implementations.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <QTextStream>
#include <ros/ros.h>
#include <concert_msgs/Implementation.h>
#include "../include/rocon_qorchestra/implementations.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace rocon_qorchestra {

/*****************************************************************************
** Implementation
*****************************************************************************/

Implementations::~Implementations() {
        for ( unsigned int i = 0; i < external_processes.size(); ++i ) {
                if ( external_processes[i]->state() != QProcess::NotRunning ) {
                        external_processes[i]->kill();
                }
                delete external_processes[i];
                external_processes[i] = NULL;
        }
}
bool Implementations::fetch() {
    ros::NodeHandle nh;
    ros::ServiceClient retreive_implementations_client = nh.serviceClient<concert_msgs::Implementation>("implementation");
    if ( retreive_implementations_client.waitForExistence( ros::Duration(5.0)) ) {
                concert_msgs::Implementation implementation;
                ROS_INFO_STREAM("QOrchestra: requesting implementations.");
                if( retreive_implementations_client.call(implementation) ) {
                    ROS_INFO_STREAM("QOrchestra: service call to load implementation was successful.");
                        QList<QStandardItem*> implementation_list;
                        for ( unsigned int i = 0; i < implementation.response.nodes.size(); ++i ) {
                            implementation_list << new QStandardItem(implementation.response.nodes[i].c_str());
                        }
                        mutex_.lock();
                        dot_graph_ = implementation.response.link_graph.c_str();
                        model_.clear();
                        QStandardItem *parent = model_.invisibleRootItem();
                        QStandardItem *header_item = new QStandardItem(implementation.response.name.c_str());
                        parent->appendRow(header_item);
                        header_item->appendColumn(implementation_list);
                        mutex_.unlock();
                        Q_EMIT sigImplementationsFetched();
                        return true;
                } else {
                  ROS_WARN_STREAM("QOrchestra: service call to load implementation was not successful.");
                }
    } else {
        ROS_WARN_STREAM("QOrchestra: implementations server unavailable (is rocon_orchestra running?)");
    }
    return false;
}

void Implementations::viewLinkGraph()
{
        if ( dot_graph_ == "" ) {
                ROS_WARN_STREAM("QOrchestra: no implementation loaded yet, aborting view.");
                return;
        }
        // we write every time only here since qtemporaryfile is a bit narky about threads.
        if ( dot_graph_file.open() ) {
                ROS_INFO_STREAM("QOrchestra: writing dot file [" << dot_graph_file.fileName().toStdString() << "]");
                QTextStream out(&dot_graph_file);
                out << QString(dot_graph_.c_str());
                dot_graph_file.close();
        }

        QStringList args;
        QProcess *dot_graph_viewer = new QProcess();
        args << dot_graph_file.fileName();
        dot_graph_viewer->start("kgraphviewer",args);
        external_processes.push_back(dot_graph_viewer);
}

} // namespace rocon_qorchestra