MultiTopicSource

Declared in multitopic.js

This class creates a multi-topic data source used by composite panel widgets. It also adds its UI to the panel menu and handles user interactions.

Events

change

String[] topics

Trigerred on topics change

Methods

constructor( CompositePanelWidgetBase widget )
add( String msg_type, String label, String|null default_topic, Number max_num, Callback cb_data, Callback cb_removed )	Add slots for max_num topics (-1=unlimited) of type msg_type
getSources() : String[]	Returns all currently selected topics
hasType( String msg_type ) : Bool	Returns true if at least one topic of msg_type is selected
hasSources() : Bool	Returns true if any source topics are selected
loadAssignedTopicsFromPanelVars()	Loads selected topics from widget’s panel vars, call after adding sources (saving handled internally)
off( String event, Callback callback )	Unregister event handler
on( String event, Callback callback )	Register event handler, see Events above
topicSubscribed( String topic ) : Bool	Returns true if the topic is selected

Example

multitopic-example.js

export class SomeWidget extends CompositePanelWidgetBase {

     constructor (panel, widget_css_class) {

         // ...

         this.sources = new MultiTopicSource(this);

         this.sources.on("change", (topics) => this.onSourcesChange(topics));

         this.sources.add(
             "tf2_msgs/msg/TFMessage",
             "Static transforms source",
             "/tf_static", // default topic
             2, // max 2 of this type
             (topic, tf) => {
                 that.onTFData(topic, msg); // onData
             },
              (topic) => {
                 // onSourceRemoved
             }
         );
         this.sources.add(
             "std_msgs/msg/BoolMessage",
             "Bool source",
             null, // no default topic
             -1, // no limit
             (topic, tf) => {
                 that.onBoolData(topic, msg); // onData
             },
             (topic) => {
                 // onSourceRemoved
             }
         );

         this.sources.loadAssignedTopicsFromPanelVars();  // call when all sources are added

         this.onSourcesChange(this.sources.getSources());

         // ...
     }

     onSourcesChange(source_topics) {
         console.log('Panel sources changed: ', source_topics);
     }

     setupMenu(menu_els) { // CompositePanelWidgetBase does this in setupMenu()
         this.sources.setupMenu(menu_els); // adds its ui to the panel menu
     }

     onTFData(topic, msg) {
         console.log('Got TF data from ' + topic + ': ', msg);
     }

      onBoolData(topic, msg) {
         console.log('Got Bool data from ' + topic + ': ', msg);
     }

     onClose() { // CompositePanelWidgetBase does this in onClose()
         this.sources.close(); // cleanup
     }
}