Program Listing for File turtle_frame.h
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/*
* 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_;
};
}