bool MainWindow::validate_connection(){
bool result(false);
if ( ui.checkbox_use_environment->isChecked() ) {
if ( !qnode.init() ) {
showNoMasterMessage();
} else {
ui.button_connect->setEnabled(false);
result = true;
}
} else {
if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
ui.line_edit_host->text().toStdString()) ) {
showNoMasterMessage();
} else {
ui.button_connect->setEnabled(false);
ui.line_edit_master->setReadOnly(true);
ui.line_edit_host->setReadOnly(true);
ui.line_edit_topic->setReadOnly(true);
result = true;
}
}
return result;
}
void MainWindow::on_button_connect_clicked(bool check ) {
ROS_INFO("TESTE");
if ( ui.checkbox_use_environment->isChecked() ) { //using environment variables
if ( !qnode.init() ) {
showNoMasterMessage();
} else {
ui.button_connect->setEnabled(false);
//Connect signal from NODE to SLOT in window
QObject::connect(&qnode, SIGNAL((new_data)), this, SLOT(update_data()));
}
} else {
if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
ui.line_edit_host->text().toStdString()) ) {
showNoMasterMessage();
} else {
QObject::connect(&qnode, SIGNAL(new_data()), this, SLOT(update_data()));
ui.button_connect->setEnabled(false);
ui.line_edit_master->setReadOnly(true);
ui.line_edit_host->setReadOnly(true);
ui.line_edit_topic->setReadOnly(true);
}
}
}
void MainWindow::manual_Handler(){
if (qnode.init() ){
qnode.log(QNode::None,"Changing mode to MANUAL(2)");
qnode.mode_set(2);
qnode.robot_motors_speed_set(0,0);
}
else if ( !qnode.init() )
showNoMasterMessage();
}
void MainWindow::object_recognition_Handler(){
if (qnode.init() ){
QProcess *proc = new QProcess();
proc->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"rosrun tanky object_recognition\" ");
}
else if ( !qnode.init() ){
showNoMasterMessage();
}
}
void MainWindow::dump_map_Handler(){
if (qnode.init() ){
QProcess *proc = new QProcess();
proc->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"rosrun map_server map_saver -f ~/ros_workspace/robot/tanky/my_map123\" ");
}
else if ( !qnode.init() ){
showNoMasterMessage();
}
}
void MainWindow::on_button_connect_clicked(bool check ) {
if ( ui.checkbox_use_environment->isChecked() ) {
if ( !qnode.init() ) {
showNoMasterMessage();
} else {
ui.button_connect->setEnabled(false);
}
} else {
if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
ui.line_edit_host->text().toStdString()) ) {
showNoMasterMessage();
} else {
ui.button_connect->setEnabled(false);
ui.line_edit_master->setReadOnly(true);
ui.line_edit_host->setReadOnly(true);
//ui.line_edit_topic->setReadOnly(true);
}
}
}
void MainWindow::emergency_Handler(){
if (qnode.init() ){
qnode.log(QNode::None,"Changing mode to SAFE(3)");
qnode.mode_set(3);
qnode.robot_motors_speed_set(0,0);
}
else if ( !qnode.init() )
showNoMasterMessage();
}
void MainWindow::rviz_Handler(){
if (qnode.init() ){
QProcess *proc = new QProcess();
proc->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"roslaunch tanky rviz.launch\" ");
}
else if ( !qnode.init() ){
showNoMasterMessage();
}
}
void MainWindow::vision_driver_open_Handler(){
if (qnode.init() ){
QProcess *proc1 = new QProcess();
QProcess *proc2 = new QProcess();
proc1->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"rm -R ~/.rviz\" ");
proc2->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"roslaunch tanky init_rviz_laser_odom.launch\" ");
}
else if ( !qnode.init() ){
showNoMasterMessage();
}
}
void MainWindow::button1_Handler()
{
if (qnode.init() ){
qnode.log(QNode::None,"Changing mode to ROS(1)");
qnode.mode_set(1);
qnode.robot_motors_speed_set(30,1);
}
else if ( !qnode.init() )
showNoMasterMessage();
}
void MainWindow::cap_Handler(){
if (qnode.init() ){
qnode.log(QNode::None,"Changing Speed Cap Value");
ui.cap_speed->setValue(ui.cap_speed_slider->value());
qnode.motor_cap_set(ui.cap_speed_slider->value());
ui.cap_lbl->setNum(ui.cap_speed_slider->value());
//qnode.mode_set(2);
//qnode.robot_motors_speed_set(0,0);
}
else if ( !qnode.init() )
showNoMasterMessage();
}
void MainWindow::robot_boot_Handler(){
static int state=0;
static QProcess *proc = new QProcess();
std::stringstream ss;
QString cmd;
QString pid_str;
bool runs;
int pidd = NULL;
if (qnode.init() ){
if (state == 1){
proc->kill();
cmd = "gnome-terminal --geometry=50x10-0-10 -x kill ";
pid_str.setNum(pidd);
cmd = cmd + pid_str;
//proc->start(cmd);
//qnode.log(QNode::None,"Shutting down robot node..");
state=0;
}
else{
qnode.log(QNode::None,"Booting Robot Node...");
proc->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"rosrun rosserial_python serial_node.py /dev/ttyUSB0\" ");
//QStringList args;
//args << "-x sh -c ~/ros_workspace/robot/tanky/driver_rviz_up.sh";
//proc->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"echo b && read a\" ");
//proc->start("gnome-terminal --geometry=50x10-0-10 -x bash -c \"roslaunch tanky init_rviz_laser_odom.launch\" ");
//proc->start("gnome-terminal -x bash -c", QStringList() << ". ~/ros_workspace/robot/tanky/driver_rviz_up.sh");
//'sleep 2 && dmesg && read e'
// while(runs != TRUE);
//for(long long int i=0;i<1000000000;i++){
// for(long long int z=0;z<100000000;z++);}
// QThread::sleep(1000);
pidd = proc->pid();
ss << "PID: " << pidd;
qnode.log(QNode::None,std::string(ss.str()));
// proc->start("gnome-terminal --geometry=50x10-0-10 ' rosrun rosserial_python serial_node.py /dev/ttyUSB0'");
//proc->start("nautilus");
state=1;}
}
else if ( !qnode.init() ){
showNoMasterMessage();
}
}
void MainWindow::connectToROS() {
if ( !qnode.init() ) {
showNoMasterMessage();
} else {
ui.pb_connect->setEnabled(false);
curr_state = idle_manual;
Q_EMIT sendState(curr_state);
timer = new QTimer(this);
lblTimer = new QTimer(this);
connect(timer, SIGNAL(timeout()), &qnode, SLOT(update()));
connect(lblTimer, SIGNAL(timeout()), this, SLOT(updateLabel()));
timer->start(10);
lblTimer->start(10);
}
}
