#!/usr/bin/env python

import sys
try:
	#PyGtk library import
 	import pygtk
  	pygtk.require("3.0")
except:
  	pass
try:
	import gtk
  	import gtk.glade
except:
	sys.exit(1)
#ROS related initializations
import roslib; roslib.load_manifest('ros_glade')
import rospy
import os
from std_msgs.msg import String
class HellowWorldGTK:
	def __init__(self):
		#Set the path to Glade file, in the ros_glade ROS package
		str=roslib.packages.get_pkg_dir('ros_glade')+"/nodes/ROS_Button.glade"
		self.gladefile = str 
		#Initiate the Builder and point it to the glade file
		self.builder = gtk.Builder()
		self.builder.add_from_file(self.gladefile)
		#Connect event functions
		self.builder.connect_signals(self)
		self.pub = rospy.Publisher('chatter', String)
	    	rospy.init_node('talker')
	def SendButton_cliked(self, widget):
		#Simple button cliked event
		self.talker() #Calls talker function which sends a ROS message
        	print "You clicked the button"
	def talker(self):
	    	#ROS message hello world
	    if not rospy.is_shutdown():
		str = "hello world %s"%rospy.get_time()
		rospy.loginfo(str)
		self.pub.publish(String(str))
	def Timer1_timeout(self):
		#Timer functions that sends ROS messages every second
		self.talker()
		return 1
	def MainWindow_destroy(self,widget):
		#MainWindow_destroy event
		sys.exit(0)
if __name__ == "__main__":
	#start the class
	hwg = HellowWorldGTK()
	gtk.timeout_add(1000, hwg.Timer1_timeout) #Adds a timer to the GUI, with hwg.Timer1_timeout as a 
	#callback function for the timer1
	gtk.main()#Starts GTK