qnode.hpp

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/*****************************************************************************
** Ifdefs
*****************************************************************************/

#ifndef %(package)s_QNODE_HPP_
#define %(package)s_QNODE_HPP_

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

// To workaround boost/qt4 problems that won't be bugfixed. Refer to
//    https://bugreports.qt.io/browse/QTBUG-22829
#ifndef Q_MOC_RUN
#include <ros/ros.h>
#endif
#include <string>
#include <QThread>
#include <QStringListModel>


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

namespace %(package)s {

/*****************************************************************************
** Class
*****************************************************************************/

class QNode : public QThread {
    Q_OBJECT
public:
        QNode(int argc, char** argv );
        virtual ~QNode();
        bool init();
        bool init(const std::string &master_url, const std::string &host_url);
        void run();

        /*********************
        ** Logging
        **********************/
        enum LogLevel {
                 Debug,
                 Info,
                 Warn,
                 Error,
                 Fatal
         };

        QStringListModel* loggingModel() { return &logging_model; }
        void log( const LogLevel &level, const std::string &msg);

Q_SIGNALS:
        void loggingUpdated();
    void rosShutdown();

private:
        int init_argc;
        char** init_argv;
        ros::Publisher chatter_publisher;
    QStringListModel logging_model;
};

}  // namespace %(package)s

#endif /* %(package)s_QNODE_HPP_ */