window.hpp

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#ifndef QTCTRL_GUI
#define QTCTRL_GUI


#include <QMainWindow>
#include <QMenuBar>
#include <QToolBar>
#include <QAction>
#include <QListView>
#include <QEvent>
#include <model/thread.hpp>
#include <ctrl/smoothPath.hpp>
#include <gui/ctrlWdgt.hpp>
#include <gui/display.hpp>

// State class is used as parameters in this GUI's slots.
// This macro is needed before the call to qRegisterMetaType in
// the constructor.
Q_DECLARE_METATYPE(State) 


class QtCtrlGUI : public QMainWindow {
  Q_OBJECT  // This macro is needed to handle graphical events
 
  static const double time_step; 

  QMenuBar menu_bar;
  
  QMenu app_menu;
  
  QMenu help_menu;
  
  QToolBar tool_bar;
  
  QAction  start_stop_action;
  
  QAction  about_action;

  ROSserver ROS_server;
  
  QAction  about_Qt_action;

  
  MotionModel   motion_model;

  Controller* controller;
  
  ROSnode       ctrl_node;
  
  ControlWidget*  ctrl_wdgt;

  DataWidget     display;

  QListView     logs;
  
  void readSettings();   
  void writeSettings();  
  
  void connectCtrl() {
    connect( controller, SIGNAL( stateUpdated(const State&) ),
             this, SLOT( updateState(const State&) ) );
    connect( controller,
             SIGNAL( commandsUpdated(const double&, const double&) ),
             this, SLOT( updateCommands(const double&, const double&)
                         ) );
  }
  
public:
  QtCtrlGUI(const int argc, char** argv, QWidget *parent = 0);

  //  Freeing the Qt widget pointer is OK, the other one generates
  //  a segmentation fault (?!?).
  ~QtCtrlGUI() { if ( ROS_server.isRunning() )  ROS_server.stop();
    delete ctrl_wdgt; /* delete controller; */ }

  const MotionModel&  motionModel() const { return motion_model; }

  void newTrajectory(const std::list<State*>& trajectory)
  { display.addTrajectory(trajectory); }

protected Q_SLOTS:
  void closeEvent(QCloseEvent* event) {
    if ( ctrl_node.connected() )
      // simplified version of buttonStartStop()
      { ctrl_node.end(); ROS_server.stop(); }
   writeSettings(); QMainWindow::closeEvent(event);
   qApp->closeAllWindows();
  }

  void keyPressEvent(QKeyEvent* event)
  { ctrl_wdgt->keyPressed(event); }

  void keyReleaseEvent(QKeyEvent* event)
  { ctrl_wdgt->keyReleased(event); }

private Q_SLOTS:
  void threadError(const int error, const QString& program);
    
  void actionAbout();

  void buttonStartStop();

  void updateLogging() { logs.scrollToBottom(); }

  void updateState(const State& state)
  { ctrl_wdgt->updateState(state); display.updateState(state); } 

  void updateTrajectory()
  { display.addTrajectory( ( (SmoothPathCtrl*)(controller) )
                           ->getAimedTrajectory() ); } 

  void updateCommands(const double& trans_vel, const double& rot_vel)
  { ctrl_wdgt->updateCommands(trans_vel, rot_vel);
    display.updateCommands(trans_vel, rot_vel); } 

}; // end of class QtCtrlGUI

#endif // QTCTRL_GUI