ros_source_backend.cpp

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// Copyright (c) 2015, Southwest Research Institute® (SwRI®)
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#include <swri_profiler_tools/ros_source_backend.h>
#include <QCoreApplication>
#include <QStringList>
#include <ros/ros.h>
 
namespace swri_profiler_tools
{
RosSourceBackend::RosSourceBackend()
  :
  is_connected_(false)
{
  int argc = QCoreApplication::arguments().size();
  std::vector<char*> argv;
  // This is so ugly, but ros::init expects a "char**", so...
  for (const auto& arg : QCoreApplication::arguments())
  {
    auto* temp_str = new char[arg.size()];
    strcpy(temp_str, arg.toStdString().c_str());
    argv.push_back(temp_str);
  }
  ros::init(argc, &argv[0],
            "profiler",
            ros::init_options::AnonymousName);
  for (const auto& arg : argv)
  {
    delete[] arg;
  }
 
  startTimer(50);
}
  
RosSourceBackend::~RosSourceBackend()
{
  if (ros::isStarted()) {
    ros::shutdown();
    ros::waitForShutdown();
  }
}
 
void RosSourceBackend::startRos()
{
  ros::start();
  is_connected_ = true;
 
  ros::NodeHandle nh;
  index_sub_ = nh.subscribe("/profiler/index", 1000, &RosSourceBackend::handleIndex, this);
  data_sub_ = nh.subscribe("/profiler/data", 1000, &RosSourceBackend::handleData, this);
 
  std::string uri = ros::master::getURI();
  Q_EMIT connected(true, QString::fromStdString(uri));
}
 
void RosSourceBackend::stopRos()
{
  ros::shutdown();
  is_connected_ = false;
  Q_EMIT connected(false, QString());
}
 
void RosSourceBackend::timerEvent(QTimerEvent *event)
{
  bool master_status = ros::master::check();
 
  if (!is_connected_ && master_status) {
    startRos();
  } else if (is_connected_ && !master_status) {
    stopRos();
  } else if (is_connected_ && master_status) {
    ros::spinOnce();
  }    
}
 
void RosSourceBackend::handleIndex(const swri_profiler_msgs::ProfileIndexArray &msg)
{
  Q_EMIT indexReceived(msg);
}
 
void RosSourceBackend::handleData(const swri_profiler_msgs::ProfileDataArray &msg)
{
  Q_EMIT dataReceived(msg);
}
 
}  // namespace swri_profiler_tools