ros_thread.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2015, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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00009 //       notice, this list of conditions and the following disclaimer.
00010 //     * Redistributions in binary form must reproduce the above copyright
00011 //       notice, this list of conditions and the following disclaimer in the
00012 //       documentation and/or other materials provided with the distribution.
00013 //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from this software without specific prior written permission.
00016 //
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00030 
00031 #ifndef SWRI_CONSOLE_ROS_THREAD_H
00032 #define SWRI_CONSOLE_ROS_THREAD_H
00033 
00034 #include <QThread>
00035 
00036 #include <ros/ros.h>
00037 #include <rosgraph_msgs/Log.h>
00038 #include <QMetaType>
00039 
00040 namespace swri_console
00041 {
00042   class RosThread : public QThread
00043   {
00044     Q_OBJECT
00045   public:
00046     RosThread(int argc, char** argv);
00047     /*
00048      * Shuts down ROS and causes the thread to exit.
00049      */
00050     void shutdown();
00051 
00052   Q_SIGNALS:
00056     void connected(bool);
00061     void logReceived(const rosgraph_msgs::LogConstPtr &msg);
00065     void spun();
00066 
00067   protected:
00068     void run();
00069 
00070   private:
00071     void handleRosout(const rosgraph_msgs::LogConstPtr &msg);
00072     void startRos();
00073     void stopRos();
00074 
00075     bool is_connected_;
00076     volatile bool is_running_;
00077     ros::Subscriber rosout_sub_;
00078   };
00079 }
00080 
00081 #endif //SWRI_CONSOLE_ROS_THREAD_H


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autogenerated on Sat Jun 8 2019 18:46:13