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Ajout de la checkBox a l'interface Panel

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This commit is contained in:
Unknown 2018-06-27 15:58:29 +02:00
parent 022fcb2c1c
commit f4facfe9b0
8 changed files with 93 additions and 66 deletions
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66
rviz_interface/rviz_interface/src/InterfacePanel.cpp
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@ -19,21 +19,22 @@ 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;
QHBoxLayout* error_layout = new QHBoxLayout;
error_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 );
error_layout->addWidget( _max_error_editor );
//setLayout( error_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 );
// Lay out the topic field above the control widget.
QVBoxLayout* layout = new QVBoxLayout;
_objective_type_editor = new QCheckBox( "Precise Objective" );
layout->addWidget( _objective_type_editor );
layout->addLayout( error_layout );
setLayout( layout );
// Create a timer for sending the output. Motor controllers want to
// be reassured frequently that they are doing the right thing, so
@ -47,7 +48,8 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
// QTimer* output_timer = new QTimer( this );
// Next we make signal/slot connections.
connect( max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() ));
connect( _max_error_editor, SIGNAL( editingFinished() ), this, SLOT( updateError() ));
connect( _objective_type_editor, SIGNAL( stateChanged(int) ), this, SLOT( updateType(int) ));
// connect( output_timer, SIGNAL( timeout() ), this, SLOT( sendVel() ));
// Start the timer.
@ -55,8 +57,15 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
// Make the control widget start disabled, since we don't start with an output topic.
// drive_widget_->setEnabled( false );
_max_error_editor->setEnabled( false );
_config_publisher = nh_.advertise<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 );
_config_publisher = _nh.advertise<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 );
}
InterfacePanel::~InterfacePanel()
{
delete _max_error_editor;
delete _objective_type_editor;
}
// Read the topic name from the QLineEdit and call setTopic() with the
@ -65,27 +74,40 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
// away.
void InterfacePanel::updateError()
{
//setTopic( max_error_editor->text() );
setError(max_error_editor->text());
}
current_config.max_error = _max_error_editor->text().toDouble();
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 );
_config_publisher.publish( current_config );
}
}
void InterfacePanel::updateType(int state)
{
current_config.objective_type = state;
if( ros::ok() && _config_publisher )
{
_config_publisher.publish( current_config );
}
_max_error_editor->setEnabled( state ); //Active l'editeur d'erreur si state>0 (ie Objectif précis)
}
// void InterfacePanel::setError( const QString& error )
// {
// current_config.max_error = error.toDouble();
// if( ros::ok() && _config_publisher )
// {
// _config_publisher.publish( current_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_ );
config.mapSetValue( "Error", _max_error );
}
// Load all configuration data for this panel from the given Config object.
@ -95,7 +117,7 @@ void InterfacePanel::load( const rviz::Config& config )
QString error;
if( config.mapGetString( "Error", &error ))
{
max_error_editor->setText( error );
_max_error_editor->setText( error );
updateError();
}
}