.. _program_listing_file__tmp_ws_src_turtlebot4_turtlebot4_node_include_turtlebot4_node_display.hpp:

Program Listing for File display.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot4_turtlebot4_node_include_turtlebot4_node_display.hpp>` (``/tmp/ws/src/turtlebot4/turtlebot4_node/include/turtlebot4_node/display.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2021 Clearpath Robotics, Inc.
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
    * @author Roni Kreinin (rkreinin@clearpathrobotics.com)
    */
   
   #ifndef TURTLEBOT4_NODE__DISPLAY_HPP_
   #define TURTLEBOT4_NODE__DISPLAY_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/battery_state.hpp>
   #include <std_msgs/msg/string.hpp>
   #include <std_msgs/msg/int32.hpp>
   
   
   #include "turtlebot4_node/utils.hpp"
   #include "turtlebot4_msgs/msg/user_display.hpp"
   
   
   namespace turtlebot4
   {
   
   static constexpr auto DISPLAY_NUM_LINES = 5;
   static constexpr auto DISPLAY_CHAR_PER_LINE = 18;
   static constexpr auto DISPLAY_CHAR_PER_LINE_HEADER = 21;
   
   struct Turtlebot4MenuEntry
   {
     std::string name_, function_;
     turtlebot4_function_callback_t cb_;
     turtlebot4_function_call_callback_t function_call_cb_;
   
     explicit Turtlebot4MenuEntry(std::string name)
     : name_(name),
       function_(name)
     {}
   
     void function_call()
     {
       if (function_call_cb_ != nullptr) {
         function_call_cb_(function_);
       }
   
       if (cb_ != nullptr) {
         cb_();
       }
     }
   };
   
   class Display
   {
   public:
     // Constructor and Destructor
     explicit Display(
       std::vector<Turtlebot4MenuEntry> entries,
       std::shared_ptr<rclcpp::Node> & nh);
     virtual ~Display() {}
   
     // Setters
     void set_battery(const sensor_msgs::msg::BatteryState::SharedPtr & battery_state_msg);
     void set_ip(std::string ip);
   
     // Menu Navigation
     void scroll_up();
     void scroll_down();
     void select();
     void back();
     void show_message(std::vector<std::string> message);
     void show_message(std::string message);
   
     // Spin Once
     void spin_once();
   
     // Request display update
     void request_update();
   
   private:
     // Update display
     void update();
     void update_header();
     void set_menu_entries();
     void pad_line(std::string & line);
     std::vector<Turtlebot4MenuEntry> get_visible_entries();
   
     void display_message_callback(const std_msgs::msg::String::SharedPtr display_msg);
   
     // Node handle
     std::shared_ptr<rclcpp::Node> nh_;
     rclcpp::Publisher<turtlebot4_msgs::msg::UserDisplay>::SharedPtr display_pub_;
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr display_message_sub_;
     bool update_required_;
   
     // Menu
     std::vector<Turtlebot4MenuEntry> menu_entries_;
     std::vector<Turtlebot4MenuEntry> visible_entries_;
     std::vector<std::string> display_lines_;
     bool menu_override_;
     uint8_t scroll_position_;
     uint8_t selected_line_;
   
     // Header
     std::string ip_;
     int battery_percentage_;
     std::string header_;
   };
   
   }  // namespace turtlebot4
   
   #endif  // TURTLEBOT4_NODE__DISPLAY_HPP_