TopicView.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _TOPICVIEW_HH_
#define _TOPICVIEW_HH_

#include <string>
#include <list>
#include <boost/thread/mutex.hpp>

#include "gazebo/common/Time.hh"
#include "gazebo/msgs/msgs.hh"

#include "gazebo/gui/qt.h"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace gui
  {
    class GZ_GUI_VISIBLE TopicCombo : public QComboBox
    {
      public: TopicCombo(QWidget *_w, const std::string &_msgTypeName,
                  const std::string &_viewType, transport::NodePtr _node);

      public: virtual ~TopicCombo();

      public: void SetMsgTypeName(const std::string &_type);

      public: virtual void showPopup();

      private: void UpdateList();

      private: std::string msgTypeName;

      private: std::string viewType;

      private: transport::NodePtr node;

      private: boost::mutex mutex;
    };

    class GZ_GUI_VISIBLE TopicView : public QDialog
    {
      Q_OBJECT

      public: TopicView(QWidget *_parent, const std::string &_msgType,
                        const std::string &_viewType,
                        unsigned int _displayPeriod = 500);

      public: virtual ~TopicView();

      public: virtual void SetTopic(const std::string &_topicName);

      protected: void OnMsg(const common::Time &_dataTime, int _size);

      protected: virtual void closeEvent(QCloseEvent *_event);

      private slots: void Update();

      private: virtual void UpdateImpl();

      private slots: void OnTopicChanged(int _index);

      protected: QFrame *frame;

      protected: transport::SubscriberPtr sub;

      protected: transport::NodePtr node;

      protected: std::string msgTypeName;

      private: TopicCombo *topicCombo;

      private: common::Time prevTime;

      private: common::Time prevDisplayTime;

      private: QLineEdit *hzEdit;

      private: double hz;

      private: QLineEdit *bandwidthEdit;

      private: std::list<int> msgSizes;

      private: std::list<common::Time> times;

      private: std::list<common::Time> dataTimes;

      private: boost::mutex updateMutex;
    };
  }
}
#endif