Initial commit

rviz_interface/rviz_interface/src/InterfacePanel.cpp

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+#include "InterfacePanel.hpp"
+
+namespace rviz_interface
+{
+
+// BEGIN_TUTORIAL
+// Here is the implementation of the InterfacePanel class.  InterfacePanel
+// 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.
+InterfacePanel::InterfacePanel( 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 InterfacePanel
+  // 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( 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<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 );
+}
+
+// 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 InterfacePanel::updateError()
+{
+  //setTopic( max_error_editor->text() );
+  setError(max_error_editor->text());
+}
+
+void InterfacePanel::setError( const QString& error )
+{
+  if( ros::ok() && _config_publisher )
+  {
+    rviz_interface::InterfaceConfig new_config;
+    new_config.max_error = error.toDouble();
+    _config_publisher.publish( new_config );
+  }
+}
+
+// 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 InterfacePanel::save( rviz::Config config ) const
+{
+  rviz::Panel::save( config );
+  config.mapSetValue( "Error", output_topic_ );
+}
+
+// Load all configuration data for this panel from the given Config object.
+void InterfacePanel::load( const rviz::Config& config )
+{
+  rviz::Panel::load( config );
+  QString error;
+  if( config.mapGetString( "Error", &error ))
+  {
+    max_error_editor->setText( error );
+    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(rviz_interface::InterfacePanel,rviz::Panel )