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‎code02-msg/CMakeLists.txt

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##############################################################################
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# CMake
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##############################################################################
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cmake_minimum_required(VERSION 2.8.0)
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project(msg)
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##############################################################################
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# Catkin
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##############################################################################
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# qt_build provides the qt cmake glue, roscpp the comms for a default talker
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find_package(catkin REQUIRED COMPONENTS qt_build roscpp)
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include_directories(${catkin_INCLUDE_DIRS})
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# Use this to define what the package will export (e.g. libs, headers).
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# Since the default here is to produce only a binary, we don't worry about
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# exporting anything.
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catkin_package()
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##############################################################################
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# Qt Environment
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##############################################################################
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# this comes from qt_build's qt-ros.cmake which is automatically
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# included via the dependency call in package.xml
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rosbuild_prepare_qt4(QtCore QtGui) # Add the appropriate components to the component list here
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##############################################################################
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# Sections
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##############################################################################
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file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
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file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
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file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/msg/*.hpp)
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QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
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QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
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QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
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##############################################################################
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# Sources
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##############################################################################
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file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
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##############################################################################
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# Binaries
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##############################################################################
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add_executable(msg ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
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target_link_libraries(msg ${QT_LIBRARIES} ${catkin_LIBRARIES})
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install(TARGETS msg RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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‎code02-msg/include/msg/main_window.hpp

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/**
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* @file /include/msg/main_window.hpp
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*
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* @brief Qt based gui for msg.
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*
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* @date November 2010
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**/
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#ifndef msg_MAIN_WINDOW_H
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#define msg_MAIN_WINDOW_H
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/*****************************************************************************
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** Includes
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*****************************************************************************/
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#include <QtGui/QMainWindow>
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#include "ui_main_window.h"
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#include "qnode.hpp"
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/*****************************************************************************
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** Namespace
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*****************************************************************************/
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namespace msg {
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/*****************************************************************************
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** Interface [MainWindow]
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*****************************************************************************/
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/**
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* @brief Qt central, all operations relating to the view part here.
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*/
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class MainWindow : public QMainWindow {
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Q_OBJECT
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public:
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MainWindow(int argc, char** argv, QWidget *parent = 0);
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~MainWindow();
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void ReadSettings(); // Load up qt program settings at startup
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void WriteSettings(); // Save qt program settings when closing
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void closeEvent(QCloseEvent *event); // Overloaded function
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void showNoMasterMessage();
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public Q_SLOTS:
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/******************************************
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** Auto-connections (connectSlotsByName())
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*******************************************/
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void on_actionAbout_triggered();
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void on_button_connect_clicked(bool check );
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void on_checkbox_use_environment_stateChanged(int state);
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/******************************************
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** Manual connections
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*******************************************/
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void updateLoggingView(); // no idea why this can't connect automatically
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void updateLoggingView_sub(); //add
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private:
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Ui::MainWindowDesign ui;
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QNode qnode;
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};
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} // namespace msg
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#endif // msg_MAIN_WINDOW_H

‎code02-msg/include/msg/qnode.hpp

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/**
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* @file /include/msg/qnode.hpp
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*
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* @brief Communications central!
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*
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* @date February 2011
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**/
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/*****************************************************************************
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** Ifdefs
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*****************************************************************************/
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#ifndef msg_QNODE_HPP_
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#define msg_QNODE_HPP_
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/*****************************************************************************
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** Includes
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*****************************************************************************/
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// To workaround boost/qt4 problems that won't be bugfixed. Refer to
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// https://bugreports.qt.io/browse/QTBUG-22829
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#ifndef Q_MOC_RUN
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#include <ros/ros.h>
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#endif
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#include <string>
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#include <QThread>
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#include <QStringListModel>
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#include <std_msgs/String.h> //add
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/*****************************************************************************
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** Namespaces
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*****************************************************************************/
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namespace msg {
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/*****************************************************************************
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** Class
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*****************************************************************************/
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class QNode : public QThread {
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Q_OBJECT
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public:
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QNode(int argc, char** argv );
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virtual ~QNode();
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bool init();
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bool init(const std::string &master_url, const std::string &host_url);
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void run();
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/*********************
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** Logging
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**********************/
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enum LogLevel {
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Debug,
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Info,
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Warn,
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Error,
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Fatal
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};
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QStringListModel* loggingModel() { return &logging_model; }
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void log( const LogLevel &level, const std::string &msg);
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QStringListModel* loggingModel_sub() { return &logging_model_sub; } //add
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void log_sub( const LogLevel &level, const std::string &msg); //add
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void Callback(const std_msgs::StringConstPtr &submsg); //add
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Q_SIGNALS:
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void loggingUpdated();
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void rosShutdown();
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void loggingUpdated_sub(); //add
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private:
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int init_argc;
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char** init_argv;
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ros::Publisher chatter_publisher;
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QStringListModel logging_model;
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ros::Subscriber chatter_subscriber; //add
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QStringListModel logging_model_sub; //add
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};
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} // namespace msg
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#endif /* msg_QNODE_HPP_ */

‎code02-msg/mainpage.dox

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/**
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\mainpage
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\htmlinclude manifest.html
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\b msg is ...
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<!--
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Provide an overview of your package.
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-->
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\section codeapi Code API
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<!--
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Provide links to specific auto-generated API documentation within your
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package that is of particular interest to a reader. Doxygen will
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document pretty much every part of your code, so do your best here to
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point the reader to the actual API.
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If your codebase is fairly large or has different sets of APIs, you
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should use the doxygen 'group' tag to keep these APIs together. For
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example, the roscpp documentation has 'libros' group.
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-->
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*/

‎code02-msg/package.xml

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<?xml version="1.0"?>
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<package>
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<name>msg</name>
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<version>0.1.0</version>
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<description>
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msg
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</description>
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<maintainer email="[email protected]">dwy</maintainer>
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<author>dwy</author>
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<license>BSD</license>
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<!-- <url type="bugtracker">https://github.com/stonier/qt_ros/issues</url> -->
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<!-- <url type="repository">https://github.com/stonier/qt_ros</url> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>qt_build</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>libqt4-dev</build_depend>
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<run_depend>qt_build</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>libqt4-dev</run_depend>
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</package>

‎code02-msg/resources/images.qrc

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<RCC>
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<qresource prefix="/" >
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<file>images/icon.png</file>
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</qresource>
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</RCC>

‎code02-msg/resources/images/icon.png

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‎code02-msg/src/main.cpp

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/**
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* @file /src/main.cpp
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*
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* @brief Qt based gui.
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*
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* @date November 2010
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**/
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/*****************************************************************************
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** Includes
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*****************************************************************************/
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#include <QtGui>
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#include <QApplication>
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#include "../include/msg/main_window.hpp"
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/*****************************************************************************
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** Main
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*****************************************************************************/
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int main(int argc, char **argv) {
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/*********************
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** Qt
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**********************/
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QApplication app(argc, argv);
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msg::MainWindow w(argc,argv);
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w.show();
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app.connect(&app, SIGNAL(lastWindowClosed()), &app, SLOT(quit()));
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int result = app.exec();
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return result;
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}

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