PTU_GUI.h

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#ifndef __PTU_GUI__
#define __PTU_GUI__

#include "GUI.h"
#include "ros/ros.h"
#include "sensor_msgs/JointState.h"
#include "sensor_msgs/Image.h"
#include "std_srvs/Empty.h"
#include <wx/wx.h>
#include "asr_flir_ptu_driver/State.h"
#include "asr_flir_ptu_driver/Predict.h"

#define DEFAULT_PREFFEREDLEFT "/left/image_color"
#define DEFAULT_PREFFEREDRIGHT "/right/image_color"


namespace GUI_PTU {

class PTU_GUI : public GUIDialog
{
        private:
                void updatePTUInfo();
                void initTopicList();
                void onUpdate(wxTimerEvent& evt);
                wxBitmap* createBitmap(const sensor_msgs::Image::ConstPtr& msg);
                void onLeftImage(const sensor_msgs::Image::ConstPtr& msg);
                void onRightImage(const sensor_msgs::Image::ConstPtr& msg);
        void onStateCommand(const asr_flir_ptu_driver::State::ConstPtr& msg);
                sensor_msgs::JointState createJointCommand(double pan, double tilt, double panSpeed, double tiltSpeed);
        void updateSlidersFromParamServer();

                ros::NodeHandle nh;
                ros::NodeHandle ptu;
                ros::Publisher jointStatePublisher;
                ros::Subscriber jointStateSubscriber;
                ros::Subscriber leftImageSubscriber;
                ros::Subscriber rightImageSubscriber;
                ros::ServiceClient updater;
        ros::ServiceClient predict_client;
                wxTimer* update_timer;
                std::string ptu_name;
                bool immUpdate;
                bool listenForUpdates;
        int seq_num;
        bool use_path_prediction;

//              const static wxString DEFAULT_PREFFEREDLEFT = wxString::FromUTF8("/left/image_color");
//              const static wxString DEFAULT_PREFFEREDRIGHT = wxString::FromUTF8("/right/image_color");
        protected:
                // Handlers for GUIDialog events.
                void OnDialogClose( wxCloseEvent& event );
                void OnLeftTopicChoice( wxCommandEvent& event );
                void OnRightTopicChoice( wxCommandEvent& event );
                void OnPTUChoice( wxCommandEvent& event );
                void OnPanScroll( wxScrollEvent& event );
                void OnPanSpin( wxSpinEvent& event );
                void OnPanSpinText( wxCommandEvent& event );
                void OnTiltScroll( wxScrollEvent& event );
                void OnTiltSpin( wxSpinEvent& event );
                void OnTiltSpinText( wxCommandEvent& event );
                void OnImmChecked( wxCommandEvent& event );
                void OnListenChecked( wxCommandEvent& event );
                void OnUpdateClicked( wxCommandEvent& event );
        public:
                PTU_GUI( wxWindow* parent );
        
};

}

#endif // __PTU_GUI__