gui_task_widget.hh

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/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GUI_TASK_WIDGET_HH_
#define _GUI_TASK_WIDGET_HH_

#include <ros/ros.h>
#include <vrx_gazebo/Task.h>
#include <vrx_gazebo/Contact.h>

#include <string>
#include <vector>

#include <gazebo/common/Plugin.hh>
#include <gazebo/gui/GuiPlugin.hh>
#include <gazebo/transport/transport.hh>
#include "std_msgs/Float64.h"
#include "gazebo_msgs/LinkStates.h"

namespace gazebo
{
  class GUITaskWidget : public GUIPlugin
  {
    Q_OBJECT

    public: GUITaskWidget();

    public: ~GUITaskWidget();

    signals: void SetTaskInfo(QString _string);

    signals: void SetWindDirection(QPixmap _pixmap);

    signals: void SetContact(QPixmap _pixmap);

    protected: void OnTaskInfo(const vrx_gazebo::Task::ConstPtr &_msg);

    protected: void OnWindSpeed(const std_msgs::Float64::ConstPtr &_msg);

    protected: void OnWindDirection(const std_msgs::Float64::ConstPtr &_msg);

    protected: void OnLinkStates(const gazebo_msgs::LinkStates::ConstPtr &_msg);

    protected: void OnContact(const vrx_gazebo::Contact::ConstPtr &_msg);

    private: std::string FormatTime(unsigned int sec) const;

    private: std::unique_ptr<ros::NodeHandle> node;

    private: ros::Subscriber taskSub;

    private: ros::Subscriber windSpeedSub;

    private: ros::Subscriber windDirectionSub;

    private: ros::Subscriber linkStateSub;

    private: ros::Subscriber contactSub;

    private: ros::Time contactTime;

    private: QPixmap windPixmap;

    private: QPainter windPainter;

    private: QPixmap contactPixmap;

    private: QPainter contactPainter;

    private: QPen pen;

    private: double windSpeed = 0;

    private: double wamvHeading = 0;
  };
}

#endif