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Initialize services in ViewAngle constructor #1943

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merged 2 commits into from
Mar 24, 2023
Merged

Initialize services in ViewAngle constructor #1943

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ddb237c
Initialize services in constructor.
caguero Mar 23, 2023
44bd40a
Tweak
caguero Mar 23, 2023
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27 changes: 7 additions & 20 deletions src/gui/plugins/view_angle/ViewAngle.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -57,19 +57,21 @@ namespace gz::sim
public: std::mutex mutex;

/// \brief View Control service name
public: std::string viewControlService;
public: std::string viewControlService = "/gui/camera/view_control";

/// \brief View Control reference visual service name
public: std::string viewControlRefVisualService;
public: std::string viewControlRefVisualService =
"/gui/camera/view_control/reference_visual";

/// \brief View Control sensitivity service name
public: std::string viewControlSensitivityService;
public: std::string viewControlSensitivityService =
"/gui/camera/view_control/sensitivity";

/// \brief Move gui camera to pose service name
public: std::string moveToPoseService;
public: std::string moveToPoseService = "/gui/move_to/pose";

/// \brief Move gui camera to model service name
public: std::string moveToModelService;
public: std::string moveToModelService = "/gui/move_to/model";

/// \brief New move to model message
public: bool newMoveToModel = false;
Expand Down Expand Up @@ -144,27 +146,12 @@ void ViewAngle::LoadConfig(const tinyxml2::XMLElement *)
if (this->title.empty())
this->title = "View Angle";

// view control requests
this->dataPtr->viewControlService = "/gui/camera/view_control";

// view control reference visual requests
this->dataPtr->viewControlRefVisualService =
"/gui/camera/view_control/reference_visual";

// view control sensitivity requests
this->dataPtr->viewControlSensitivityService =
"/gui/camera/view_control/sensitivity";

// Subscribe to camera pose
std::string topic = "/gui/camera/pose";
this->dataPtr->node.Subscribe(
topic, &ViewAngle::CamPoseCb, this);

// Move to pose service
this->dataPtr->moveToPoseService = "/gui/move_to/pose";

// Move to model service
this->dataPtr->moveToModelService = "/gui/move_to/model";
this->dataPtr->node.Advertise(this->dataPtr->moveToModelService,
&ViewAngle::OnMoveToModelService, this);
gzmsg << "Move to model service on ["
Expand Down