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Use simplified /get_scene service #349

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merged 2 commits into from
Feb 9, 2021
Merged

Use simplified /get_scene service #349

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b3de267
Use simplified /get_scene service
scpeters Jan 28, 2021
93f99b9
update doc-string
scpeters Jan 29, 2021
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25 changes: 7 additions & 18 deletions delphyne_gui/visualizer/render_widget.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -115,23 +115,8 @@ RenderWidget::RenderWidget(QWidget*) : Plugin(), initializedScene(false), engine
QObject::connect(this, SIGNAL(NewDraw(const ignition::msgs::Model_V&)), this,
SLOT(UpdateScene(const ignition::msgs::Model_V&)));

// Setting up a unique-named service name
// i.e: Scene_8493201843;
int randomId = ignition::math::Rand::IntUniform(1, ignition::math::MAX_I32);
std::string sceneServiceName = "Scene_" + std::to_string(randomId);
sceneRequestMsg.set_response_topic(sceneServiceName);

// Advertise the service with the unique name generated above
if (!node.Advertise(sceneServiceName, &RenderWidget::OnSetScene, this)) {
ignerr << "Error advertising service [" << sceneServiceName << "]" << std::endl;
}

ignition::msgs::Boolean response;
unsigned int timeout = 100;
bool result;

// Request a scene to be published into the unique-named channel
this->node.Request("/get_scene", sceneRequestMsg, timeout, response, result);
// Request a scene
this->node.Request("/get_scene", &RenderWidget::OnSetScene, this);
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -239,7 +224,11 @@ std::string RenderWidget::ConfigStr() const {
}

/////////////////////////////////////////////////
void RenderWidget::OnSetScene(const ignition::msgs::Scene& request) { emit this->NewInitialScene(request); }
void RenderWidget::OnSetScene(const ignition::msgs::Scene& reply, const bool result) {
if (result) {
emit this->NewInitialScene(reply);
}
}

/////////////////////////////////////////////////
void RenderWidget::OnUpdateScene(const ignition::msgs::Model_V& _msg) { emit this->NewDraw(_msg); }
Expand Down
8 changes: 5 additions & 3 deletions delphyne_gui/visualizer/render_widget.hh
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Expand Up @@ -131,9 +131,11 @@ class RenderWidget : public ignition::gui::Plugin {
void ShowContextMenu(const QPoint& _pos);

private:
/// \brief Set the initial scene
/// \param[in] request The scene to be loaded
void OnSetScene(const ignition::msgs::Scene& request);
/// \brief Set the initial scene if the result flag indicates that the service
/// call was successful
/// \param[in] reply The scene to be loaded
/// \param[in] result True if the scene request was successful, false otherwise
void OnSetScene(const ignition::msgs::Scene& reply, const bool result);

/// \brief Internal method to create the render window the first time
/// RenderWidget::showEvent is called.
Expand Down