ros_source_backend.h

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#ifndef SWRI_PROFILER_TOOLS_ROS_SOURCE_BACKEND_H_
#define SWRI_PROFILER_TOOLS_ROS_SOURCE_BACKEND_H_

#include <QObject>
#include <ros/subscriber.h>
#include <swri_profiler_msgs/ProfileIndexArray.h>
#include <swri_profiler_msgs/ProfileDataArray.h>

namespace swri_profiler_tools
{
class RosSourceBackend : public QObject
{
  Q_OBJECT;

  ros::Subscriber index_sub_;
  ros::Subscriber data_sub_;  

  bool is_connected_;  
  
 Q_SIGNALS:
  void connected(bool connected, QString uri);
  void indexReceived(swri_profiler_msgs::ProfileIndexArray);
  void dataReceived(swri_profiler_msgs::ProfileDataArray);

 public:
  RosSourceBackend();
  ~RosSourceBackend();

 private:
  void startRos();
  void stopRos();
  
  void timerEvent(QTimerEvent *event);

  void handleIndex(const swri_profiler_msgs::ProfileIndexArray &msg);
  void handleData(const swri_profiler_msgs::ProfileDataArray &msg);
};  // class RosSourceBackend
}  // namespace swri_profiler_tools
#endif  // SWRI_PROFILER_TOOLS_ROS_SOURCE_BACKEND_H_