display.hpp

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#ifndef QTCTRL_DISPLAY
#define QTCTRL_DISPLAY

#include <QWidget>
#include <QLabel>
#include <QCloseEvent>
#include <model/ROS_node.hpp>
#include <gui/overview.hpp>


class DataWidget : public QWidget {
  Q_OBJECT  // This macro is needed to handle graphical events

  QPointF last_vel;       
  std::ofstream *output;  
  
  enum Labels {  
    tOdom,   
    xOdom,   
    yOdom,   
    thOdom,  
    vOdom,   
    omOdom,  
    vCmd,    
    omCmd,   
    nbLabels,                     
    nbOdoms = vCmd,               
    nbCmds  = nbLabels - nbOdoms  
  };

  static const char *names[];
    
  QLabel labels[nbLabels];

  QtMotionGUI motion_GUI;

  void setLabels(const Labels& offset, const Labels& nbData,
                 const double *data);
  
  bool outputOK() const
  { return (output != NULL) && ( output->is_open() ); }

  void outputEnd() 
  { if ( outputOK() ) { output->close(); delete output; } }

public:
  DataWidget(QWidget& parent);
  
  ~DataWidget() { outputEnd(); }
  
  void setOutput(const char* output_file_name) {
    outputEnd();  // if the stream was open, close it...
    output = new std::ofstream(output_file_name); 
    if ( outputOK() )  // Write header line in the ouput stream
      for(int idx = 0; idx < nbLabels; idx++)
        *output << names[idx] << (idx < nbLabels - 1 ? '\t' : '\n');
  }
  
  void updateState(const State& state);
  
  void updateCommands(const double& trans_vel, const double& rot_vel);
  
  void addTrajectory(const std::list<State*>& trajectory)
  { motion_GUI.addTrajectory(trajectory); }
  
  void newTrajectory() { motion_GUI.clear(); }
  
}; // end of class DataWidget

#endif // QTCTRL_DISPLAY