void QNode::run() {
while ( ros::ok() ) {
ros::spinOnce();
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
void QNode::run() {
ros::Rate loop_rate(1);
while ( ros::ok() ) {
ros::spinOnce();
loop_rate.sleep();
}
Q_EMIT rosShutdown();
}
void QNode::run() {
ros::Rate loop_rate(50);
while ( ros::ok() ) {
ros::spinOnce();
loop_rate.sleep();
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
emit rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
void QNode::run() {
log("Started moving around");
update_navigator_action_(ranger_librarian_helpers::NavigatorAction::MOVE);
//the same as ros::spin();
while (ros::ok()) {
ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
//------------------------------------------------------------------------------
void QNode::run()
{
//ros::Rate loop_rate(40); // 0.025sec
while ( ros::ok() )
{
ros::spin();
//ros::spinOnce();
//loop_rate.sleep();
}
std::cout << "ROS shutdown, proceeding to close the gui." << std::endl;
rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
void QNode::run() {
ros::Rate loop_rate(1);
int count = 0;
while ( ros::ok() ) {
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
chatter_publisher.publish(msg);
log(Info,std::string("I sent: ")+msg.data);
ros::spinOnce();
loop_rate.sleep();
++count;
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
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.
/*********************
** a simple uas table view
**********************/
model = new QStandardItemModel(2,4,this); //2 Rows and 4 Columns
model->setHorizontalHeaderItem(0, new QStandardItem(QString("Sensor type")));
model->setHorizontalHeaderItem(1, new QStandardItem(QString("FoV size (m)")));
model->setHorizontalHeaderItem(2, new QStandardItem(QString("Autonomy %")));
model->setHorizontalHeaderItem(3, new QStandardItem(QString("Task")));
model->setHorizontalHeaderItem(4, new QStandardItem(QString("Latitude")));
model->setHorizontalHeaderItem(5, new QStandardItem(QString("Longitude")));
ui.table_view_uas->setModel(model);
/*******************************************/
QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt()));
ReadSettings();
ui.tab_manager->setCurrentIndex(1); // ensure the second 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);
}
}
void QNode::run() {
ros::Rate loop_rate(10);
int count = 0;
while ( ros::ok() ) {
std_msgs::String msg, ang;
std::stringstream ss,ssang;
ss << "hello world " << count;
ssang<<newTiltAngle;
msg.data = ss.str();
ang.data = ssang.str();
chatter_publisher.publish(msg);
newTiltAngle.data=tiltAngle;
pubTiltAngle.publish(newTiltAngle);
log(Info,std::string("I sent: ")+msg.data + " " + ang.data);
ros::spinOnce();
loop_rate.sleep();
++count;
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
emit rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
void QNode::run() {
cout << "run start" << endl;
t = time(0); // get time now
struct tm * now = localtime( & t );
char buffer [80];
strftime (buffer,80,"%H:%M:%S_%d-%m-%Y.txt",now);
logfile.open (buffer);
ros::Rate Loop_rate(100);
cout << "running" << endl;
if(logfile.is_open())
{
while(ros::ok())
{
ros::spinOnce();
Loop_rate.sleep();
}
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
void Listener::run() {
ros::spin();
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
void QNode::run() {
ros::spin();
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
emit rosShutdown(); //used to signal the gui to shutdown (useful to roslaunch)
}
void QNode::run() {
//std::cout << "in run" << std::endl;
ros::Rate loop_rate(1);
int count = 0;
while ( ros::ok() ) {
// check if something has been called:
if (rviz_objects.is_polygon_ready()){
std_msgs::String msg;
std::stringstream ss;
ss << "Center points(waypoints): " << rviz_objects.get_center_points().points.size() <<
", CDT edges: " << rviz_objects.get_edges().points.size() ;
msg.data = ss.str();
chatter_publisher.publish(msg);
log(Info,std::string("CDT: ")+msg.data);
polygon_pub.publish(rviz_objects.get_polygonStamped());
edges_pub.publish(rviz_objects.get_edges());
center_pub.publish(rviz_objects.get_center_points());
grid_marker_pub.publish(rviz_objects.get_grid_points());
triangulation_mesh_pub.publish(rviz_objects.get_triangulation_mesh());
rviz_objects.set_polygon_ready(false);
}
if (rviz_objects.is_planning_ready()){
path_pub.publish(rviz_objects.get_path());
std::cout << "Number of waypoints: " << rviz_objects.get_number_of_waypoints() << std::endl;
// waypoints_s_client.publish(this->tnp_update.get_waypoint_list());
// mavros_msgs::WaypointPush push_srv;
// mavros_msgs::WaypointClear clear_wp;
// for (int i=0; i< tnp_update.get_waypoint_list().waypoints.size(); i++){
// push_srv.request.waypoints.push_back(tnp_update.get_waypoint_list().waypoints[i]);
// waypoints_s_client.call(push_srv);
// ros::Duration(0.3).sleep();
// }
// std::vector<mavros_msgs::Waypoint> the_list = push_srv.request.waypoints;
// for (std::vector<mavros_msgs::Waypoint>::iterator it = the_list.begin();
// it != the_list.end(); it++){
// std::cout << "lat: " << it->x_lat << "lat: " << it->y_long << std::endl;
// }
// std::cout << "total:" << the_list.size() << std::endl;
// waypoints_s_client.call(push_srv);
// TODO define data file or log
//dataFile << rviz_objects.get_number_of_waypoints() << " ";
rviz_objects.set_planning_ready(false);
}
if (broadcasting_constraints){
global_constraints_pub.publish(tnp_update.get_global_constraints());
}
ros::spinOnce();
loop_rate.sleep();
++count;
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
: QMainWindow(parent)
, qnode(argc,argv)
,timer()
,scene()
//, gps(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()));
//QObject::connect(&gps, SIGNAL(rosShutdown()), this, SLOT(close()));
/*********************
** Logging
**********************/
ui.view_logging->setModel(qnode.loggingModel());
QObject::connect(&qnode, SIGNAL(loggingUpdated()), this, SLOT(updateLoggingView()));
//Mesaj detayları
//QImuMesajEditGrup egrup;
ui.viewFrontCamera->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
ui.viewFrontCamera->setScaledContents(true);
ui.viewPTZCamera->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
ui.viewPTZCamera->setScaledContents(true);
QObject::connect(&qnode,SIGNAL(imuSignal_accelX(QString)),ui.lineAccelX,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_accelY(QString)),ui.lineAccelY,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_accelZ(QString)),ui.lineAccelZ,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_gyroX(QString)),ui.lineGyroX,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_gyroY(QString)),ui.lineGyroY,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_gyroZ(QString)),ui.lineGyroZ,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_magnetomX(QString)),ui.lineMagnetomX,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_magnetomY(QString)),ui.lineMagnetomY,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_magnetomZ(QString)),ui.lineMagnetomZ,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_raw(QString)),ui.lineIMURaw,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_raw(QString)),ui.lineGPSRaw,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_latitude(QString)),ui.lineLatitude,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_longtitude(QString)),ui.lineLongtitude,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_cog(QString)),ui.lineGPSCOG,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_vog(QString)),ui.lineGPSVOG,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_quality(QString)),ui.lineGPSQuality,SLOT(setText(QString)));
qRegisterMetaType<sensor_msgs::LaserScan>("sensor_msgs::LaserScan");
QObject::connect(&qnode,SIGNAL(scanSignal(const sensor_msgs::LaserScan)),this,SLOT(updateScan(sensor_msgs::LaserScan)));
qRegisterMetaType<cv::Mat>("cv::Mat");
QObject::connect(&qnode,SIGNAL(frontCamera_signal(cv::Mat)),this,SLOT(getFrontCameraImage(cv::Mat)));
QObject::connect(&qnode,SIGNAL(ptzCamera_signal(cv::Mat)),this,SLOT(getPTZCameraImage(cv::Mat)));
qRegisterMetaType<axis_camera::Axis>("axis_camera::Axis");
QObject::connect(&qnode,SIGNAL(ptzStatus_signal(axis_camera::Axis)),this,SLOT(getPTZCameraStatus(axis_camera::Axis)));
QObject::connect(ui.buttonPTZPan,SIGNAL(clicked()),this,SLOT(button_PTZPan_clicked()));
QObject::connect(ui.buttonPTZTilt,SIGNAL(clicked()),this,SLOT(button_PTZTilt_clicked()));
QObject::connect(ui.buttonSendVelocity,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_clicked()));
QObject::connect(ui.buttonSendVelocity_2,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_2_clicked()));
QObject::connect(ui.buttonSendVelocity_3,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_3_clicked()));
QObject::connect(ui.buttonSendVelocity_4,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_4_clicked()));
/*********************
** Auto Start
**********************/
if ( ui.checkbox_remember_settings->isChecked() ) {
on_button_connect_clicked(true);
}
////////////////////////////////////////////////////////////////////////
qsrand(QTime(0,0,0).secsTo(QTime::currentTime()));
scene.setSceneRect(-1600,-1600, 3200, 3200);
scene.setItemIndexMethod(QGraphicsScene::NoIndex);
scanview = new ScanWiew();
scanview->setPos(0,0);
scene.addItem(scanview);
/*
for (int i = 0; i < MouseCount; ++i) {
ScanWiew *mouse = new ScanWiew;
mouse->setPos(::sin((i * 6.28) / MouseCount) * 200,
::cos((i * 6.28) / MouseCount) * 200);
scene.addItem(mouse);
}*/
// QGraphicsView view(&scene);
ui.graphicsView->setScene(&scene);
ui.graphicsView->setRenderHint(QPainter::Antialiasing);
QColor color( 0, 0, 0);
ui.graphicsView->setBackgroundBrush(color);//QPixmap(":/images/cheese.jpg"));
ui.graphicsView->setCacheMode(QGraphicsView::CacheBackground);
ui.graphicsView->setViewportUpdateMode(QGraphicsView::BoundingRectViewportUpdate);
ui.graphicsView->setDragMode(QGraphicsView::ScrollHandDrag);
#if defined(Q_WS_S60) || defined(Q_WS_MAEMO_5) || defined(Q_WS_SIMULATOR)
ui.graphicsView->showMaximized();
#else
//ui.graphicsView.resize(400, 300);
//view.show();
#endif
//QObject::connect(&timer, SIGNAL(timeout()), &scene, SLOT(advance()));
QObject::connect(this, SIGNAL(sceneUpdate()), &scene, SLOT(update()));
QObject::connect(ui.spinBox_ArcDistanceInMeter,SIGNAL( valueChanged (int)),this,SLOT(setArcDistanceInMeter(int)));
QObject::connect(ui.spinBox_arcDistanceInPixels,SIGNAL( valueChanged (int)),this,SLOT(setArcDistanceInPixels(int)));
QObject::connect(ui.spinBox_LaserRange,SIGNAL( valueChanged (int)),this,SLOT(setRange(int)));
//timer.start(1000 / 33);
ui.line_log_dir_path->setText( QDir::currentPath());
QObject::connect(ui.button_single_save,SIGNAL(clicked()),this,SLOT(button_single_save_clicked()));
QObject::connect(ui.checkbox_enable_sensor_logging,SIGNAL(stateChanged(int)),this,SLOT(checkbox_enable_sensor_logging_changed(int)));
}