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main_window.h

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#ifndef MAINWINDOW_H
#define MAINWINDOW_H

//== INCLUDES ==================================================================

// ros
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/CameraInfo.h>
#include <visualization_msgs/Marker.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <pr2_dremel_server/CarveSegmentsAction.h>
#include <actionlib/client/simple_action_client.h>


// qt
#include <QMainWindow>
#include <QToolBox>

// display lib
#include <vlr/displayGL.h>

// local
#include "menu_widget.h"
#include "draw_object.h"

#include <ft2build.h>
#include FT_FREETYPE_H
#include FT_STROKER_H


//== CLASS DEFINITION ==========================================================
class MainWindow : public QMainWindow
{

    // Call Qt Meta Object Compiler
    Q_OBJECT

public:

    //-----------------------------------------------------------------------------
    MainWindow();

    //-----------------------------------------------------------------------------
    ~MainWindow();

    float glyphToLines(wchar_t ch, int size, float outline_width, std::vector<std::vector<vlr::TagLine> >& all_lines, float initial_font_advance);

    void linesToGcode(std::vector<std::vector<vlr::TagLine> >& lines);

    void sendLineMarker(std::vector<std::vector<vlr::TagLine> >& lines, std::string frame_id, double r, double g, double b);
    void addCountoursToImage(std::vector<std::vector<vlr::TagLine> >& contours);
    std::pair<dremel::DrawObject*,float> getClosestObject(float x, float y);
    void updateImage();
    // void updateImageLine();
    void moveDrawObject(dremel::DrawObject* object, int dx, int dy);
    void scaleDrawObject(dremel::DrawObject* object, float scale);
    void eraseObject(dremel::DrawObject* object);

public slots:
    void mousePress(int x, int y, uint8_t buttons);
    void mouseRelease(int x, int y, uint8_t buttons);
    void mouseMove(int x, int y, uint8_t buttons);
    void keyPress(unsigned int key);
    void mouseWheel(int x, int y, uint8_t buttons, int delta);
    bool send();
    void cancel();

    void enableDremel();
    void disableDremel();
    void enableVacuum();
    void disableVacuum();

private:
    int32_t width_, height_;

    ros::NodeHandle nh_;
    tf::TransformListener tf_listener_;
    ros::Rate loop_rate_;
    ros::Subscriber plate_img_sub_;
    sensor_msgs::Image plate_img_;

    vlr::DisplayGL* display_widget_;
    QToolBox *right_toolbox_;
    MenuWidget *menu_widget_;

    std::vector<dremel::DrawObject> draw_objects_;
    dremel::DrawObject* current_object_;


    float current_carving_progress_;
    vlr::Image<uint8_t>* img_;
    vlr::TagPoint* current_pt_;
    static const int32_t catch_dist_;
    std::vector<std::vector<vlr::TagLine> > lines_;
    int last_move_x_,last_move_y_;
    double table_height_;
    int last_right_x_,last_right_y_;

    // font stuff
    FT_Library library_;
    FT_Face face_;
    std::string fontfile_name_;
    uint8_t* font_buffer_;

    actionlib::SimpleActionClient<pr2_dremel_server::CarveSegmentsAction> action_client_;

    // visualization markers
    visualization_msgs::Marker lines_marker_;
    ros::Publisher viz_marker_pub_;
    int current_marker_id_;

    void feedbackCb(const pr2_dremel_server::CarveSegmentsFeedbackConstPtr& feedback){
      current_carving_progress_=feedback->percent_complete;
      menu_widget_-> carving_progress_->setValue(current_carving_progress_*100);
      printf("Percent Complete %f\n", current_carving_progress_);
    }

};

//==============================================================================
#endif // MAINWINDOW_H defined
//==============================================================================

---

pr2_dremel_gui
Author(s): Soeren Kammel, Benjamin Pitzer (maintained by Benjamin Pitzer)
autogenerated on Sun Mar 3 12:12:51 2013