void ImageView::initPlugin(qt_gui_cpp::PluginContext& context)
{
widget_ = new QWidget();
ui_.setupUi(widget_);
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
ros::NodeHandle nh;
topic = nh.resolveName("image");
connect(ui_.image_topic, SIGNAL(textChanged(QString)), this, SLOT(onTextChanged(QString)));
ui_.image_topic->setText(QString::fromStdString(topic));
}
void rov_status::initPlugin(qt_gui_cpp::PluginContext& context)
{
widget_ = new QWidget();
ui_.setupUi(widget_);
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
this->subscriber_ = getNodeHandle().subscribe<videoray::Status>("videoray_status", 1, &rov_status::callback_status, this);
ui_.firmware_label->setText("not set");
}
void Autopilot::initPlugin(qt_gui_cpp::PluginContext& context)
{
widget_ = new QWidget();
ui_.setupUi(widget_);
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
// Enable / disable Heading/Depth checkboxes
connect(ui_.desired_heading_checkbox, SIGNAL(toggled(bool)), this, SLOT(onEnableDesiredHeading(bool)));
connect(ui_.desired_depth_checkbox, SIGNAL(toggled(bool)), this, SLOT(onEnableDesiredDepth(bool)));
// Connect change of value in double spin box to function call
connect(ui_.set_heading_button, SIGNAL(clicked(bool)), this, SLOT(onSetHeading(bool)));
connect(ui_.set_depth_button, SIGNAL(clicked(bool)), this, SLOT(onSetDepth(bool)));
// Create publisher
this->desired_pub_ = getNodeHandle().advertise<videoray::DesiredTrajectory>("desired_trajectory", 1000);
}
void SkirosGui::initPlugin(qt_gui_cpp::PluginContext& context)
{
///Basic initializations
nh_ptr_.reset(new ros::NodeHandle(""));
widget_ = new QWidget();
ui_.setupUi(widget_);
wm_ptr_.reset(new skiros_wm::WorldModelInterface(*nh_ptr_, true));
if(!wm_ptr_->isConnected()) FWARN("[SkirosGui::initPlugin] World model seems down, waiting...");
if(!wm_ptr_->waitConnection(ros::Duration(3.0)) && ros::ok())
{
FWARN("[SkirosGui::initPlugin] World model seems down, waiting...");
}
if(!ros::ok())
return;
FINFO("[SkirosGui::initPlugin] Connected to world model");
ros::Duration(0.5).sleep();//Wait half second to avoid a weird bug where I don't detect the presence of robots
skill_interface_ptr.reset(new skiros_skill::SkillLayerInterface());
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
///Task manager interfaces
task_exe_pub_ = nh_ptr_->advertise<skiros_msgs::TmTaskExe>(std::string(task_mgr_node_name) + task_exe_tpc_name, 10);
task_monitor_sub_ = nh_ptr_->subscribe(std::string(task_mgr_node_name) + task_monitor_tpc_name, 5, &SkirosGui::tmFeedbackReceived, this);
task_modify_ = nh_ptr_->serviceClient<skiros_msgs::TmModifyTask>(std::string(task_mgr_node_name) + task_modify_srv_name);
task_query_ = nh_ptr_->serviceClient<skiros_msgs::TmQueryTask>(std::string(task_mgr_node_name) + task_query_srv_name);
///General
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(refreshTimerCb()));
timer->start(200);
ui_.robot_combo_box->setCurrentIndex(ui_.robot_combo_box->findText(""));
connect(ui_.robot_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(robotIndexChanged(int)));
connect(ui_.modality_checkBox, SIGNAL(toggled(bool)), this, SLOT(modalityButtonClicked()));
connect(ui_.exe_task_button, SIGNAL(pressed()), this, SLOT(exeTaskButtonClicked()));
connect(ui_.stop_task_button, SIGNAL(pressed()), this, SLOT(stopTaskButtonClicked()));
connect(this, SIGNAL(robotFeedbackReceived(const skiros_msgs::ModuleStatus &)), this, SLOT(robotMonitorCb(const skiros_msgs::ModuleStatus &)));
connect(this, SIGNAL(tmFeedbackReceived(const skiros_msgs::TmMonitor &)), this, SLOT(taskMonitorCb(const skiros_msgs::TmMonitor &)));
///Goal tab
ui_.goal_table_view->setModel(&goal_model_);
task_plan_ = nh_ptr_->serviceClient<skiros_msgs::TmGoal>(std::string(task_mgr_node_name) + task_plan_srv_name);
connect(ui_.condition_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(conditionIndexChanged(int)));
connect(ui_.condition_refresh_button, SIGNAL(pressed()), this, SLOT(refreshButtonClicked()));
connect(ui_.condition_add_button, SIGNAL(pressed()), this, SLOT(addConditionButtonClicked()));
connect(ui_.condition_remove_button, SIGNAL(pressed()), this, SLOT(removeConditionButtonClicked()));
connect(ui_.plan_button, SIGNAL(pressed()), this, SLOT(taskPlanButtonClicked()));
///Task tab
ui_.skills_table_view->setModel(&skill_model_);
ui_.skill_combo_box->setCurrentIndex(ui_.skill_combo_box->findText(""));
connect(ui_.skill_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(skillIndexChanged(int)));
//ui_.refresh_topics_push_button->setIcon(QIcon::fromTheme("view-refresh"));
connect(ui_.add_skill_button, SIGNAL(pressed()), this, SLOT(addSkillButtonClicked()));
connect(ui_.remove_skill_button, SIGNAL(pressed()), this, SLOT(removeSkillButtonClicked()));
updateTask();
///Modules tab
ui_.module_combo_box->setCurrentIndex(ui_.module_combo_box->findText(""));
connect(ui_.module_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(moduleIndexChanged(int)));
//ui_.refresh_topics_push_button->setIcon(QIcon::fromTheme("view-refresh"));
connect(ui_.exe_module_button, SIGNAL(pressed()), this, SLOT(exeModuleButtonClicked()));
connect(ui_.stop_module_button, SIGNAL(pressed()), this, SLOT(stopModuleButtonClicked()));
///World model tab
wm_model_ptr_ = new TreeModel(wm_ptr_->getElement(0));
ui_.world_model_tree_view->setModel(wm_model_ptr_);
ui_.world_model_tree_view->setModel(wm_model_ptr_);
connect(ui_.world_model_tree_view->selectionModel(), SIGNAL(currentChanged(const QModelIndex &, const QModelIndex &)), this, SLOT(onWmTreeSelectionChanged(const QModelIndex &, const QModelIndex &)));
connect(ui_.remove_object_button, SIGNAL(pressed()), this, SLOT(removeWmElementButtonClicked()));
connect(ui_.add_object_button, SIGNAL(pressed()), this, SLOT(addWmElementButtonClicked()));
connect(ui_.modify_object_button, SIGNAL(pressed()), this, SLOT(modifyWmElementButtonClicked()));
connect(ui_.saveScene_button, SIGNAL(pressed()), this, SLOT(saveSceneButtonClicked()));
connect(ui_.loadScene_button, SIGNAL(pressed()), this, SLOT(loadSceneButtonClicked()));
scene_load_save_ = nh_ptr_->serviceClient<skiros_msgs::WmSceneLoadAndSave>(std::string(world_model_node_name) + wm_scene_load_save_srv_name);
interactive_m_server_.reset( new interactive_markers::InteractiveMarkerServer("skiros_obj_edit") );
///Logging tab
connect(ui_.startstoplog_button, SIGNAL(pressed()), this, SLOT(startLogButtonClicked()));
connect(ui_.logFile_lineEdit, SIGNAL(returnPressed()), this, SLOT(logFileChanged()));
}
