Fixed build under melodic which uses a Qt version that does not suppo…

…rt functors yet for QMetaObject::invokeMethod.
StefanFabian · Mar 26, 2021 · 4c91238 · 4c91238
1 parent b475332
commit 4c91238
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Showing 2 changed files with 11 additions and 6 deletions.
diff --git a/include/qml_ros_plugin/image_transport_manager.h b/include/qml_ros_plugin/image_transport_manager.h
@@ -31,7 +31,7 @@ class ImageTransportManager
   ImageTransportManager();
 
   struct SubscriptionManager;
-  struct Subscription;
+  class Subscription;
 public:
 
   static ImageTransportManager &getInstance();

diff --git a/src/image_transport_manager.cpp b/src/image_transport_manager.cpp
@@ -6,6 +6,7 @@
 #include "qml_ros_plugin/image_buffer.h"
 
 #include <QTimer>
+#include <mutex>
 
 namespace qml_ros_plugin
 {
@@ -21,8 +22,10 @@ struct ImageTransportManager::SubscriptionManager
   std::unique_ptr<image_transport::ImageTransport> transport;
 };
 
-struct ImageTransportManager::Subscription : public QObject
+class ImageTransportManager::Subscription : public QObject
 {
+Q_OBJECT
+public:
   ImageTransportManager *manager = nullptr;
   std::shared_ptr<SubscriptionManager> subscription_manager;
   std::string topic;
@@ -60,7 +63,7 @@ struct ImageTransportManager::Subscription : public QObject
     }
   }
 
-  void restartTimer()
+  Q_INVOKABLE void restartTimer()
   {
     int interval = getThrottleInterval();
     int timeout = interval == 0 ? 0 : manager->getLoadBalancedTimeout( interval );
@@ -116,7 +119,7 @@ struct ImageTransportManager::Subscription : public QObject
     if ( interval != 0 && interval > camera_base_interval_ )
     {
       subscriber_.shutdown();
-      QMetaObject::invokeMethod( this, &Subscription::restartTimer, Qt::AutoConnection );
+      QMetaObject::invokeMethod( this, "restartTimer", Qt::AutoConnection );
       throttled_ = true;
     }
     QList<QVideoFrame::PixelFormat> formats;
@@ -143,10 +146,10 @@ struct ImageTransportManager::Subscription : public QObject
       last_buffer_ = buffer;
     }
     // Deliver frames on UI thread
-    QMetaObject::invokeMethod( this, &Subscription::imageDelivery, Qt::AutoConnection );
+    QMetaObject::invokeMethod( this, "imageDelivery", Qt::AutoConnection );
   }
 
-  void imageDelivery()
+  Q_INVOKABLE void imageDelivery()
   {
     ImageBuffer *buffer;
     sensor_msgs::ImageConstPtr image;
@@ -347,3 +350,5 @@ void ImageTransportManagerSingletonWrapper::setLoadBalancingEnabled( bool value
   ImageTransportManager::getInstance().setLoadBalancingEnabled( value );
 }
 }
+
+#include "image_transport_manager.moc"