turtle_frame.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <QFrame>
00031 #include <QImage>
00032 #include <QPainter>
00033 #include <QPaintEvent>
00034 #include <QTimer>
00035 #include <QVector>
00036 
00037 // This prevents a MOC error with versions of boost >= 1.48
00038 #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
00039 # include <ros/ros.h>
00040 
00041 # include <std_srvs/Empty.h>
00042 # include <turtlesim/Spawn.h>
00043 # include <turtlesim/Kill.h>
00044 # include <map>
00045 
00046 # include "turtle.h"
00047 #endif
00048 
00049 namespace turtlesim
00050 {
00051 
00052 class TurtleFrame : public QFrame
00053 {
00054   Q_OBJECT
00055 public:
00056   TurtleFrame(QWidget* parent = 0, Qt::WindowFlags f = 0);
00057   ~TurtleFrame();
00058 
00059   std::string spawnTurtle(const std::string& name, float x, float y, float angle);
00060   std::string spawnTurtle(const std::string& name, float x, float y, float angle, size_t index);
00061 
00062 protected:
00063   void paintEvent(QPaintEvent* event);
00064 
00065 private slots:
00066   void onUpdate();
00067 
00068 private:
00069   void updateTurtles();
00070   void clear();
00071   bool hasTurtle(const std::string& name);
00072 
00073   bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
00074   bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
00075   bool spawnCallback(turtlesim::Spawn::Request&, turtlesim::Spawn::Response&);
00076   bool killCallback(turtlesim::Kill::Request&, turtlesim::Kill::Response&);
00077 
00078   ros::NodeHandle nh_;
00079   QTimer* update_timer_;
00080   QImage path_image_;
00081   QPainter path_painter_;
00082 
00083   uint64_t frame_count_;
00084 
00085   ros::WallTime last_turtle_update_;
00086 
00087   ros::ServiceServer clear_srv_;
00088   ros::ServiceServer reset_srv_;
00089   ros::ServiceServer spawn_srv_;
00090   ros::ServiceServer kill_srv_;
00091 
00092   typedef std::map<std::string, TurtlePtr> M_Turtle;
00093   M_Turtle turtles_;
00094   uint32_t id_counter_;
00095 
00096   QVector<QImage> turtle_images_;
00097 
00098   float meter_;
00099   float width_in_meters_;
00100   float height_in_meters_;
00101 };
00102 
00103 }


turtlesim
Author(s): Josh Faust
autogenerated on Thu Jun 6 2019 20:20:12