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 IGNITION_GUI_PLUGINS_TELEOP_HH_
#define IGNITION_GUI_PLUGINS_TELEOP_HH_

#include <memory>

#include <ignition/transport/Node.hh>

#include <ignition/gui/Plugin.hh>
#include <ignition/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 ignition
{
namespace gui
{
namespace plugins
{
  class TeleopPrivate;

  class Teleop_EXPORTS_API Teleop : public Plugin
  {
    Q_OBJECT

    Q_PROPERTY(
      int linearDir
      READ LinearDirection
      WRITE setLinearDirection
      NOTIFY LinearDirectionChanged
    )

    
    Q_PROPERTY(
      int angularDir
      READ AngularDirection
      WRITE setAngularDirection
      NOTIFY AngularDirectionChanged
    )

    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();

    public: Q_INVOKABLE int LinearDirection() const;

    public: Q_INVOKABLE void setLinearDirection(int _linearDir);

    signals: void LinearDirectionChanged();

    public: Q_INVOKABLE int AngularDirection() const;

    public: Q_INVOKABLE void setAngularDirection(int _angularDir);

    signals: void AngularDirectionChanged();

    public slots: void OnTopicSelection(const QString &_topic);

    public slots: void OnLinearVelSelection(double _velocity);

    public slots: void OnAngularVelSelection(double _velocity);

    public slots: void OnKeySwitch(bool _checked);

    public slots: void OnSlidersSwitch(bool _checked);

    public: void SetKeyDirection();

    private: std::unique_ptr<TeleopPrivate> dataPtr;

  };
}
}
}

#endif