RobotWidget::RobotWidget(QString id, ros::NodeHandle& node_handle, QWidget* parent/*,boost::asio::io_service& io*/)
: QWidget(parent)
// , timer_(io, boost::posix_time::milliseconds(700))
, node_handle_(node_handle)
, current_mode_(0)
, selected_(false)
{
setupUi(this);
idLabel->setText(id);
connect(this, SIGNAL(cameraImageChangedSignal(QImage)),
this, SLOT(cameraImageChanged(QImage)));
connect(this, SIGNAL(batteryValueChangedSignal(double)),
this, SLOT(batteryValueChanged(double)));
connect(this, SIGNAL(wifiSignalValueChangedSignal(double)),
this, SLOT(wifiSignalValueChanged(double)));
connect(this, SIGNAL(selectedRobotChangedSignal(std_msgs::StringConstPtr)),
this, SLOT(selectedRobotChanged(std_msgs::StringConstPtr)));
connect(operationModeButton, SIGNAL(clicked()), this, SLOT(modeButtonClicked()));
connect(this, SIGNAL(updateOperationIconSignal(int)), this, SLOT(updateOperationIcon(int)));
operation_publisher_ = node_handle_.advertise<std_msgs::String>("/decision_making/" + id.toStdString() + "/events", 10, true);
updateFrameStyle();
qRegisterMetaType<std_msgs::StringConstPtr>("std_msgs::StringConstPtr");
}
MainWidget::MainWidget(UiController * controller, QWidget *parent)
: QWidget(parent),
wsp(nullptr),
controller(controller) {
QLOG_TRACE() << "MainWidget::MainWidget()";
playMode = true;
// debug layout
// QPalette p(palette());
// p.setColor(QPalette::Background, Qt::red);
// setPalette(p);
// setAutoFillBackground(true);
// initialise mode label and button
modeLabel = new QLabel(tr("Play Mode"));
modeButton = new QPushButton(tr("Switch"));
connect(modeButton, SIGNAL(clicked()), this, SLOT(modeButtonClicked()));
stopAllButton = new QPushButton(tr("Stop All"));
connect(stopAllButton, SIGNAL(clicked()), controller, SLOT(stopAllButtonClicked()));
stopAllShortcut = new QShortcut(QKeySequence("Ctrl+s"), this);
connect(stopAllShortcut,SIGNAL(activated()),controller,SLOT(stopAllButtonClicked()));
// initialise play and edit widgets
playWidget = new PlayWidget(controller,3);
editWidget = new EditWidget;
stackedWidget = new QStackedWidget;
stackedWidget->addWidget(playWidget);
stackedWidget->addWidget(editWidget);
// set up the layout
layout = new QVBoxLayout;
modeButtonLayout = new QHBoxLayout;
modeButtonLayout->addStretch();
modeButtonLayout->addWidget(stopAllButton, 0, Qt::AlignRight);
modeButtonLayout->addWidget(modeLabel, 0, Qt::AlignRight);
modeButtonLayout->addWidget(modeButton, 0, Qt::AlignRight);
layout->addLayout(modeButtonLayout);
layout->addWidget(stackedWidget);
// layout->addStretch();
setLayout(layout);
// QTimer::singleShot(3000, this, SLOT(doSth()));
}
