.. _program_listing_file__tmp_ws_src_ros_tutorials_turtlesim_include_turtlesim_turtle_frame.h:

Program Listing for File turtle_frame.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros_tutorials_turtlesim_include_turtlesim_turtle_frame.h>` (``/tmp/ws/src/ros_tutorials/turtlesim/include/turtlesim/turtle_frame.h``)

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

.. code-block:: cpp

   /*
    * Copyright (c) 2009, Willow Garage, Inc.
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the Willow Garage, Inc. nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #include <QFrame>
   #include <QImage>
   #include <QPainter>
   #include <QPaintEvent>
   #include <QTimer>
   #include <QVector>
   
   // This prevents a MOC error with versions of boost >= 1.48
   #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
   # include <rclcpp/rclcpp.hpp>
   # include <ament_index_cpp/get_package_share_directory.hpp>
   
   # include <rcl_interfaces/msg/parameter_event.hpp>
   # include <std_srvs/srv/empty.hpp>
   # include <turtlesim/srv/spawn.hpp>
   # include <turtlesim/srv/kill.hpp>
   # include <map>
   
   # include "turtle.h"
   #endif
   
   namespace turtlesim
   {
   
   class TurtleFrame : public QFrame
   {
     Q_OBJECT
   public:
     TurtleFrame(rclcpp::Node::SharedPtr& node_handle, QWidget* parent = 0, Qt::WindowFlags f = Qt::WindowFlags());
     ~TurtleFrame();
   
     std::string spawnTurtle(const std::string& name, float x, float y, float angle);
     std::string spawnTurtle(const std::string& name, float x, float y, float angle, size_t index);
   
   protected:
     void paintEvent(QPaintEvent* event);
   
   private slots:
     void onUpdate();
   
   private:
     void updateTurtles();
     void clear();
     bool hasTurtle(const std::string& name);
   
     bool clearCallback(const std_srvs::srv::Empty::Request::SharedPtr, std_srvs::srv::Empty::Response::SharedPtr);
     bool resetCallback(const std_srvs::srv::Empty::Request::SharedPtr, std_srvs::srv::Empty::Response::SharedPtr);
     bool spawnCallback(const turtlesim::srv::Spawn::Request::SharedPtr, turtlesim::srv::Spawn::Response::SharedPtr);
     bool killCallback(const turtlesim::srv::Kill::Request::SharedPtr, turtlesim::srv::Kill::Response::SharedPtr);
   
     void parameterEventCallback(const rcl_interfaces::msg::ParameterEvent::ConstSharedPtr);
   
     rclcpp::Node::SharedPtr nh_;
   
     QTimer* update_timer_;
     QImage path_image_;
     QPainter path_painter_;
   
     uint64_t frame_count_;
   
     rclcpp::Time last_turtle_update_;
   
     rclcpp::Service<std_srvs::srv::Empty>::SharedPtr clear_srv_;
     rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_srv_;
     rclcpp::Service<turtlesim::srv::Spawn>::SharedPtr spawn_srv_;
     rclcpp::Service<turtlesim::srv::Kill>::SharedPtr kill_srv_;
     rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;
   
     typedef std::map<std::string, TurtlePtr> M_Turtle;
     M_Turtle turtles_;
     uint32_t id_counter_;
   
     QVector<QImage> turtle_images_;
   
     float meter_;
     float width_in_meters_;
     float height_in_meters_;
   };
   
   }