rosNodeThread.h 1.06 KB
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#ifndef ___ROSNODETHREAD_H___
#define ___ROSNODETHREAD_H___

#include <QtCore>
#include <QThread>
#include <QStringList>
#include <stdlib.h>
#include <QMutex>
#include <iostream>
#include "assert.h"

#include <ros/ros.h>
#include <ros/network.h>
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#include "d_fall_pps/UnlabeledMarker.h"
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#include "d_fall_pps/CrazyflieData.h"
#include "d_fall_pps/ViconData.h"
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using namespace d_fall_pps;

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typedef ViconData::ConstPtr ptrToMessage;
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Q_DECLARE_METATYPE(ptrToMessage)


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class rosNodeThread : public QObject {
	Q_OBJECT
public:
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    explicit rosNodeThread(int argc, char **pArgv, const char * topic, QObject *parent = 0);
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    virtual ~rosNodeThread();

    bool init();

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    // void messageCallback(const ViconData& data);
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    void messageCallback(const ptrToMessage& p_msg);
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signals:
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    void newViconData(const ptrToMessage& p_msg);
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public slots:
    void run();

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private:
    int m_Init_argc;
    char** m_pInit_argv;
    const char * m_topic;

    QThread * m_pThread;

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    ViconData m_vicon_data;

    ros::Subscriber m_vicon_subscriber;
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    // ros::Publisher  sim_velocity;
};
#endif