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keyboard_cmd displays cmd speeds

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-02 20:52:46 +02:00
parent 743c4fafd0
commit 4c4d3b11aa
3 changed files with 55 additions and 21 deletions
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69
src/display.cpp
View file

@ -2,17 +2,17 @@
#include <string>
#include "display.h"
const int Curses::cmd_kbd_lines = 12;
const int Curses::cmd_kbd_columns = 50;
const int Curses::cmd_kbd_lines = 7;
const int Curses::cmd_kbd_columns = 55;
const int Curses::cmd_speed_lines = 4;
const int Curses::cmd_speed_columns = 50;
const int Curses::cmd_speed_columns = 55;
const int Curses::get_lines = 1;
const int Curses::get_columns = 1;
const int Curses::nav_data_lines = 5;
const int Curses::nav_data_columns = 40;
const int Curses::nav_data_lines = 3;
const int Curses::nav_data_columns = 55;
const int Curses::log_sent_w_lines = 12;
const int Curses::log_sent_w_columns = 40;
@ -44,8 +44,9 @@ Curses::Curses() {
scrollok(log_sent_w, TRUE);
nav_data = newwin(nav_data_lines, nav_data_columns,
log_sent_w_lines + 1, cmd_kbd_columns + 1);
cmd_kbd_lines + get_lines + cmd_speed_lines + 1, 0);
print_nav_data();
print_cmd_kbd();
print_cmd_speed();
@ -68,26 +69,48 @@ char Curses::getchar() {
}
void Curses::print_cmd_kbd() {
wmove(cmd_kbd, 0, 0); waddstr(cmd_kbd, " ---------------------");
wmove(cmd_kbd, 1, 0); waddstr(cmd_kbd, "takeoff>| t|⇑ y|↖ u|↑ i|↗ o|");
wmove(cmd_kbd, 2, 0); waddstr(cmd_kbd, " |---|---|---|---|---|----");
wmove(cmd_kbd, 3, 0); waddstr(cmd_kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|");
wmove(cmd_kbd, 4, 0); waddstr(cmd_kbd, " |---|---|---|---|---|----");
wmove(cmd_kbd, 5, 0); waddstr(cmd_kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|");
wmove(cmd_kbd, 6, 0); waddstr(cmd_kbd, " ---------------------");
wmove(cmd_kbd, 8, 0); waddstr(cmd_kbd, "a/w : increase/decrease linear `x` speeds by 10%");
wmove(cmd_kbd, 9, 0); waddstr(cmd_kbd, "z/x : increase/decrease linear `y` speed by 10%");
wmove(cmd_kbd, 10, 0); waddstr(cmd_kbd, "e/c : increase/decrease linear `z` speed by 10%");
wmove(cmd_kbd, 11, 0); waddstr(cmd_kbd, "r/v : increase/decrease rotation speed by 10%");
wmove(cmd_kbd, 0, 0);
waddstr(cmd_kbd, " ---------------------\n");
waddstr(cmd_kbd, "takeoff>| t|⇑ y|↖ u|↑ i|↗ o|\n");
waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
waddstr(cmd_kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|\n");
waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
waddstr(cmd_kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|\n");
waddstr(cmd_kbd, " ---------------------\n");
wrefresh(cmd_kbd);
}
void Curses::print_cmd_speed() {
wmove(cmd_speed, 0, 0);
waddstr(cmd_speed, " `x` cmd speed : (a/w : increase/decrease)\n");
waddstr(cmd_speed, " `y` cmd speed : (z/x : increase/decrease)\n");
waddstr(cmd_speed, " `z` cmd speed : (e/c : increase/decrease)\n");
waddstr(cmd_speed, "rotation speed : (r/v : increase/decrease)\n");
wrefresh(cmd_speed);
}
void Curses::update_cmd_speed(const char& coord, const float& v) {
switch(coord) {
case 'x':
wmove(cmd_speed, 0, 16);
wprintw(cmd_speed, "%f", v);
break;
case 'y':
wmove(cmd_speed, 1, 16);
wprintw(cmd_speed, "%f", v);
break;
case 'z':
wmove(cmd_speed, 2, 16);
wprintw(cmd_speed, "%f", v);
break;
case 't':
wmove(cmd_speed, 3, 16);
wprintw(cmd_speed, "%f", v);
break;
default:
;
}
wrefresh(cmd_speed);
}
void Curses::log_sent(const std::string& str) {
@ -96,8 +119,14 @@ void Curses::log_sent(const std::string& str) {
wrefresh(log_sent_w);
}
void Curses::print_nav_data() {
wmove(nav_data, 0, 0);
waddstr(nav_data, "Battery :\n State :\n Time :");
wrefresh(nav_data);
}
void Curses::update_navdata(const float& batteryPercent,
const int& state,
const float& time) {
}

1
src/display.h
View file

@ -30,6 +30,7 @@ class Curses
static const int nav_data_lines;
static const int nav_data_columns;
WINDOW* nav_data;
void print_nav_data();
public:
Curses();

6
src/keyboard_cmd.cpp
View file

@ -51,6 +51,11 @@ class Run
pub_land = n.advertise<std_msgs::Empty>("/ardrone/land", 1);
pub_reset = n.advertise<std_msgs::Empty>("/ardrone/reset", 1);
data_subscriber = n.subscribe<ardrone_autonomy::Navdata>("/ardrone/navdata", 1, data_callback);
term->update_cmd_speed('x', x_speed);
term->update_cmd_speed('y', y_speed);
term->update_cmd_speed('z', z_speed);
term->update_cmd_speed('t', turn);
}
void operator()()
@ -232,7 +237,6 @@ class Run
cmd.publish(msg);
term->log_sent("hover !");
}
break;
} // switch(c)
loop_rate.sleep();
} // while