ros and qt

code02-msg/CMakeLists.txt

@@ -0,0 +1,53 @@
+##############################################################################
+# CMake
+##############################################################################
+
+cmake_minimum_required(VERSION 2.8.0)
+project(msg)
+
+##############################################################################
+# Catkin
+##############################################################################
+
+# qt_build provides the qt cmake glue, roscpp the comms for a default talker
+find_package(catkin REQUIRED COMPONENTS qt_build roscpp)
+include_directories(${catkin_INCLUDE_DIRS})
+# Use this to define what the package will export (e.g. libs, headers).
+# Since the default here is to produce only a binary, we don't worry about
+# exporting anything. 
+catkin_package()
+
+##############################################################################
+# Qt Environment
+##############################################################################
+
+# this comes from qt_build's qt-ros.cmake which is automatically 
+# included via the dependency call in package.xml
+rosbuild_prepare_qt4(QtCore QtGui) # Add the appropriate components to the component list here
+
+##############################################################################
+# Sections
+##############################################################################
+
+file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
+file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
+file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/msg/*.hpp)
+
+QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
+QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
+QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
+
+##############################################################################
+# Sources
+##############################################################################
+
+file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
+
+##############################################################################
+# Binaries
+##############################################################################
+
+add_executable(msg ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
+target_link_libraries(msg ${QT_LIBRARIES} ${catkin_LIBRARIES})
+install(TARGETS msg RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+

code02-msg/include/msg/main_window.hpp

@@ -0,0 +1,65 @@
+/**
+ * @file /include/msg/main_window.hpp
+ *
+ * @brief Qt based gui for msg.
+ *
+ * @date November 2010
+ **/
+#ifndef msg_MAIN_WINDOW_H
+#define msg_MAIN_WINDOW_H
+
+/*****************************************************************************
+** Includes
+*****************************************************************************/
+
+#include <QtGui/QMainWindow>
+#include "ui_main_window.h"
+#include "qnode.hpp"
+
+/*****************************************************************************
+** Namespace
+*****************************************************************************/
+
+namespace msg {
+
+/*****************************************************************************
+** Interface [MainWindow]
+*****************************************************************************/
+/**
+ * @brief Qt central, all operations relating to the view part here.
+ */
+class MainWindow : public QMainWindow {
+Q_OBJECT
+
+public:
+	MainWindow(int argc, char** argv, QWidget *parent = 0);
+	~MainWindow();
+
+	void ReadSettings(); // Load up qt program settings at startup
+	void WriteSettings(); // Save qt program settings when closing
+
+	void closeEvent(QCloseEvent *event); // Overloaded function
+	void showNoMasterMessage();
+
+public Q_SLOTS:
+	/******************************************
+	** Auto-connections (connectSlotsByName())
+	*******************************************/
+	void on_actionAbout_triggered();
+	void on_button_connect_clicked(bool check );
+	void on_checkbox_use_environment_stateChanged(int state);
+
+    /******************************************
+    ** Manual connections
+    *******************************************/
+    void updateLoggingView(); // no idea why this can't connect automatically
+    void updateLoggingView_sub(); //add
+
+private:
+	Ui::MainWindowDesign ui;
+	QNode qnode;
+};
+
+}  // namespace msg
+
+#endif // msg_MAIN_WINDOW_H

code02-msg/include/msg/qnode.hpp

@@ -0,0 +1,81 @@
+/**
+ * @file /include/msg/qnode.hpp
+ *
+ * @brief Communications central!
+ *
+ * @date February 2011
+ **/
+/*****************************************************************************
+** Ifdefs
+*****************************************************************************/
+
+#ifndef msg_QNODE_HPP_
+#define msg_QNODE_HPP_
+
+/*****************************************************************************
+** Includes
+*****************************************************************************/
+
+// To workaround boost/qt4 problems that won't be bugfixed. Refer to
+//    https://bugreports.qt.io/browse/QTBUG-22829
+#ifndef Q_MOC_RUN
+#include <ros/ros.h>
+#endif
+#include <string>
+#include <QThread>
+#include <QStringListModel>
+#include <std_msgs/String.h>  //add
+
+/*****************************************************************************
+** Namespaces
+*****************************************************************************/
+
+namespace msg {
+
+/*****************************************************************************
+** Class
+*****************************************************************************/
+
+class QNode : public QThread {
+    Q_OBJECT
+public:
+	QNode(int argc, char** argv );
+	virtual ~QNode();
+	bool init();
+	bool init(const std::string &master_url, const std::string &host_url);
+	void run();
+
+	/*********************
+	** Logging
+	**********************/
+	enum LogLevel {
+	         Debug,
+	         Info,
+	         Warn,
+	         Error,
+	         Fatal
+	 };
+
+	QStringListModel* loggingModel() { return &logging_model; }
+	void log( const LogLevel &level, const std::string &msg);
+  QStringListModel* loggingModel_sub() { return &logging_model_sub; } //add
+  void log_sub( const LogLevel &level, const std::string &msg); //add
+  void Callback(const std_msgs::StringConstPtr &submsg);  //add
+
+Q_SIGNALS:
+	void loggingUpdated();
+  void rosShutdown();
+  void loggingUpdated_sub();  //add
+
+private:
+	int init_argc;
+	char** init_argv;
+	ros::Publisher chatter_publisher;
+    QStringListModel logging_model;
+  ros::Subscriber chatter_subscriber; //add
+    QStringListModel logging_model_sub; //add
+};
+
+}  // namespace msg
+
+#endif /* msg_QNODE_HPP_ */

code02-msg/mainpage.dox

@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b msg is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

code02-msg/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package>
+  <name>msg</name>
+  <version>0.1.0</version>
+  <description>
+
+     msg
+
+  </description>
+  <maintainer email="[email protected]">dwy</maintainer>
+  <author>dwy</author>
+  <license>BSD</license>
+  <!-- <url type="bugtracker">https://github.com/stonier/qt_ros/issues</url> -->
+  <!-- <url type="repository">https://github.com/stonier/qt_ros</url> -->
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>qt_build</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>libqt4-dev</build_depend>
+  <run_depend>qt_build</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>libqt4-dev</run_depend>
+
+
+</package>

code02-msg/resources/images.qrc

@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/" >
+        <file>images/icon.png</file>
+    </qresource>
+</RCC>

code02-msg/src/main.cpp

@@ -0,0 +1,32 @@
+/**
+ * @file /src/main.cpp
+ *
+ * @brief Qt based gui.
+ *
+ * @date November 2010
+ **/
+/*****************************************************************************
+** Includes
+*****************************************************************************/
+
+#include <QtGui>
+#include <QApplication>
+#include "../include/msg/main_window.hpp"
+
+/*****************************************************************************
+** Main
+*****************************************************************************/
+
+int main(int argc, char **argv) {
+
+    /*********************
+    ** Qt
+    **********************/
+    QApplication app(argc, argv);
+    msg::MainWindow w(argc,argv);
+    w.show();
+    app.connect(&app, SIGNAL(lastWindowClosed()), &app, SLOT(quit()));
+    int result = app.exec();
+
+	return result;
+}