main_window.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <QtGui>
#include <QMessageBox>
#include <iostream>
#include "../include/segbot_controller/main_window.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace segbot_controller {

using namespace Qt;

/*****************************************************************************
** Implementation [MainWindow]
*****************************************************************************/

MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
        : QMainWindow(parent)
        , qnode(argc,argv)
{
        ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
    QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt())); // qApp is a global variable for the application

    ReadSettings();
        setWindowIcon(QIcon(":/images/icon.png"));
        ui.tab_manager->setCurrentIndex(0); // ensure the first tab is showing - qt-designer should have this already hardwired, but often loses it (settings?).
    QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));

        /*********************
        ** Logging
        **********************/
        ui.view_logging->setModel(qnode.loggingModel());
    QObject::connect(&qnode, SIGNAL(loggingUpdated()), this, SLOT(updateLoggingView()));

    /*********************
    ** Auto Start
    **********************/
    if ( ui.checkbox_remember_settings->isChecked() ) {
        on_button_connect_clicked(true);
    }
}

MainWindow::~MainWindow() {}

/*****************************************************************************
** Implementation [Slots]
*****************************************************************************/

void MainWindow::showNoMasterMessage() {
        QMessageBox msgBox;
        msgBox.setText("Couldn't find the ros master.");
        msgBox.exec();
    close();
}

/*
 * These triggers whenever the button is clicked, regardless of whether it
 * is already checked or not.
 */

void MainWindow::on_button_connect_clicked(bool check ) {
        if ( ui.checkbox_use_environment->isChecked() ) {
                if ( !qnode.init() ) {
                        showNoMasterMessage();
                } else {
                        ui.button_connect->setEnabled(false);
                }
        } else {
                if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
                                   ui.line_edit_host->text().toStdString()) ) {
                        showNoMasterMessage();
                } else {
                        ui.button_connect->setEnabled(false);
                        ui.line_edit_master->setReadOnly(true);
                        ui.line_edit_host->setReadOnly(true);
                        ui.line_edit_topic->setReadOnly(true);
                }
        }
}


void MainWindow::on_checkbox_use_environment_stateChanged(int state) {
        bool enabled;
        if ( state == 0 ) {
                enabled = true;
        } else {
                enabled = false;
        }
        ui.line_edit_master->setEnabled(enabled);
        ui.line_edit_host->setEnabled(enabled);
        //ui.line_edit_topic->setEnabled(enabled);
}

/*****************************************************************************
** Implemenation [Slots][manually connected]
*****************************************************************************/

void MainWindow::updateLoggingView() {
        ui.view_logging->scrollToBottom();
}

/*****************************************************************************
** Implementation [Menu]
*****************************************************************************/

void MainWindow::on_actionAbout_triggered() {
    QMessageBox::about(this, tr("About ..."),tr("<h2>PACKAGE_NAME Test Program 0.10</h2><p>Copyright Yujin Robot</p><p>This package needs an about description.</p>"));
}

/*****************************************************************************
** Implementation [Configuration]
*****************************************************************************/

void MainWindow::ReadSettings() {
    QSettings settings("Qt-Ros Package", "segbot_controller");
    restoreGeometry(settings.value("geometry").toByteArray());
    restoreState(settings.value("windowState").toByteArray());
    QString master_url = settings.value("master_url",QString("http://192.168.1.2:11311/")).toString();
    QString host_url = settings.value("host_url", QString("192.168.1.3")).toString();
    //QString topic_name = settings.value("topic_name", QString("/chatter")).toString();
    ui.line_edit_master->setText(master_url);
    ui.line_edit_host->setText(host_url);
    //ui.line_edit_topic->setText(topic_name);
    bool remember = settings.value("remember_settings", false).toBool();
    ui.checkbox_remember_settings->setChecked(remember);
    bool checked = settings.value("use_environment_variables", false).toBool();
    ui.checkbox_use_environment->setChecked(checked);
    if ( checked ) {
        ui.line_edit_master->setEnabled(false);
        ui.line_edit_host->setEnabled(false);
        //ui.line_edit_topic->setEnabled(false);
    }
}

void MainWindow::WriteSettings() {
    QSettings settings("Qt-Ros Package", "segbot_controller");
    settings.setValue("master_url",ui.line_edit_master->text());
    settings.setValue("host_url",ui.line_edit_host->text());
    //settings.setValue("topic_name",ui.line_edit_topic->text());
    settings.setValue("use_environment_variables",QVariant(ui.checkbox_use_environment->isChecked()));
    settings.setValue("geometry", saveGeometry());
    settings.setValue("windowState", saveState());
    settings.setValue("remember_settings",QVariant(ui.checkbox_remember_settings->isChecked()));

}

void MainWindow::closeEvent(QCloseEvent *event)
{
        WriteSettings();
        QMainWindow::closeEvent(event);
}

}  // namespace segbot_controller