listener.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <ros/ros.h>
#include <string>
#include <sstream>
#include "listener.hpp"
#include <std_msgs/String.h>

/*****************************************************************************
** Implementation
*****************************************************************************/

Listener::Listener(int argc, char** argv ) :
        QNode(argc,argv,"qlistener")
        {}

void Listener::ros_comms_init() {
        ros::NodeHandle n;
        chatter_subscriber = n.subscribe("chatter", 1000, &Listener::chatterCallback, this);
}

void Listener::chatterCallback(const std_msgs::String::ConstPtr &msg) {
        ROS_INFO("I heard: [%s]", msg->data.c_str());
        logging.insertRows(0,1);
        std::stringstream logging_msg;
        logging_msg << "[ INFO] [" << ros::Time::now() << "]: I heard: " << msg->data;
        QVariant new_row(QString(logging_msg.str().c_str()));
        logging.setData(logging.index(0),new_row);
}

void Listener::run() {
        ros::spin();
    std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
    Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}