ros_topic_property.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "ros/master.h"

#include "rviz/properties/ros_topic_property.h"

#include <QApplication>


namespace rviz
{
RosTopicProperty::RosTopicProperty(const QString& name,
                                   const QString& default_value,
                                   const QString& message_type,
                                   const QString& description,
                                   Property* parent,
                                   const char* changed_slot,
                                   QObject* receiver)
  : EditableEnumProperty(name, default_value, description, parent, changed_slot, receiver)
  , message_type_(message_type)
{
  connect(this, SIGNAL(requestOptions(EditableEnumProperty*)), this, SLOT(fillTopicList()));
}

void RosTopicProperty::setMessageType(const QString& message_type)
{
  message_type_ = message_type;
}

void RosTopicProperty::fillTopicList()
{
  QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
  clearOptions();

  std::string std_message_type = message_type_.toStdString();

  ros::master::V_TopicInfo topics;
  ros::master::getTopics(topics);

  // Loop through all published topics
  ros::master::V_TopicInfo::iterator it;
  for (it = topics.begin(); it != topics.end(); ++it)
  {
    const ros::master::TopicInfo& topic = *it;

    // Only add topics whose type matches.
    if (topic.datatype == std_message_type)
    {
      addOptionStd(topic.name);
    }
  }
  sortOptions();
  QApplication::restoreOverrideCursor();
}

} // end namespace rviz