
    void taskButtonClicked();
    void taskCancelClicked();
    void taskExecuteClicked();
    void spotButtonClicked();
    void spotGoClicked();
    void spotCancelClicked();
  private:
    
  };
}

#endif