00001 /* 00002 * Copyright (c) 2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include "ros/master.h" 00031 00032 #include "rviz/properties/ros_topic_property.h" 00033 00034 namespace rviz 00035 { 00036 00037 RosTopicProperty::RosTopicProperty( const QString& name, 00038 const QString& default_value, 00039 const QString& message_type, 00040 const QString& description, 00041 Property* parent, 00042 const char *changed_slot, 00043 QObject* receiver ) 00044 : EditableEnumProperty( name, default_value, description, parent, changed_slot, receiver ) 00045 , message_type_( message_type ) 00046 { 00047 connect( this, SIGNAL( requestOptions( QStringList* )), 00048 this, SLOT( fillTopicList( QStringList* ))); 00049 } 00050 00051 void RosTopicProperty::setMessageType( const QString& message_type ) 00052 { 00053 message_type_ = message_type; 00054 } 00055 00056 void RosTopicProperty::fillTopicList( QStringList* topic_list_return ) 00057 { 00058 if( !topic_list_return ) 00059 { 00060 return; 00061 } 00062 std::string std_message_type = message_type_.toStdString(); 00063 00064 ros::master::V_TopicInfo topics; 00065 ros::master::getTopics( topics ); 00066 00067 // Loop through all published topics 00068 ros::master::V_TopicInfo::iterator it; 00069 for( it = topics.begin(); it != topics.end(); ++it ) 00070 { 00071 const ros::master::TopicInfo& topic = *it; 00072 00073 // Only add topics whose type matches. 00074 if( topic.datatype == std_message_type ) 00075 { 00076 topic_list_return->append( QString::fromStdString( topic.name )); 00077 } 00078 } 00079 topic_list_return->sort(); 00080 } 00081 00082 } // end namespace rviz