teleop.hpp

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#ifndef QTCTRL_GUI_TELEOP
#define QTCTRL_GUI_TELEOP


#include <QGroupBox>
#include <QSignalMapper>
#include <ctrl/keyboard.hpp>
#include <gui/viewCtrl.hpp>

class TeleopWidget : private QGroupBox, public ControlWidget {
  Q_OBJECT  // This macro is needed to handle graphical events

  ViewCtrlWdgt vel_drawing;
  
  QSignalMapper mapper;
  
public:
  TeleopWidget(QWidget& parent, KbdCtrl& control,
               const MotionModel& motion_model);

  ~TeleopWidget() {}
  
  QWidget& widget() { return *this; }

  // Cf ControlWidget::updateState(const State&)
  void updateState(const State& state)
  { vel_drawing.updateState(state); }

  // Cf ControlWidget::updateCommands(const double&, const double&)
  void updateCommands(const double& trans_vel, const double& rot_vel)
  { vel_drawing.updateCommands(trans_vel, rot_vel); }

protected Q_SLOTS:
  void keyPressEvent(QKeyEvent* event)
  // either react to event's key, or use ControlWidget::keyPressed
  { react( event->key() ); ControlWidget::keyPressed(event); } 

  void keyReleaseEvent(QKeyEvent*) { stopAcc(); }

private Q_SLOTS:
  void stopAcc() { ((KbdCtrl&)(ctrl)).acc(0,0); }

  void react(const int& key);
  
}; // end of class TeleopWidget

#endif // QTCTRL_GUI_TELEOP