ROS_Robot/Ros_Qt5_Gui_App
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优化ROS连接及增加断开连接 连接中提示功能

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chengyangkj 2020-12-06 17:52:44 +08:00
parent 013ac3d8f7
commit b0ed8817e2
5 changed files with 28 additions and 14 deletions
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1
include/cyrobot_monitor/main_window.hpp
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@ -111,6 +111,7 @@ public slots:
//显示图像
//显示图像
void slot_show_image(int,QImage);
void slot_dis_connect();
// void on_horizontalSlider_raw_valueChanged(int value);
private slots:

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41
src/main_window.cpp
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@ -37,8 +37,8 @@ MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
//读取配置文件
ReadSettings();
setWindowIcon(QIcon(":/images/robot.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()));
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
@ -48,9 +48,9 @@ MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
/*********************
** 自动连接master
**********************/
// if ( ui.checkbox_remember_settings->isChecked() ) {
// on_button_connect_clicked(true);
// }
if ( ui.checkbox_remember_settings->isChecked() ) {
on_button_connect_clicked(true);
}
//链接connect
connections();
@ -248,6 +248,7 @@ void MainWindow::connections()
connect(ui.pushButton_m,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_back,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton_backr,SIGNAL(clicked()),this,SLOT(slot_cmd_control()));
connect(ui.pushButton,SIGNAL(clicked()),this,SLOT(slot_dis_connect()));
//设置2D Pose
connect(ui.set_pos_btn,SIGNAL(clicked()),this,SLOT(slot_set_2D_Pos()));
//设置2D goal
@ -405,7 +406,7 @@ void MainWindow::slot_set_select()
void MainWindow::slot_treewidget_item_check_change(int is_check)
{
QCheckBox* sen = (QCheckBox*)sender();
qDebug()<<"check:"<<is_check<<"parent:"<<widget_to_parentItem_map[sen]->text(0)<<"地址："<<widget_to_parentItem_map[sen];
//qDebug()<<"check:"<<is_check<<"parent:"<<widget_to_parentItem_map[sen]->text(0)<<"地址："<<widget_to_parentItem_map[sen];
QTreeWidgetItem *parentItem=widget_to_parentItem_map[sen];
QString dis_name=widget_to_parentItem_map[sen]->text(0);
bool enable=is_check>1?true:false;
@ -460,8 +461,8 @@ void MainWindow::slot_treewidget_item_value_change(QString value)
{
QWidget* sen = (QWidget*)sender();
qDebug()<<sen->metaObject()->className()<<"parent:"<<widget_to_parentItem_map[sen]->text(0);
qDebug()<<value;
//qDebug()<<sen->metaObject()->className()<<"parent:"<<widget_to_parentItem_map[sen]->text(0);
//qDebug()<<value;
QTreeWidgetItem *parentItem=widget_to_parentItem_map[sen];
QString Dis_Name=widget_to_parentItem_map[sen]->text(0);
@ -506,7 +507,7 @@ void MainWindow::slot_treewidget_item_value_change(QString value)
QComboBox *topic_box=(QComboBox *) ui.treeWidget_rviz->itemWidget(parentItem->child(1),1);
QLineEdit *alpha=(QLineEdit *) ui.treeWidget_rviz->itemWidget(parentItem->child(2),1);
QComboBox *scheme=(QComboBox *) ui.treeWidget_rviz->itemWidget(parentItem->child(3),1);
qDebug()<<topic_box->currentText()<<alpha->text()<<scheme->currentText();
//qDebug()<<topic_box->currentText()<<alpha->text()<<scheme->currentText();
map_rviz->Display_Map(enable,topic_box->currentText(),alpha->text().toDouble(),scheme->currentText());
}
else if(Dis_Name=="LaserScan")
@ -942,11 +943,21 @@ void MainWindow::showNoMasterMessage() {
* These triggers whenever the button is clicked, regardless of whether it
* is already checked or not.
*/
void MainWindow::slot_dis_connect(){
ros::shutdown();
slot_rosShutdown();
}
void MainWindow::on_button_connect_clicked(bool check ) {
QDialog connecting_dia;
QLabel text_info;
text_info.setText("连接master中，请稍后.............");
text_info.setParent(&connecting_dia);
connecting_dia.resize(300,100);
connecting_dia.show();
//如果使用环境变量
if ( ui.checkbox_use_environment->isChecked() ) {
if ( !qnode.init() ) {
connecting_dia.close();
//showNoMasterMessage();
QMessageBox::warning(NULL, "失败", "连接ROS Master失败！请检查你的网络或连接字符串！", QMessageBox::Yes , QMessageBox::Yes);
ui.label_robot_staue_img->setPixmap(QPixmap::fromImage(QImage("://images/offline.png")));
@ -977,6 +988,7 @@ void MainWindow::on_button_connect_clicked(bool check ) {
else {
if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
ui.line_edit_host->text().toStdString()) ) {
connecting_dia.close();
QMessageBox::warning(NULL, "失败", "连接ROS Master失败！请检查你的网络或连接字符串！", QMessageBox::Yes , QMessageBox::Yes);
ui.label_robot_staue_img->setPixmap(QPixmap::fromImage(QImage("://images/offline.png")));
ui.label_statue_text->setStyleSheet("color:red;");
@ -1026,12 +1038,16 @@ void MainWindow::refreashTopicList()
void MainWindow::slot_rosShutdown()
{
ui.label_robot_staue_img->setPixmap(QPixmap::fromImage(QImage("://images/offline.png")));
ui.label_statue_text->setStyleSheet("color:red;");
ui.label_statue_text->setStyleSheet("color:red;");
ui.label_statue_text->setText("离线");
ui.button_connect->setEnabled(true);
ui.line_edit_master->setReadOnly(false);
ui.line_edit_host->setReadOnly(false);
ui.line_edit_topic->setReadOnly(false);
ui.treeWidget_rviz->setEnabled(false);
ui.tab_manager->setTabEnabled(1,false);
ui.tabWidget->setTabEnabled(1,false);
ui.groupBox_3->setEnabled(false);
}
void MainWindow::slot_power(float p)
{
@ -1051,9 +1067,6 @@ void MainWindow::slot_power(float p)
}
void MainWindow::slot_speed_x(double x)
{
if(x>=0) ui.label_dir_x->setText("正向");
else ui.label_dir_x->setText("反向");
m_DashBoard_x->setValue(abs(x*100));
}
void MainWindow::slot_speed_y(double x)