thread.hpp

Go to the documentation of this file.

#ifndef QTCTRL_THREAD
#define QTCTRL_THREAD

#include <QThread>
#include <QProcess>


class ROSserver : public QThread {
  Q_OBJECT  // This macro is needed to handle Qt events

  bool ROS_run;  // solution 2

  std::string workspace;
  
  void run();

private Q_SLOTS:
  void threadError(QProcess::ProcessError error)
  { Q_EMIT errorOccurred( (int)(error), workspace.c_str() ); }
  
  
public:
  ROSserver(QObject* parent) : QThread(parent), ROS_run(true) {}

  void setWorkspace(const std::string& wrksp) { 
    static const std::string begin("$ROS_WS/src/qt_ctrl/");
    workspace = begin + wrksp;  // beginning never changes
  }

  void sleep(const long& seconds) const { QThread::sleep(seconds); }

  void stop() { 
    ROS_run = false;  // ask to the run() method to stop  (sol. 2)
    quit();  wait();  // when stopped, stop the thread
  } // end of void stop()

Q_SIGNALS:
  void errorOccurred(const int error, const QString& program);
  
}; // end of class ROSserveur

#endif // QTCTRL_THREAD