rosmon_model.cpp

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// List of all rosmon instances on the server
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#include "rosmon_model.h"

#include <QTimer>

#include <rosmon_msgs/State.h>

#include <ros/master.h>
#include <ros/names.h>

namespace rqt_rosmon
{

ROSMonModel::ROSMonModel(QObject* parent)
 : QAbstractListModel(parent)
{
        m_data << "[auto]";

        auto updateTimer = new QTimer(this);
        connect(updateTimer, SIGNAL(timeout()), SLOT(updateData()));
        updateTimer->start(2000);
}

int ROSMonModel::rowCount(const QModelIndex& parent) const
{
        if(parent.isValid())
                return 0;

        return m_data.count();
}

QVariant ROSMonModel::data(const QModelIndex& index, int role) const
{
        int row = index.row();

        switch(role)
        {
                case Qt::DisplayRole:
                case Qt::EditRole:
                        return m_data[row];
        }

        return QVariant();
}

void ROSMonModel::updateData()
{
        std::vector<ros::master::TopicInfo> topics;
        if(!ros::master::getTopics(topics))
                return;

        QStringList nodeList;

        for(auto& topic : topics)
        {
                if(topic.datatype != ros::message_traits::DataType<rosmon_msgs::State>::value())
                        continue;

                nodeList << QString::fromStdString(ros::names::parentNamespace(topic.name));
        }

        qSort(nodeList);

        nodeList.prepend("[auto]");

        int oldIdx = 1;
        int newIdx = 1;

        while(oldIdx < m_data.size() || newIdx < nodeList.size())
        {
                if(oldIdx == m_data.size())
                {
                        beginInsertRows(QModelIndex(), oldIdx, oldIdx);
                        m_data.append(nodeList[newIdx]);
                        endInsertRows();
                        oldIdx += 1;
                        newIdx += 1;
                        continue;
                }

                if(newIdx == nodeList.size())
                {
                        beginRemoveRows(QModelIndex(), oldIdx, oldIdx);
                        m_data.erase(m_data.begin() + oldIdx);
                        endRemoveRows();
                        continue;
                }

                auto oldT = m_data[oldIdx];
                auto newT = nodeList[newIdx];

                if(oldT == newT)
                {
                        oldIdx++;
                        newIdx++;
                }
                else if(oldT < newT)
                {
                        beginRemoveRows(QModelIndex(), oldIdx, oldIdx);
                        m_data.erase(m_data.begin() + oldIdx);
                        endRemoveRows();
                }
                else
                {
                        beginInsertRows(QModelIndex(), oldIdx, oldIdx);
                        m_data.insert(oldIdx, newT);
                        endInsertRows();
                        oldIdx++;
                        newIdx++;
                }
        }
}

}