CessnaGUIPlugin.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2015 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 GAZEBO_PLUGINS_CESSNAGUIPLUGIN_HH_
#define GAZEBO_PLUGINS_CESSNAGUIPLUGIN_HH_

#include <mutex>

#include <ignition/math/Angle.hh>

#include <gazebo/common/Plugin.hh>
#include <gazebo/gui/GuiPlugin.hh>
#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
# include <gazebo/transport/transport.hh>
# include <gazebo/gui/gui.hh>
#endif

namespace gazebo
{
  class GAZEBO_VISIBLE CessnaGUIPlugin : public GUIPlugin
  {
    Q_OBJECT

    public: CessnaGUIPlugin();

    public: virtual ~CessnaGUIPlugin();

    private: void OnState(ConstCessnaPtr &_msg);

    private slots: void OnIncreaseThrust();

    private slots: void OnDecreaseThrust();

    private slots: void OnIncreaseFlaps();

    private slots: void OnDecreaseFlaps();

    private slots: void OnIncreaseRoll();

    private slots: void OnDecreaseRoll();

    private slots: void OnIncreaseElevators();

    private slots: void OnDecreaseElevators();

    private slots: void OnIncreaseRudder();

    private slots: void OnDecreaseRudder();

    private slots: void OnPresetTakeOff();

    private slots: void OnPresetCruise();

    private slots: void OnPresetLanding();

    private: sdf::ElementPtr sdf;

    private: transport::NodePtr gzNode;

    private: transport::PublisherPtr controlPub;

    private: transport::SubscriberPtr stateSub;

    private: ignition::math::Angle angleStep;

    private: msgs::Cessna state;

    private: std::mutex mutex;
  };
}

#endif