Teleop.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_GUI_PLUGINS_TELEOP_HH_
#define GZ_GUI_PLUGINS_TELEOP_HH_
 
#include <memory>
 
#include <gz/transport/Node.hh>
 
#include <gz/gui/Plugin.hh>
#include <gz/gui/qt.h>
 
#ifndef _WIN32
#  define Teleop_EXPORTS_API
#else
#  if (defined(Teleop_EXPORTS))
#    define Teleop_EXPORTS_API __declspec(dllexport)
#  else
#    define Teleop_EXPORTS_API __declspec(dllimport)
#  endif
#endif
 
namespace gz::gui::plugins
{
  class TeleopPrivate;
 
  class Teleop_EXPORTS_API Teleop : public Plugin
  {
    Q_OBJECT
 
    Q_PROPERTY(
      QString topic
      READ Topic
      WRITE SetTopic
      NOTIFY TopicChanged
    )
 
    
    Q_PROPERTY(
      double maxForwardVel
      READ MaxForwardVel
      WRITE SetMaxForwardVel
      NOTIFY MaxForwardVelChanged
    )
 
    Q_PROPERTY(
      double maxVerticalVel
      READ MaxVerticalVel
      WRITE SetMaxVerticalVel
      NOTIFY MaxVerticalVelChanged
    )
 
    Q_PROPERTY(
      double maxYawVel
      READ MaxYawVel
      WRITE SetMaxYawVel
      NOTIFY MaxYawVelChanged
    )
 
    public: Teleop();
 
    public: virtual ~Teleop();
 
    // Documentation inherited.
    public: virtual void LoadConfig(const tinyxml2::XMLElement *) override;
 
    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
 
    public slots: void OnTeleopTwist(double _forwardVel, double _verticalVel,
        double _angVel);
 
    public: Q_INVOKABLE QString Topic() const;
 
    public slots: void SetTopic(const QString &_topic);
 
    signals: void TopicChanged();
 
    public: Q_INVOKABLE double MaxForwardVel() const;
 
    public slots: void SetMaxForwardVel(double _velocity);
 
    signals: void MaxForwardVelChanged();
 
    public: Q_INVOKABLE double MaxVerticalVel() const;
 
    public slots: void SetMaxVerticalVel(double _velocity);
 
    signals: void MaxVerticalVelChanged();
 
    public: Q_INVOKABLE double MaxYawVel() const;
 
    public slots: void SetMaxYawVel(double _velocity);
 
    signals: void MaxYawVelChanged();
 
    public slots: void OnKeySwitch(bool _checked);
 
    public: void SetKeyScale();
 
    private: std::unique_ptr<TeleopPrivate> dataPtr;
 
  };
}  // namespace gz::gui::plugins
 
#endif  // GZ_GUI_PLUGINS_TELEOP_HH_