marble_plugin.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

/* -- BEGIN LICENSE BLOCK ----------------------------------------------

Copyright (c) 2013, TB
All rights reserved.

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  -- END LICENSE BLOCK ----------------------------------------------*/

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef _MARBLE_PLUGIN_H
#define _MARBLE_PLUGIN_H

// ROS Plugin Includes
#include <rqt_gui_cpp/plugin.h>
#include <ros/ros.h>

// Message Includes
#include <sensor_msgs/NavSatFix.h>

// Qt Includes
#include <QtCore/QObject>
#include <QMutex>

// Own Includes
#include <marble_plugin/ui_marble_plugin.h>

namespace marble_plugin {

class MarblePlugin
  : public rqt_gui_cpp::Plugin
{
  Q_OBJECT
public:
  MarblePlugin();
  virtual void initPlugin(qt_gui_cpp::PluginContext& context);
  virtual void shutdownPlugin();
  virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const;
  virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings, const qt_gui_cpp::Settings& instance_settings);

  // Comment in to signal that the plugin has a way to configure it
  //bool hasConfiguration() const;
  //void triggerConfiguration();

  void GpsCallback( const sensor_msgs::NavSatFixConstPtr& gpspt );

  private:

Q_SIGNALS:

  void NewGPSPosition(qreal,qreal);

  private Q_SLOTS:

      void ChangeGPSTopic(const QString &topic_name);
      void SetKMLFile(bool envoke_file_dialog = true );
      void ChangeMarbleModelTheme(int idx );
      void FindGPSTopics();

  private:

  Ui_Form ui_;

  QWidget* widget_;

  ros::Subscriber m_sat_nav_fix_subscriber;

};
} // namespace
#endif // _MARBLE_PLUGIN_H