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rviz_interface/interface_tests/src/panel_test.cpp

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+#include "panel_test.hpp"
+
+//#include <geometry_msgs/Twist.h>
+
+namespace interface_tests
+{
+
+// BEGIN_TUTORIAL
+// Here is the implementation of the TestPanel class.  TestPanel
+// has these responsibilities:
+//
+// - Act as a container for GUI elements DriveWidget and QLineEdit.
+// - Publish command velocities 10 times per second (whether 0 or not).
+// - Saving and restoring internal state from a config file.
+//
+// We start with the constructor, doing the standard Qt thing of
+// passing the optional *parent* argument on to the superclass
+// constructor, and also zero-ing the velocities we will be
+// publishing.
+TestPanel::TestPanel( QWidget* parent ): rviz::Panel( parent )
+{
+  // Next we lay out the "output topic" text entry field using a
+  // QLabel and a QLineEdit in a QHBoxLayout.
+  QHBoxLayout* topic_layout = new QHBoxLayout;
+  topic_layout->addWidget( new QLabel( "Max Error:" ));
+  max_error_editor = new QLineEdit;
+  // max_error_editor->setValidator( new QDoubleValidator(0,MAX_ERROR,1000,max_error_editor)); // Ne gère pas les exceptions tout seul (retourne QValidator::Intermediate pour les valeurs hors bornes)
+  topic_layout->addWidget( max_error_editor );
+  setLayout( topic_layout );
+
+  // Then create the control widget.
+  // drive_widget_ = new DriveWidget;
+
+  // // Lay out the topic field above the control widget.
+  // QVBoxLayout* layout = new QVBoxLayout;
+  // layout->addLayout( topic_layout );
+  // layout->addWidget( drive_widget_ );
+  // setLayout( layout );
+
+  // Create a timer for sending the output.  Motor controllers want to
+  // be reassured frequently that they are doing the right thing, so
+  // we keep re-sending velocities even when they aren't changing.
+  // 
+  // Here we take advantage of QObject's memory management behavior:
+  // since "this" is passed to the new QTimer as its parent, the
+  // QTimer is deleted by the QObject destructor when this TestPanel
+  // object is destroyed.  Therefore we don't need to keep a pointer
+  // to the timer.
+  // QTimer* output_timer = new QTimer( this );
+
+  // Next we make signal/slot connections.
+ // connect( drive_widget_, SIGNAL( outputVelocity( float, float )), this, SLOT( setVel( float, float )));
+  connect( max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() ));
+  // connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
+
+  // Start the timer.
+  // output_timer->start( 100 );
+
+  // Make the control widget start disabled, since we don't start with an output topic.
+  // drive_widget_->setEnabled( false );
+
+  _config_publisher = nh_.advertise<interface_tests::InterfaceConfigT>( "interface_config", 1 );
+}
+
+// setVel() is connected to the DriveWidget's output, which is sent
+// whenever it changes due to a mouse event.  This just records the
+// values it is given.  The data doesn't actually get sent until the
+// next timer callback.
+// void TestPanel::setVel( float lin, float ang )
+// {
+//   linear_velocity_ = lin;
+//   angular_velocity_ = ang;
+// }
+
+// Read the topic name from the QLineEdit and call setTopic() with the
+// results.  This is connected to QLineEdit::editingFinished() which
+// fires when the user presses Enter or Tab or otherwise moves focus
+// away.
+void TestPanel::updateError()
+{
+  //setTopic( max_error_editor->text() );
+  setError(max_error_editor->text());
+}
+
+void TestPanel::setError( const QString& error )
+{
+  if( ros::ok() && _config_publisher )
+  {
+    interface_tests::InterfaceConfigT new_config;
+    new_config.max_error = error.toDouble();
+    _config_publisher.publish( new_config );
+  }
+}
+
+// Set the topic name we are publishing to.
+// void TestPanel::setTopic( const QString& new_topic )
+// {
+//   // Only take action if the name has changed.
+//   if( new_topic != output_topic_ )
+//   {
+//     output_topic_ = new_topic;
+//     // If the topic is the empty string, don't publish anything.
+//     if( output_topic_ == "" )
+//     {
+//       _config_publisher.shutdown();
+//     }
+//     else
+//     {
+//       // The old ``_config_publisher`` is destroyed by this assignment,
+//       // and thus the old topic advertisement is removed.  The call to
+//       // nh_advertise() says we want to publish data on the new topic
+//       // name.
+//       _config_publisher = nh_.advertise<geometry_msgs::Twist>( output_topic_.toStdString(), 1 );
+//     }
+//     // rviz::Panel defines the configChanged() signal.  Emitting it
+//     // tells RViz that something in this panel has changed that will
+//     // affect a saved config file.  Ultimately this signal can cause
+//     // QWidget::setWindowModified(true) to be called on the top-level
+//     // rviz::VisualizationFrame, which causes a little asterisk ("*")
+//     // to show in the window's title bar indicating unsaved changes.
+//     Q_EMIT configChanged();
+//   }
+
+//   // Gray out the control widget when the output topic is empty.
+//   // drive_widget_->setEnabled( output_topic_ != "" );
+// }
+
+// Publish the control velocities if ROS is not shutting down and the
+// publisher is ready with a valid topic name.
+// void TestPanel::sendVel()
+// {
+//   if( ros::ok() && _config_publisher )
+//   {
+//     geometry_msgs::Twist msg;
+//     msg.linear.x = linear_velocity_;
+//     msg.linear.y = 0;
+//     msg.linear.z = 0;
+//     msg.angular.x = 0;
+//     msg.angular.y = 0;
+//     msg.angular.z = angular_velocity_;
+//     _config_publisher.publish( msg );
+//   }
+// }
+
+// Save all configuration data from this panel to the given
+// Config object.  It is important here that you call save()
+// on the parent class so the class id and panel name get saved.
+void TestPanel::save( rviz::Config config ) const
+{
+  rviz::Panel::save( config );
+  config.mapSetValue( "Topic", output_topic_ );
+}
+
+// Load all configuration data for this panel from the given Config object.
+void TestPanel::load( const rviz::Config& config )
+{
+  rviz::Panel::load( config );
+  QString topic;
+  if( config.mapGetString( "Topic", &topic ))
+  {
+    max_error_editor->setText( topic );
+    updateError();
+  }
+}
+
+} // end namespace
+
+// Tell pluginlib about this class.  Every class which should be
+// loadable by pluginlib::ClassLoader must have these two lines
+// compiled in its .cpp file, outside of any namespace scope.
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(interface_tests::TestPanel,rviz::Panel )