[Eros-commits] r365 - in trunk/tools/eros_python_tools/templ…

Author: snorri
Date: 2011-09-06 21:23:56 -0700 (Tue, 06 Sep 2011)
New Revision: 365

Modified:
trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/main_window.hpp
trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/qnode.hpp
trunk/tools/eros_python_tools/templates/qt-ros/src/main_window.cpp
trunk/tools/eros_python_tools/templates/qt-ros/src/qnode.cpp
Log:
eros_python_tools : check for ros master in qt-ros template

Modified: trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/main_window.hpp
===================================================================
--- trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/main_window.hpp    2011-09-07 04:22:37 UTC (rev 364)
+++ trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/main_window.hpp    2011-09-07 04:23:56 UTC (rev 365)
@@ -39,6 +39,7 @@
     void WriteSettings(); // Save qt program settings when closing

     void closeEvent(QCloseEvent *event); // Overloaded function
+    void showNoMasterMessage();

 public slots:
     /******************************************

Modified: trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/qnode.hpp
===================================================================
--- trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/qnode.hpp    2011-09-07 04:22:37 UTC (rev 364)
+++ trunk/tools/eros_python_tools/templates/qt-ros/include/PACKAGE_NAME/qnode.hpp    2011-09-07 04:23:56 UTC (rev 365)
@@ -37,8 +37,8 @@
 public:
     QNode(int argc, char** argv );
     ~QNode();
-    void init(const std::string &topic_name);
-    void init(const std::string &master_url, const std::string &host_url, const std::string &topic_name);
+    bool init(const std::string &topic_name);
+    bool init(const std::string &master_url, const std::string &host_url, const std::string &topic_name);
     void run();

     /*********************

Modified: trunk/tools/eros_python_tools/templates/qt-ros/src/main_window.cpp
===================================================================
--- trunk/tools/eros_python_tools/templates/qt-ros/src/main_window.cpp    2011-09-07 04:22:37 UTC (rev 364)
+++ trunk/tools/eros_python_tools/templates/qt-ros/src/main_window.cpp    2011-09-07 04:23:56 UTC (rev 365)
@@ -58,25 +58,40 @@
 ** Implementation [Slots]
 *****************************************************************************/

+void MainWindow::showNoMasterMessage() {
+    QMessageBox msgBox;
+    msgBox.setText("Couldn't find the ros master.");
+    msgBox.exec();
+    close();
+}
+
 /*
  * These triggers whenever the button is clicked, regardless of whether it
  * is already checked or not.
  */

 void MainWindow::on_button_connect_clicked(bool check ) {
-    ui.button_connect->setEnabled(false);
     if ( ui.checkbox_use_environment->isChecked() ) {
-        qnode.init(ui.line_edit_topic->text().toStdString());
+        if ( !qnode.init(ui.line_edit_topic->text().toStdString()) ) {
+            showNoMasterMessage();
+        } else {
+            ui.button_connect->setEnabled(false);
+        }
     } else {
-        qnode.init(ui.line_edit_master->text().toStdString(),
+        if ( ! qnode.init(ui.line_edit_master->text().toStdString(),
                    ui.line_edit_host->text().toStdString(),
-                   ui.line_edit_topic->text().toStdString());
-        ui.line_edit_master->setReadOnly(true);
-        ui.line_edit_host->setReadOnly(true);
-        ui.line_edit_topic->setReadOnly(true);
+                   ui.line_edit_topic->text().toStdString()) ) {
+            showNoMasterMessage();
+        } else {
+            ui.button_connect->setEnabled(false);
+            ui.line_edit_master->setReadOnly(true);
+            ui.line_edit_host->setReadOnly(true);
+            ui.line_edit_topic->setReadOnly(true);
+        }
     }
 }

+
 void MainWindow::on_checkbox_use_environment_stateChanged(int state) {
     bool enabled;
     if ( state == 0 ) {

Modified: trunk/tools/eros_python_tools/templates/qt-ros/src/qnode.cpp
===================================================================
--- trunk/tools/eros_python_tools/templates/qt-ros/src/qnode.cpp    2011-09-07 04:22:37 UTC (rev 364)
+++ trunk/tools/eros_python_tools/templates/qt-ros/src/qnode.cpp    2011-09-07 04:23:56 UTC (rev 365)
@@ -35,13 +35,16 @@
 QNode::~QNode() {
     if(ros::isStarted()) {
       ros::shutdown(); // explicitly needed since we use ros::start();
+      ros::waitForShutdown();
     }
-    ros::waitForShutdown();
     wait();
 }

-void QNode::init(const std::string &topic_name) {
+bool QNode::init(const std::string &topic_name) {
     ros::init(init_argc,init_argv,"%(package)s");
+    if ( ! ros::master::check() ) {
+        return false;
+    }
     ros::start(); // explicitly needed since our nodehandle is going out of scope.
     ros::NodeHandle n;
     // Add your ros communications here.
@@ -49,11 +52,14 @@
     start();
 }

-void QNode::init(const std::string &master_url, const std::string &host_url, const std::string &topic_name) {
+bool QNode::init(const std::string &master_url, const std::string &host_url, const std::string &topic_name) {
     std::map<std::string,std::string> remappings;
     remappings["__master"] = master_url;
     remappings["__hostname"] = host_url;
     ros::init(remappings,"%(package)s");
+    if ( ! ros::master::check() ) {
+        return false;
+    }
     ros::start(); // explicitly needed since our nodehandle is going out of scope.
     ros::NodeHandle n;
     // Add your ros communications here.

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