GuiNode.cpp
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #include "GuiWrapper.h"
00029 #include "rtabmap/utilite/ULogger.h"
00030 
00031 #include <QApplication>
00032 #include <rtabmap/gui/MainWindow.h>
00033 #include <rtabmap/utilite/ULogger.h>
00034 #include <signal.h>
00035 
00036 QApplication * app = 0;
00037 ros::AsyncSpinner * spinner = 0;
00038 
00039 void my_handler(int s){
00040         ROS_INFO("rtabmapviz: ctrl-c catched! Exiting Qt app...");
00041         spinner->stop();
00042         exit(-1);
00043 }
00044 
00045 int main(int argc, char** argv)
00046 {
00047         ROS_INFO("Starting node...");
00048 
00049         ULogger::setType(ULogger::kTypeConsole);
00050         ULogger::setLevel(ULogger::kWarning);
00051 
00052         ros::init(argc, argv, "rtabmapviz");
00053 
00054         app = new QApplication(argc, argv);
00055         app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
00056 
00057         GuiWrapper * gui = new GuiWrapper(argc, argv);
00058 
00059         // Catch ctrl-c to close the gui
00060         // (Place this after QApplication's constructor)
00061         struct sigaction sigIntHandler;
00062         sigIntHandler.sa_handler = my_handler;
00063         sigemptyset(&sigIntHandler.sa_mask);
00064         sigIntHandler.sa_flags = 0;
00065         sigaction(SIGINT, &sigIntHandler, NULL);
00066 
00067         // Here start the ROS events loop
00068         spinner = new ros::AsyncSpinner(1); // Use 1 thread
00069         spinner->start();
00070 
00071         ROS_INFO("rtabmapviz started.");
00072         // Now wait for application to finish
00073         int r = app->exec();// MUST be called by the Main Thread
00074 
00075         spinner->stop();
00076         delete spinner;
00077 
00078         delete gui;
00079         delete app;
00080         ROS_INFO("rtabmapviz: All done! Closing...");
00081         return r;
00082 }


rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Sun Jul 24 2016 03:49:07