ros_source.h

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#ifndef SWRI_PROFILER_TOOLS_ROS_SOURCE_H_
#define SWRI_PROFILER_TOOLS_ROS_SOURCE_H_
 
#include <QObject>
#include <QThread>
#include <swri_profiler_msgs/ProfileIndexArray.h>
#include <swri_profiler_msgs/ProfileDataArray.h>
 
#include <swri_profiler_tools/profiler_msg_adapter.h>
 
namespace swri_profiler_tools
{
// RosSource implements a Qt-friendly interface around ROS.  It
// creates/monitors the connection with the ROS master and handles our
// subscriptions.  Messages are provided via the Qt signal/slot
// framework.  RosSource maintains a separate thread so that the GUI
// doesn't block when some of the ROS functions are taking their sweet
// time.
class ProfileDatabase;
class RosSourceBackend;
class RosSource : public QObject
{
  Q_OBJECT;
 
 public:
  RosSource(ProfileDatabase *db);
  ~RosSource();
 
  bool isConnected() const { return connected_; }
  const QString& masterUri() const { return master_uri_; }
 
  void start();
  
 Q_SIGNALS:
  void connected(bool connected, QString uri);
 
 private Q_SLOTS:
  void handleConnected(bool connected, QString uri);
  void handleIndex(swri_profiler_msgs::ProfileIndexArray msg);
  void handleData(swri_profiler_msgs::ProfileDataArray msg);
  
 private:
  ProfileDatabase *db_;
  
  QThread ros_thread_;
  RosSourceBackend *backend_;
 
  ProfilerMsgAdapter msg_adapter_;
  int profile_key_;
  
  bool connected_;
  QString master_uri_;
};  // class RosSource
}  // namespace swri_profiler_tools
#endif // SWRI_PROFILER_TOOLS_ROS_SOURCE_H_