int main(int argc, char** argv)
{
QApplication application(argc,argv);
// Instantiate the two viewers.
StandardCamera* sc = new StandardCamera();
Viewer viewer(sc);
CameraViewer cviewer(sc);
// Make sure every v camera movement updates the camera viewer
QObject::connect(viewer.camera()->frame(), SIGNAL(manipulated()), &cviewer, SLOT(updateGL()));
QObject::connect(viewer.camera()->frame(), SIGNAL(spun()), &cviewer, SLOT(updateGL()));
// Also update on camera change (type or mode)
QObject::connect(&viewer, SIGNAL(cameraChanged()), &cviewer, SLOT(updateGL()));
#if QT_VERSION < 0x040000
application.setMainWidget(&viewer);
#else
viewer.setWindowTitle("standardCamera");
cviewer.setWindowTitle("Camera viewer");
#endif
cviewer.show();
viewer.show();
return application.exec();
}
void ConsoleMaster::createNewWindow()
{
ConsoleWindow* win = new ConsoleWindow(&db_);
windows_.append(win);
QSettings settings;
window_font_ = settings.value(SettingsKeys::FONT, QFont("Ubuntu Mono", 9)).value<QFont>();
win->setFont(window_font_);
QObject::connect(win, SIGNAL(createNewWindow()),
this, SLOT(createNewWindow()));
QObject::connect(&ros_thread_, SIGNAL(connected(bool)),
win, SLOT(connected(bool)));
QObject::connect(this,
SIGNAL(fontChanged(const QFont &)),
win, SLOT(setFont(const QFont &)));
QObject::connect(win, SIGNAL(selectFont()),
this, SLOT(selectFont()));
QObject::connect(win, SIGNAL(readBagFile()),
&bag_reader_, SLOT(promptForBagFile()));
if (!ros_thread_.isRunning())
{
// There's only one ROS thread, and it services every window. We need to initialize
// it and its connections to the LogDatabase when we first create a window, but
// after that it doesn't need to be modified again.
QObject::connect(&ros_thread_, SIGNAL(logReceived(const rosgraph_msgs::LogConstPtr& )),
&db_, SLOT(queueMessage(const rosgraph_msgs::LogConstPtr&) ));
QObject::connect(&ros_thread_, SIGNAL(spun()),
&db_, SLOT(processQueue()));
ros_thread_.start();
}
