QTimer定时器的使用,判断ros是否关闭,ros关闭后关闭窗口

     QTimer定时器的使用,判断ros是否关闭,ros关闭后关闭窗口

c++ 

#include <QApplication>
#include <ros/ros.h>
#include <QTimer>
using namespace std;

class MainWindow{
private:

    QTimer timer;

public:
    MainWindow(){
   //定时器
    timer.setInterval(10);
    timer.start();
    //定时信号
    connect(&timer,&QTimer::timeout,this,&MainWindow::timeout);
   //QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerSlot()));

}

    ~MainWindow(){
}

    //定时的槽函数 判断ros是否关闭,ros关闭后关闭窗口
    void timeout(){
      //处理消息
     if(ros::isShuttingDown()){
        QApplication::quit();
    }
   }
};

 python

#!/usr/bin/env python
# coding:utf-8
import rospy
from actionlib import SimpleActionServer
from demo_actions.msg import CountNumberAction,CountNumberFeedback,CountNumberResult
from PyQt5.QtWidgets import *
from PyQt5.QtCore import QTimer


class MainWindow(QWidget):
    def __init__(self):
        super(MainWindow, self).__init__()
        self.timer = QTimer(self)
        self.timer.setInterval(100)
        self.timer.timeout.connect(self.timeout)
        self.timer.start()

    def timeout(self):
 #定时的槽函数 判断ros是否关闭,ros关闭后关闭窗口
        if rospy.is_shutdown():
            QApplication.quit()