qt学习之利用滑动条控制小乌龟速度（三）

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 
#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_OBJECTpublic:MainWindow(int argc, char** argv, QWidget *parent = 0);~MainWindow();void ReadSettings(); // Load up qt program settings at startupvoid WriteSettings(); // Save qt program settings when closingvoid closeEvent(QCloseEvent *event); // Overloaded functionvoid 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 automaticallyprivate 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 
#endif
#include 
#include 
#include /*****************************************************************************
** Namespaces
*****************************************************************************/namespace gui {
//float angular_value = 0 ;
//float turtle_angular = 0;/*****************************************************************************
** Class
*****************************************************************************/
//float turtle_linear = 0.0;
class QNode : public QThread {Q_OBJECTpublic: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 
#include 
#include 
#include 
#include 
#include 
#include 
#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("/turtle1/cmd_vel", 1);start();return true;
}bool QNode::init(const std::string &master_url, const std::string &host_url) {std::map 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("/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() << 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() << 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() << 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("/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/50241899std::string speed= static_cast( &(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 
#include 
#include 
#include 
//#include 
#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 applicationReadSettings();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("
PACKAGE_NAME Test Program 0.10
Copyright Yujin Robot
This package needs an about description.
"));
}/*****************************************************************************
** 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 guivoid 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: "<

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