Pimpest/magrob-rqt-plugin
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Added robot and things

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This commit is contained in:
Pimpest
2025-03-23 13:21:23 +01:00
parent 955aa794fe
commit b41ceb51ee
23 changed files with 28380 additions and 161 deletions
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44
include/rqt_demo_plugin/lineItem.hpp
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@ -1,45 +1,35 @@
#pragma once
#include <QtQuick/QQuickItem>
#include <qchar.h>
#include <qglobal.h>
#include <qobject.h>
#include <qobjectdefs.h>
#include <qpoint.h>
#include <qquickitem.h>
#include <qsgnode.h>
class LineItem : public QQuickItem
{
#include <QtQuick/QQuickItem>
class LineItem : public QQuickItem {
Q_OBJECT
Q_PROPERTY(float scale READ scale WRITE setScale NOTIFY scaleChanged)
Q_PROPERTY(QString stupid READ stupid WRITE setStupid NOTIFY stupidChanged)
Q_PROPERTY(QObject* handler READ handler WRITE setHandler NOTIFY handlerChanged)
QML_ELEMENT
public:
LineItem(QQuickItem *parent = nullptr);
public:
LineItem(QQuickItem* parent = nullptr);
~LineItem();
QSGNode *updatePaintNode(QSGNode *, UpdatePaintNodeData *) override;
QSGNode* updatePaintNode(QSGNode*, UpdatePaintNodeData*) override;
QString stupid() const {return stupid_;}
QObject* handler() const {return handler_;}
QString stupid() const { return stupid_; }
QObject* handler() const { return handler_; }
void setStupid(const QString &str) {stupid_ = str;}
void setScale(const float scale) {scale_ = scale;}
void setHandler(QObject* const obj) {handler_ = obj;}
void setStupid(const QString& str) { stupid_ = str; }
void setScale(const float scale) { scale_ = scale; }
void setHandler(QObject* const obj);
signals:
void stupidChanged(const QString &str);
signals:
void stupidChanged(const QString& str);
void handlerChanged(QObject* const obj);
private:
float scale_;
QString stupid_;
private:
float scale_;
QString stupid_;
QObject* handler_;
int prev_size=0;
int prev_size = 0;
};

132
include/rqt_demo_plugin/rqt_demo_plugin.hpp
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@ -1,70 +1,112 @@
#pragma once
#include "geometry_msgs/msg/point.hpp"
#include "rqt_gui_cpp/plugin.h"
#include "mg_msgs/msg/t_edit_cycle.hpp"
#include "geometry_msgs/msg/point_stamped.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include <QtGui>
#include <QtQuick>
#include <QtQuickControls2/QQuickStyle>
#include <QtWidgets>
#include <qfileinfo.h>
#include <qobject.h>
#include <qobjectdefs.h>
#include <qpushbutton.h>
#include <qquickview.h>
#include <qquickwindow.h>
#include <qresource.h>
#include <qsggeometry.h>
#include <qurl.h>
#include <qwidget.h>
#include <chrono>
#include <functional>
#include <memory>
#include <rclcpp/publisher.hpp>
#include <rclcpp/qos.hpp>
#include <unordered_set>
#include <vector>
inline void initResources() { Q_INIT_RESOURCE(res); }
inline void cleanupResources() { Q_CLEANUP_RESOURCE(res); }
namespace mg {
class DemoPluginMg : public rqt_gui_cpp::Plugin {
Q_OBJECT
Q_PROPERTY(QObject* demoPlugin READ demoPlugin NOTIFY demoPluginChanged)
public:
DemoPluginMg();
class DemoPluginMg : public rqt_gui_cpp::Plugin {
Q_OBJECT
Q_PROPERTY(QObject* demoPlugin READ demoPlugin NOTIFY demoPluginChanged)
Q_PROPERTY(QPointF robotPos READ robotPos NOTIFY robotPosChanged)
Q_PROPERTY(qreal robotTheta READ robotTheta NOTIFY robotThetaChanged)
virtual void shutdownPlugin() {
cleanupResources();
}
public:
std::mutex tree_mut_;
bool children_dirty;
bool points_dirty;
virtual void initPlugin(qt_gui_cpp::PluginContext &);
DemoPluginMg();
QObject * demoPlugin() const {
return (QObject *)(this);
}
void initPlugin(qt_gui_cpp::PluginContext&) override;
void shutdownPlugin() override { cleanupResources(); }
const QSGGeometry::Point2D hello[8] = {
{0.2,0.2}, {0.8,0.2},
{0.2,0.2}, {0.2,0.8},
{0.2,0.4}, {0.4,0.8},
{0.2,0.4}, {0.1,0.1},
};
Q_INVOKABLE void postPoint(qreal x, qreal y);
const int hello_c = 8;
QObject* demoPlugin() const { return (QObject*)(this); }
QPointF robotPos() const { return robotPos_; }
float robotTheta() const { return robotTheta_; }
signals:
const std::vector<std::unordered_set<int>>& children() const { return children_; }
const std::vector<std::pair<float, float>>& points() const { return points_; }
void demoPluginChanged(QObject * const);
int cchildren() const { return cchildren_; };
};
signals:
inline void DemoPluginMg::initPlugin(qt_gui_cpp::PluginContext &pc) {
initResources();
const QUrl qrl("qrc:/qml/helloworld.qml");
QQuickView *qv = new QQuickView();
qv->rootContext()->setContextProperty("DemoPlug", this);
qv->setSource(qrl);
qv->setResizeMode(QQuickView::ResizeMode::SizeRootObjectToView);
QSurfaceFormat format = qv->format();
format.setSamples(4);
qv->setFormat(format);
QWidget *qw_ = QWidget::createWindowContainer(qv);
pc.addWidget(qw_);
}
void demoPluginChanged(QObject* const);
void robotPosChanged(QPointF const);
void robotThetaChanged(float const);
void treeChanged();
private:
std::shared_ptr<rclcpp::Subscription<mg_msgs::msg::TEditCycle>> editcycle_sub_;
std::vector<std::unordered_set<int>> children_;
std::vector<std::pair<float, float>> points_;
std::shared_ptr<rclcpp::TimerBase> tf_timer_;
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr pub_point_;
QPointF robotPos_;
qreal robotTheta_;
int cchildren_;
void cb_GraphEdits(mg_msgs::msg::TEditCycle::ConstSharedPtr msg);
void cb_tf_timer();
};
inline void DemoPluginMg::initPlugin(qt_gui_cpp::PluginContext& pc) {
initResources();
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node_->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
tf_timer_ = node_->create_timer(std::chrono::milliseconds(15), [this]() { this->cb_tf_timer(); });
pub_point_ = node_->create_publisher<geometry_msgs::msg::PointStamped>("/clicked_point", rclcpp::QoS(1));
QQuickStyle::setStyle("fusion");
const QUrl qrl("qrc:/qml/helloworld.qml");
auto* qv = new QQuickView();
auto editcycle_cb = std::bind(&DemoPluginMg::cb_GraphEdits, this, std::placeholders::_1);
editcycle_sub_ = node_->create_subscription<mg_msgs::msg::TEditCycle>(
"GraphEdits", rclcpp::QoS(1000).transient_local(), editcycle_cb);
qv->rootContext()->setContextProperty("DemoPlug", this);
qv->setSource(qrl);
qv->setResizeMode(QQuickView::ResizeMode::SizeRootObjectToView);
QSurfaceFormat format = qv->format();
format.setSamples(4);
qv->setFormat(format);
QWidget* qw_ = QWidget::createWindowContainer(qv);
pc.addWidget(qw_);
}
}; // namespace mg