qadd_server/qadd.cpp

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

#include <ros/ros.h>
#include <string>
#include <sstream>
#include "qadd.hpp"
#include <std_msgs/String.h>

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

QAdd::QAdd(int argc, char** argv ) :
        QNode(argc,argv,"qadd_server")
        {}

void QAdd::ros_comms_init() {
    ros::NodeHandle n;
    add_server = n.advertiseService("add_two_ints", &QAdd::add, this);
}

bool QAdd::add(qt_tutorials::TwoInts::Request  &req, qt_tutorials::TwoInts::Response &res) {
        res.sum = req.a + req.b;
        ROS_INFO_STREAM(req.a << " + " << req.b << " = " << res.sum);

        logging.insertRows(0,1);
        std::stringstream logging_msg;
        logging_msg << "[ INFO] [" << ros::Time::now() << "]: " << req.a << " + " << req.b << " = " << res.sum;
        QVariant new_row(QString(logging_msg.str().c_str()));
        logging.setData(logging.index(0),new_row);

        return true;
}

void QAdd::run() {
        ros::spin();
    std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
    Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}