I am writing a C++ rqt plugin which has the following layout:
I would like to know how one would implement a callback function which executes when the user clicks one of the radio buttons? I.e. I want:
- callback function `startEvent` to be executed when the user clicks the "Start experiment" radio button
- callback function `stopEvent` to be executed when the user clicks the "STOP experiment" radio button
What follows below is the current state of my code, if you need that info. Otherwise you can ignore it. Thanks for helping!
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├── CMakeLists.txt
├── include
│ └── rqt_example_cpp
│ └── my_plugin.h
├── package.xml
├── plugin.xml
├── setup.py
└── src
└── rqt_example_cpp
├── my_plugin.cpp
└── my_plugin.ui
my_plugin.ui:
MyPluginWidget 0 0 400 300 Form 20 10 141 21 Start experiment 20 40 191 21 75 true STOP experiment
#include
#include
#include
namespace rqt_plugin {
class MyPlugin : public rqt_gui_cpp::Plugin {
Q_OBJECT
public:
MyPlugin();
virtual void initPlugin(qt_gui_cpp::PluginContext& context);
virtual void shutdownPlugin();
virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings,
qt_gui_cpp::Settings& instance_settings) const;
virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings,
const qt_gui_cpp::Settings& instance_settings);
// Comment in to signal that the plugin has a way to configure it
// bool hasConfiguration() const;
// void triggerConfiguration();
private:
Ui::MyPluginWidget ui_;
QWidget* widget_;
ros::NodeHandle ros_nh_;
ros::Publisher ros_pub_;
};
} // namespace rqt_example_cpp
#endif // RQT_EXAMPLE_CPP_MY_PLUGIN_H
my_plugin.cpp:
#include "rqt_example_cpp/my_plugin.h"
#include
#include
namespace rqt_plugin {
MyPlugin::MyPlugin() : rqt_gui_cpp::Plugin() , widget_(0) {
// Constructor is called first before initPlugin function, needless to say.
// give QObjects reasonable names
setObjectName("MyPlugin");
}
void MyPlugin::initPlugin(qt_gui_cpp::PluginContext& context)
{
// access standalone command line arguments
QStringList argv = context.argv();
// create QWidget
widget_ = new QWidget();
// extend the widget with all attributes and children from UI file
ui_.setupUi(widget_);
// add widget to the user interface
context.addWidget(widget_);
// getNodeHandle().subscribe();
}
void MyPlugin::shutdownPlugin()
{
// unregister all publishers here
}
void MyPlugin::saveSettings(qt_gui_cpp::Settings& plugin_settings,
qt_gui_cpp::Settings& instance_settings) const
{
// instance_settings.setValue(k, v)
}
void MyPlugin::restoreSettings(const qt_gui_cpp::Settings& plugin_settings,
const qt_gui_cpp::Settings& instance_settings)
{
// v = instance_settings.value(k)
}
/*bool hasConfiguration() const
{
return true;
}
void triggerConfiguration()
{
// Usually used to open a dialog to offer the user a set of configuration
}*/
} // namespace rqt_example_cpp
PLUGINLIB_DECLARE_CLASS(rqt_plugin, MyPlugin, rqt_plugin::MyPlugin, rqt_gui_cpp::Plugin)
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