qadd_client/qadd.cpp

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

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

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

QAdd::QAdd(int argc, char** argv ) :
        QNode(argc,argv,"qadd_client")
        {}

void QAdd::ros_comms_init() {
    ros::NodeHandle n;
    add_client = n.serviceClient<qt_tutorials::TwoInts>("add_two_ints");
}

void QAdd::run() {
        ros::Rate loop_rate(1);
        int last_sum = 0;
        int count = 1;
        while( ros::ok() ) {
                qt_tutorials::TwoInts srv;
                srv.request.a = count;
                srv.request.b = last_sum;
                std::stringstream logging_msg;
                if ( add_client.call(srv) ) {
                        ROS_INFO_STREAM("Sum: " << srv.response.sum);
                        last_sum = srv.response.sum;
                        logging_msg << "[ INFO] [" << ros::Time::now() << "]: " << srv.request.a << " + " << srv.request.b << " = " << srv.response.sum;
                        ++count;
                } else {
                        ROS_INFO_STREAM("failed to contact the server");
                        logging_msg << "[ INFO] [" << ros::Time::now() << "]: failed to contact the server";
                }
                logging.insertRows(0,1);
                QVariant new_row(QString(logging_msg.str().c_str()));
                logging.setData(logging.index(0),new_row);
                ros::spinOnce();
                loop_rate.sleep();
        }
        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)
}