#include "./include/mainwindow.h"

std::shared_ptr<rclcpp::Node> node = nullptr;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
//=========================================================================
MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent)
 //   ui(new Ui::MainWindow)
{
    QWidget *zoneCentrale = new QWidget;
    setCentralWidget(zoneCentrale);
//---------------------------------------------------------------------
    m_bout_publish = new QPushButton("publish");
//---------------------------------------------------------------------
    m_layout = new QGridLayout();
    m_layout->addWidget(m_bout_publish,0,0);

    zoneCentrale->setLayout(m_layout);
//---------------------------------------------------------------------
    timer_chrono = new QTimer();
//---------------------------------------------------------------------
     connect( timer_chrono, SIGNAL(timeout()), this, SLOT(onTimer_Tick()));
    connect( m_bout_publish, SIGNAL(clicked()), this, SLOT(onButton_Publish()));

    node = std::make_shared<rclcpp::Node>("qt_cpp_node");
    publisher_ = node->create_publisher<std_msgs::msg::String>("qt_cpp_topic_send", 10);


    subscriber_ = node->create_subscription<std_msgs::msg::String>(
          "qt_cpp_topic_rec", 10,std::bind(&MainWindow::topic_callback, this, std::placeholders::_1));
     timer_chrono -> start(5); // 5 ms

}
//=========================================================================
void MainWindow::topic_callback(const std_msgs::msg::String::SharedPtr msg)
{
  RCLCPP_INFO(node->get_logger(), "I heard: '%s'", msg->data.c_str());
}
//=========================================================================
void MainWindow::onTimer_Tick()
{
    rclcpp::spin_some(node);
}
//=========================================================================
void MainWindow::onButton_Publish()
{
     static int count_(0);
    auto message = std_msgs::msg::String();
    message.data = "Hello, world! " + std::to_string(count_++);
    RCLCPP_INFO(node->get_logger(), "Publishing: '%s'", message.data.c_str());
    publisher_->publish(message);
}
//=========================================================================
MainWindow::~MainWindow()
{
    //delete ui;
}
//=========================================================================