led_widget.h

// Small rqt plugin to show the robot buttons and LEDs
// Author: Dmytro Pavlichenko

#ifndef LED_WIDGET_H
#define LED_WIDGET_H

#include <led_widget/led.h>
#include <rqt_gui_cpp/plugin.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>
#include <ros/node_handle.h>
#include <nimbro_op_interface/LEDCommand.h>
#include <config_server/parameter.h>
#include <QTimer>

namespace Ui { class LEDWidget; }

namespace led_widget
{

class LEDWidget : public rqt_gui_cpp::Plugin
{
Q_OBJECT
public:
    LEDWidget();
    virtual ~LEDWidget();

    virtual void initPlugin(qt_gui_cpp::PluginContext& context);
    virtual void shutdownPlugin();

private Q_SLOTS:
    void handleBlinkTimerTimeout();

    void handleButton_0();
    void handleButton_1();
    void handleButton_2();

private:
    void stateReceived(const nimbro_op_interface::LEDCommandConstPtr& state);
    void updateLED(int led, bool state);
    void updateBlinking();

private:
    QWidget *view;
    Ui::LEDWidget *ui;

    std::vector<LED *> leds;

    ros::NodeHandle n;
    ros::Subscriber subscriber;

    QTimer m_blinkTimer;
    bool m_blinkState;

    config_server::Parameter<bool> m_pressButton0;
    config_server::Parameter<bool> m_pressButton1;
    config_server::Parameter<bool> m_pressButton2;
};

}

#endif