int main(int argc, char *argv[])
{
std::cout << "Starting drone_gui Node" << std::endl;
// ROS
ros::init(argc, argv, "drone_gui");
RosThread t;
PingThread p;
// UI
QApplication a(argc, argv);
tum_ardrone_gui w;
// make them communicate with each other
t.gui = &w;
w.rosThread = &t;
p.gui = &w;
p.rosThread = &t;
w.pingThread = &p;
//AED added
dynamic_reconfigure::Server<tum_ardrone::GUIParamsConfig> srv;
dynamic_reconfigure::Server<tum_ardrone::GUIParamsConfig>::CallbackType f;
f = boost::bind(&tum_ardrone_gui::dynConfCb, &w, _1, _2);
srv.setCallback(f);
// start them.
t.startSystem();
p.startSystem();
w.show();
// wait until windows closed....
int ec = a.exec();
// stop ROS again....
t.stopSystem();
p.stopSystem();
std::cout << "Exiting drone_gui Node" << std::endl;
return ec;
}
void Window::startPing()
{
// Save ip data
QFile file("./ip-address.txt");
if (file.open(QIODevice::WriteOnly | QIODevice::Text)) {
if(file.isWritable()) {
const char *ip_address = IPInput->text().toAscii().data();
file.write(ip_address, qstrlen(ip_address));
}
}
file.close();
stop = false;
PingThread *t = new PingThread;
t->window = this;
t->start();
StartButton->setEnabled(false);
StopButton->setEnabled(true);
IPInput->setEnabled(false);
}
int main(int argc, char *argv[])
{
std::cout << "Starting drone_gui Node" << std::endl;
// ROS
ros::init(argc, argv, "drone_gui");
RosThread t;
PingThread p;
// UI
QApplication a(argc, argv);
tum_ardrone_gui w;
// make them communicate with each other
t.gui = &w;
w.rosThread = &t;
p.gui = &w;
p.rosThread = &t;
w.pingThread = &p;
// start them.
t.startSystem();
p.startSystem();
w.show();
// wait until windows closed....
int ec = a.exec();
// stop ROS again....
t.stopSystem();
p.stopSystem();
std::cout << "Exiting drone_gui Node" << std::endl;
return ec;
}
