console_master.cpp

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// *****************************************************************************
//
// Copyright (c) 2015, Southwest Research Institute® (SwRI®)
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#include <swri_console/console_master.h>
#include <swri_console/console_window.h>
#include <swri_console/settings_keys.h>
 
#include <QFontDialog>
#include <QSettings>
 
namespace swri_console
{
ConsoleMaster::ConsoleMaster(int argc, char** argv):
  ros_thread_(argc, argv),
  connected_(false),
  window_font_(QFont("Ubuntu Mono", 9))
{
  // The RosThread takes advantage of queued connections when emitting log messages
  // to ensure that the messages are processed in the console window's event thread.
  // In order for that to work, we have to manually register the message type with
  // Qt's QMetaType system.
  qRegisterMetaType<rosgraph_msgs::LogConstPtr>("rosgraph_msgs::LogConstPtr");
 
  QObject::connect(&bag_reader_, SIGNAL(logReceived(const rosgraph_msgs::LogConstPtr& )),
                   &db_, SLOT(queueMessage(const rosgraph_msgs::LogConstPtr&) ));
  QObject::connect(&bag_reader_, SIGNAL(finishedReading()),
                   &db_, SLOT(processQueue()));
  QObject::connect(&log_reader_, SIGNAL(logReceived(const rosgraph_msgs::LogConstPtr& )),
                   &db_, SLOT(queueMessage(const rosgraph_msgs::LogConstPtr&) ));
  QObject::connect(&log_reader_, SIGNAL(finishedReading()),
                   &db_, SLOT(processQueue()));
}
 
ConsoleMaster::~ConsoleMaster()
{
  ros_thread_.shutdown();
  ros_thread_.wait();
}
 
void ConsoleMaster::createNewWindow()
{
  ConsoleWindow* win = new ConsoleWindow(&db_);
  windows_.append(win);
 
  QSettings settings;
  window_font_ = settings.value(SettingsKeys::FONT, QFont("Ubuntu Mono", 9)).value<QFont>();
  win->setFont(window_font_);
  QObject::connect(win, SIGNAL(createNewWindow()),
                   this, SLOT(createNewWindow()));
 
  QObject::connect(&ros_thread_, SIGNAL(connected(bool)),
                   win, SLOT(connected(bool)));
 
  QObject::connect(this,
                   SIGNAL(fontChanged(const QFont &)),
                   win, SLOT(setFont(const QFont &)));
 
  QObject::connect(win, SIGNAL(selectFont()),
                   this, SLOT(selectFont()));
 
  QObject::connect(win, SIGNAL(readBagFile()),
                   &bag_reader_, SLOT(promptForBagFile()));
 
  QObject::connect(win, SIGNAL(readLogFile()),
                   &log_reader_, SLOT(promptForLogFile()));
 
  QObject::connect(win, SIGNAL(readLogDirectory()),
                   &log_reader_, SLOT(promptForLogDirectory()));
 
 
  if (!ros_thread_.isRunning())
  {
    // There's only one ROS thread, and it services every window.  We need to initialize
    // it and its connections to the LogDatabase when we first create a window, but
    // after that it doesn't need to be modified again.
    QObject::connect(&ros_thread_, SIGNAL(logReceived(const rosgraph_msgs::LogConstPtr& )),
                     &db_, SLOT(queueMessage(const rosgraph_msgs::LogConstPtr&) ));
 
    QObject::connect(&ros_thread_, SIGNAL(spun()),
                     &db_, SLOT(processQueue()));
 
    ros_thread_.start();
  }
 
  win->show();
}
 
void ConsoleMaster::fontSelectionChanged(const QFont &font)
{
  window_font_ = font;
  QSettings settings;
  settings.setValue(SettingsKeys::FONT, font);
  Q_EMIT fontChanged(window_font_);
}
 
void ConsoleMaster::selectFont()
{
  QFont starting_font = window_font_;
 
  QFontDialog dlg(window_font_);
    
  QObject::connect(&dlg, SIGNAL(currentFontChanged(const QFont &)),
                   this, SLOT(fontSelectionChanged(const QFont &)));
 
  int ret = dlg.exec();
 
  if (ret == QDialog::Accepted) {
    if (window_font_ != dlg.selectedFont()) {
      window_font_ = dlg.selectedFont();
      Q_EMIT fontChanged(window_font_);
    }
  } else {
    if (window_font_ != starting_font) {
      window_font_ = starting_font;
      Q_EMIT fontChanged(window_font_);
    }
  }
}
}  // namespace swri_console