程序:main_window.hpp:
/**
* @file /include/gui/main_window.hpp
*
* @brief Qt based gui for gui.
*
* @date November 2010
**/
#ifndef gui_MAIN_WINDOW_H
#define gui_MAIN_WINDOW_H
/*****************************************************************************
** Includes
*****************************************************************************/
#include <QtGui/QMainWindow>
#include "ui_main_window.h"
#include "qnode.hpp"
/*****************************************************************************
** Namespace
*****************************************************************************/
namespace gui {
//float angular_value = 0.0 ;
//float turtle_angular = 0.0;
/*****************************************************************************
** Interface [MainWindow]
*****************************************************************************/
/**
* @brief Qt central, all operations relating to the view part here.
*/
class MainWindow : public QMainWindow {
Q_OBJECT
public:
MainWindow(int argc, char** argv, QWidget *parent = 0);
~MainWindow();
void ReadSettings(); // Load up qt program settings at startup
void WriteSettings(); // Save qt program settings when closing
void closeEvent(QCloseEvent *event); // Overloaded function
void showNoMasterMessage();
float right_angular_value = 0 ;
float right_linear_value = 0 ;
float left_angular_value = 0 ;
float left_linear_value = 0 ;
float backward_angular_value = 0 ;
float backward_linear_value = 0 ;
float forward_angular_value = 0 ;
float forward_linear_value = 0 ;
public Q_SLOTS:
/******************************************
** Auto-connections (connectSlotsByName())
*******************************************/
void on_actionAbout_triggered();
void on_button_connect_clicked(bool check );
void on_checkbox_use_environment_stateChanged(int state);
/******************************************
** Manual connections
*******************************************/
void updateLoggingView(); // no idea why this can't connect automatically
private Q_SLOTS:
void on_forward_clicked();
void on_backward_clicked();
void on_right_clicked();
void on_left_clicked();
void on_AngularSlider_valueChanged(int value);
void on_AngularSlider_left_valueChanged(int value);
void on_LinearSlider_backward_valueChanged(int value);
void on_LinearSlider_forward_valueChanged(int value);
private:
Ui::MainWindowDesign ui;
QNode qnode;
};
} // namespace gui
#endif // gui_MAIN_WINDOW_H
qnode.hpp:
/**
* @file /include/gui/qnode.hpp
*
* @brief Communications central!
*
* @date February 2011
**/
/*****************************************************************************
** Ifdefs
*****************************************************************************/
#ifndef gui_QNODE_HPP_
#define gui_QNODE_HPP_
/*****************************************************************************
** Includes
*****************************************************************************/
// To workaround boost/qt4 problems that won't be bugfixed. Refer to
// https://bugreports.qt.io/browse/QTBUG-22829
#ifndef Q_MOC_RUN
#include <ros/ros.h>
#endif
#include <string>
#include <QThread>
#include <QStringListModel>
/*****************************************************************************
** Namespaces
*****************************************************************************/
namespace gui {
//float angular_value = 0 ;
//float turtle_angular = 0;
/*****************************************************************************
** Class
*****************************************************************************/
//float turtle_linear = 0.0;
class QNode : public QThread {
Q_OBJECT
public:
QNode(int argc, char** argv );
virtual ~QNode();
bool init();
bool init(const std::string &master_url, const std::string &host_url);
//void run();
void forward();
void backward();
void right();
void left();
float right_turtle_angular = 0;
float right_turtle_linear = 0;
float left_turtle_angular = 0;
float left_turtle_linear = 0;
float backward_turtle_angular = 0;
float backward_turtle_linear = 0;
float forward_turtle_angular = 0;
float forward_turtle_linear = 0;
/*********************
** Logging
**********************/
enum LogLevel {
Debug,
Info,
Warn,
Error,
Fatal
};
QStringListModel* loggingModel() { return &logging_model; }
void log( const LogLevel &level, const std::string &msg);
Q_SIGNALS:
void loggingUpdated();
void rosShutdown();
private:
int init_argc;
char** init_argv;
ros::Publisher chatter_publisher;
QStringListModel logging_model;
};
} // namespace gui
#endif /* gui_QNODE_HPP_ */
qnode.cpp:
/**
* @file /src/qnode.cpp
*
* @brief Ros communication central!
*
* @date February 2011
**/
/*****************************************************************************
** Includes
*****************************************************************************/
#include <ros/ros.h>
#include <ros/network.h>
#include <string>
#include <std_msgs/String.h>
#include <sstream>
#include <geometry_msgs/Twist.h>
#include <QSlider>
#include "../include/gui/qnode.hpp"
/*****************************************************************************
** Namespaces
*****************************************************************************/
namespace gui {
/*****************************************************************************
** Implementation
*****************************************************************************/
QNode::QNode(int argc, char** argv ) :
init_argc(argc),
init_argv(argv)
{
}
QNode::~QNode() {
if(ros::isStarted()) {
ros::shutdown(); // explicitly needed since we use ros::start();
ros::waitForShutdown();
}
wait();
}
bool QNode::init() {
ros::init(init_argc,init_argv,"gui");
if ( ! ros::master::check() ) {
return false;
}
ros::start(); // explicitly needed since our nodehandle is going out of scope.
ros::NodeHandle n;
// Add your ros communications here.
chatter_publisher = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
start();
return true;
}
bool QNode::init(const std::string &master_url, const std::string &host_url) {
std::map<std::string,std::string> remappings;
remappings["__master"] = master_url;
remappings["__hostname"] = host_url;
ros::init(remappings,"gui");
if ( ! ros::master::check() ) {
return false;
}
ros::start(); // explicitly needed since our nodehandle is going out of scope.
ros::NodeHandle n;
// Add your ros communications here.
chatter_publisher = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
start();
return true;
}
void QNode::forward() {
ros::Rate loop_rate(1);
if( ros::ok() )
{
geometry_msgs::Twist msg;
msg.linear.x = forward_turtle_linear;
msg.angular.z = 0.0;
std::string forward_log ="I'm going forward, speed:";
//字符串转换并连接,参考:https://blog.csdn.net/wangshubo1989/article/details/50241899
std::string speed= static_cast<std::ostringstream*>( &(std::ostringstream() << forward_turtle_linear) )->str();
forward_log += speed;
log(Info,std::string(forward_log));
chatter_publisher.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}
void QNode::backward() {
ros::Rate loop_rate(1);
if( ros::ok() )
{
geometry_msgs::Twist msg;
msg.linear.x = -backward_turtle_linear;
msg.angular.z = 0.0;
std::string backward_log ="I'm going backward, speed:";
//字符串转换并连接,参考:https://blog.csdn.net/wangshubo1989/article/details/50241899
std::string speed= static_cast<std::ostringstream*>( &(std::ostringstream() << backward_turtle_linear) )->str();
backward_log += speed;
log(Info,std::string(backward_log));
chatter_publisher.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}
void QNode::left() {
ros::Rate loop_rate(1);
if ( ros::ok() )
{
geometry_msgs::Twist msg;
msg.linear.x = 0;
msg.angular.z =left_turtle_angular;
std::string left_log ="I'm turning left, speed:";
//字符串转换并连接,参考:https://blog.csdn.net/wangshubo1989/article/details/50241899
std::string speed= static_cast<std::ostringstream*>( &(std::ostringstream() << left_turtle_angular) )->str();
left_log += speed;
log(Info,std::string(left_log));
chatter_publisher.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
//std::cout << “Ros shutdown, proceeding to close the gui.” << std::endl;
//Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}
void QNode::right()
{
ros::NodeHandle n;
// Add your ros communications here.
chatter_publisher = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1);
ros::Rate loop_rate(1);
std::string right_log ="I'm turning right, speed:";
//字符串转换并连接,参考:https://blog.csdn.net/wangshubo1989/article/details/50241899
std::string speed= static_cast<std::ostringstream*>( &(std::ostringstream() << right_turtle_angular) )->str();
right_log += speed;
log(Info,std::string(right_log));
if ( ros::ok() )
{
geometry_msgs::Twist msg;
msg.linear.x = 0;
msg.angular.z = -right_turtle_angular;
chatter_publisher.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}
/*void QNode::run() {
ros::Rate loop_rate(1);
int count = 0;
while ( ros::ok() ) {
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
chatter_publisher.publish(msg);
log(Info,std::string("I sent: ")+msg.data);
ros::spinOnce();
loop_rate.sleep();
++count;
}
std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
}*/
void QNode::log( const LogLevel &level, const std::string &msg)
{
logging_model.insertRows(logging_model.rowCount(),1);
std::stringstream logging_model_msg;
switch ( level ) {
case(Debug) : {
ROS_DEBUG_STREAM(msg);
logging_model_msg << "[DEBUG] [" << ros::Time::now() << "]: " << msg;
break;
}
case(Info) : {
ROS_INFO_STREAM(msg);
logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
break;
}
case(Warn) : {
ROS_WARN_STREAM(msg);
logging_model_msg << "[INFO] [" << ros::Time::now() << "]: " << msg;
break;
}
case(Error) : {
ROS_ERROR_STREAM(msg);
logging_model_msg << "[ERROR] [" << ros::Time::now() << "]: " << msg;
break;
}
case(Fatal) : {
ROS_FATAL_STREAM(msg);
logging_model_msg << "[FATAL] [" << ros::Time::now() << "]: " << msg;
break;
}
}
QVariant new_row(QString(logging_model_msg.str().c_str()));
logging_model.setData(logging_model.index(logging_model.rowCount()-1),new_row);
Q_EMIT loggingUpdated(); // used to readjust the scrollbar
}
} // namespace gui
main_window.cpp:
/**
* @file /src/main_window.cpp
*
* @brief Implementation for the qt gui.
*
* @date February 2011
**/
/*****************************************************************************
** Includes
*****************************************************************************/
#include <QtGui>
#include <QMessageBox>
#include <iostream>
#include <QSlider>
//#include <QObject>
#include "../include/gui/main_window.hpp"
/*****************************************************************************
** Namespaces
*****************************************************************************/
namespace gui {
using namespace Qt;
/*****************************************************************************
** Implementation [MainWindow]
*****************************************************************************/
MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
: QMainWindow(parent)
, qnode(argc,argv)
{
ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt())); // qApp is a global variable for the application
ReadSettings();
setWindowIcon(QIcon(":/images/icon.png"));
ui.tab_manager->setCurrentIndex(0); // ensure the first tab is showing - qt-designer should have this already hardwired, but often loses it (settings?).
QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));
/*********************
** Logging
**********************/
ui.view_logging->setModel(qnode.loggingModel());
QObject::connect(&qnode, SIGNAL(loggingUpdated()), this, SLOT(updateLoggingView()));
/*********************
** Auto Start
**********************/
if ( ui.checkbox_remember_settings->isChecked() ) {
on_button_connect_clicked(true);
}
}
MainWindow::~MainWindow() {}
/*****************************************************************************
** Implementation [Slots]
*****************************************************************************/
void MainWindow::showNoMasterMessage() {
QMessageBox msgBox;
msgBox.setText("Couldn't find the ros master.");
msgBox.exec();
close();
}
/*
* These triggers whenever the button is clicked, regardless of whether it
* is already checked or not.
*/
void MainWindow::on_button_connect_clicked(bool check ) {
if ( ui.checkbox_use_environment->isChecked() ) {
if ( !qnode.init() ) {
showNoMasterMessage();
} else {
ui.button_connect->setEnabled(false);
}
} else {
if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
ui.line_edit_host->text().toStdString()) ) {
showNoMasterMessage();
} else {
ui.button_connect->setEnabled(false);
ui.line_edit_master->setReadOnly(true);
ui.line_edit_host->setReadOnly(true);
ui.line_edit_topic->setReadOnly(true);
}
}
}
void MainWindow::on_checkbox_use_environment_stateChanged(int state) {
bool enabled;
if ( state == 0 ) {
enabled = true;
} else {
enabled = false;
}
ui.line_edit_master->setEnabled(enabled);
ui.line_edit_host->setEnabled(enabled);
//ui.line_edit_topic->setEnabled(enabled);
}
/*****************************************************************************
** Implemenation [Slots][manually connected]
*****************************************************************************/
/**
* This function is signalled by the underlying model. When the model changes,
* this will drop the cursor down to the last line in the QListview to ensure
* the user can always see the latest log message.
*/
void MainWindow::updateLoggingView() {
ui.view_logging->scrollToBottom();
}
/*****************************************************************************
** Implementation [Menu]
*****************************************************************************/
void MainWindow::on_actionAbout_triggered() {
QMessageBox::about(this, tr("About ..."),tr("<h2>PACKAGE_NAME Test Program 0.10</h2><p>Copyright Yujin Robot</p><p>This package needs an about description.</p>"));
}
/*****************************************************************************
** Implementation [Configuration]
*****************************************************************************/
void MainWindow::ReadSettings() {
QSettings settings("Qt-Ros Package", "gui");
restoreGeometry(settings.value("geometry").toByteArray());
restoreState(settings.value("windowState").toByteArray());
QString master_url = settings.value("master_url",QString("http://192.168.1.2:11311/")).toString();
QString host_url = settings.value("host_url", QString("192.168.1.3")).toString();
//QString topic_name = settings.value("topic_name", QString("/chatter")).toString();
ui.line_edit_master->setText(master_url);
ui.line_edit_host->setText(host_url);
//ui.line_edit_topic->setText(topic_name);
bool remember = settings.value("remember_settings", false).toBool();
ui.checkbox_remember_settings->setChecked(remember);
bool checked = settings.value("use_environment_variables", false).toBool();
ui.checkbox_use_environment->setChecked(checked);
if ( checked ) {
ui.line_edit_master->setEnabled(false);
ui.line_edit_host->setEnabled(false);
//ui.line_edit_topic->setEnabled(false);
}
}
void MainWindow::WriteSettings() {
QSettings settings("Qt-Ros Package", "gui");
settings.setValue("master_url",ui.line_edit_master->text());
settings.setValue("host_url",ui.line_edit_host->text());
//settings.setValue("topic_name",ui.line_edit_topic->text());
settings.setValue("use_environment_variables",QVariant(ui.checkbox_use_environment->isChecked()));
settings.setValue("geometry", saveGeometry());
settings.setValue("windowState", saveState());
settings.setValue("remember_settings",QVariant(ui.checkbox_remember_settings->isChecked()));
}
void MainWindow::closeEvent(QCloseEvent *event)
{
WriteSettings();
QMainWindow::closeEvent(event);
}
} // namespace gui
void gui::MainWindow::on_forward_clicked()
{
qnode.forward();
}
void gui::MainWindow::on_backward_clicked()
{
qnode.backward();
}
void gui::MainWindow::on_right_clicked()
{
qnode.right();
}
void gui::MainWindow::on_left_clicked()
{
qnode.left();
}
//QObject::connect(ui.AngularSlider, SIGNAL(valueChanged(int)), this, SLOT(on_AngularSlider_valueChanged(int)));
void gui::MainWindow::on_AngularSlider_valueChanged(int right_slider_value)
{
right_angular_value = right_slider_value*0.1;//slider 值0-100,转化为0-10弧度
qnode.right_turtle_angular = right_angular_value;//将值传给qnode.cpp中turtle角速度
std::cout<<"Angular Value: "<<right_angular_value<<std::endl;
}
void gui::MainWindow::on_AngularSlider_left_valueChanged(int left_slider_value)
{
left_angular_value = left_slider_value*0.1;//slider 值0-100,转化为0-10弧度
qnode.left_turtle_angular = left_angular_value;//将值传给qnode.cpp中turtle角速度
std::cout<<"Angular Value: "<<left_angular_value<<std::endl;
}
void gui::MainWindow::on_LinearSlider_backward_valueChanged(int backward_slider_value)
{
backward_linear_value = backward_slider_value;//slider
qnode.backward_turtle_linear = backward_linear_value;//将值传给qnode.cpp中turtle角速度
std::cout<<"Angular Value: "<<backward_linear_value<<std::endl;
}
void gui::MainWindow::on_LinearSlider_forward_valueChanged(int forward_slider_value)
{
forward_linear_value = forward_slider_value;//slider
qnode.forward_turtle_linear = forward_linear_value;//将值传给qnode.cpp中turtle角速度
std::cout<<"Angular Value: "<<forward_linear_value<<std::endl;
}
在cmakelist中加入:(否则会有警告)
add_compile_options(-std=c++11)
参考文献:
https://blog.csdn.net/qq_30460905/article/details/84898515