topic_info.hpp

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#ifndef TOPICS_RVIZ_PLUGIN_TOPIC_INFO_HPP
#define TOPICS_RVIZ_PLUGIN_TOPIC_INFO_HPP

#include <QLCDNumber>
#include <QLabel>
#include <QTime>
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Duration.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Int32.h>
#include <std_msgs/Int64.h>
#include <std_msgs/Time.h>
#include <std_msgs/UInt8.h>
#include <std_msgs/UInt16.h>
#include <std_msgs/UInt32.h>
#include <std_msgs/UInt64.h>
#include <std_msgs/String.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Float64.h>

namespace topics_rviz_plugin
{

class TopicInfo : public QObject
{
Q_OBJECT

public:
  TopicInfo(const std::string topic_name,
            const std::string topic_type,
            const ros::Duration refresh_duration = ros::Duration(0));

  virtual ~TopicInfo();

  void setMaximumRefreshRate(const ros::Duration d);
  ros::Duration maximumRefreshRate();

  const std::string topic_name_;
  const std::string topic_type_;
  std::shared_ptr<QLabel> label_;
  std::shared_ptr<QWidget> display_;

Q_SIGNALS:
  void adjustLCDNumberOfDigits(const long unsigned number);

protected:
  ros::NodeHandle nh_;
  ros::Subscriber sub_;

private Q_SLOTS:
  void adjustLCDNumberOfDigitsHandler(const long unsigned number);

private:
  ros::Time last_ = ros::Time::now();
  ros::Duration refresh_duration_;

  bool refresh();

  void boolCallback(const std_msgs::BoolConstPtr &msg);
  void durationCallback(const std_msgs::DurationConstPtr &msg);
  void float32Callback(const std_msgs::Float32ConstPtr &msg);
  void float64Callback(const std_msgs::Float64ConstPtr &msg);
  void int8Callback(const std_msgs::Int8ConstPtr &msg);
  void int16Callback(const std_msgs::Int16ConstPtr &msg);
  void int32Callback(const std_msgs::Int32ConstPtr &msg);
  void int64Callback(const std_msgs::Int64ConstPtr &msg);
  void stringCallback(const std_msgs::StringConstPtr &msg);
  void timeCallback(const std_msgs::TimeConstPtr &msg);
  void uint8Callback(const std_msgs::UInt8ConstPtr &msg);
  void uint16Callback(const std_msgs::UInt16ConstPtr &msg);
  void uint32Callback(const std_msgs::UInt32ConstPtr &msg);
  void uint64Callback(const std_msgs::UInt64ConstPtr &msg);
};

}

#endif