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keyboard_cmd on progress

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-02 00:40:28 +02:00
parent f09c762cb2
commit 6eac98cab3
2 changed files with 48 additions and 22 deletions
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14
src/display.h
View file

@ -1,5 +1,5 @@
#ifndef CURSES_TEST
#define CURSES_TEST
#ifndef CURSES_DISPLAY
#define CURSES_DISPLAY
#include <ncurses.h>
@ -9,17 +9,25 @@ class Curses
static const int kbd_lines;
static const int kbd_columns;
WINDOW* kbd;
static const char** kbd_descr;
static const int speed_lines;
static const int speed_columns;
WINDOW* speed;
void print_kbd();
WINDOW* get;
// TODO (avec scroll)
WINDOW* log_sent_w;
WINDOW* nav_data;
public:
Curses();
~Curses();
char getchar();
// TODO
void update_speed(const char&, const float&);
// void update_navdata(...
void log_sent(char*);
};
#endif

56
src/keyboard_cmd.cpp
View file

@ -1,8 +1,3 @@
#include <termios.h>
#include <iostream>
#include <map>
#include <vector>
#include <string>
#include <ros/ros.h>
#include <ros/time.h>
#include <locale.h>
@ -27,7 +22,6 @@ class Run
{ pub_reset.publish(empty); };
float x_speed, y_speed, z_speed, turn;
boost::shared_ptr<Curses> term;
void print_speed() { ; };
public:
Run(boost::shared_ptr<Curses> terminal) :
@ -47,6 +41,8 @@ class Run
{
while (ros::ok())
{
ros::spinOnce();
geometry_msgs::Twist::Ptr msg(new geometry_msgs::Twist());
msg->linear.x = msg->linear.y = msg->linear.z =
msg->angular.x = msg->angular.y = msg->angular.z = 0.;
@ -58,42 +54,49 @@ class Run
case 'k' :
{// hover
cmd.publish(msg);
term->log_sent("hover !");
break;
}
case 'i' :
{// forward
msg->linear.x = x_speed;
cmd.publish(msg);
term->log_sent("forward !");
break;
}
case ';' :
{// backward
msg->linear.x = -x_speed;
cmd.publish(msg);
term->log_sent("backward !");
break;
}
case 'h' :
{//translate left
msg->linear.y = -y_speed;
cmd.publish(msg);
term->log_sent("translate left !");
break;
}
case 'm' :
{//translate right
msg->linear.y = y_speed;
cmd.publish(msg);
term->log_sent("translate right !");
break;
}
case 'j' :
{//rotate left
msg->angular.z = turn;
cmd.publish(msg);
term->log_sent("rotate left !");
break;
}
case 'l' :
{//rotate right
msg->angular.z = -turn;
cmd.publish(msg);
term->log_sent("rotate right !");
break;
}
case 'u' :
@ -101,6 +104,7 @@ class Run
msg->angular.z = turn;
msg->linear.x = x_speed;
cmd.publish(msg);
term->log_sent("forward left !");
break;
}
case 'o' :
@ -108,6 +112,7 @@ class Run
msg->angular.z = -turn;
msg->linear.x = x_speed;
cmd.publish(msg);
term->log_sent("forward right !");
break;
}
case ',' :
@ -115,6 +120,7 @@ class Run
msg->angular.z = turn;
msg->linear.x = -x_speed;
cmd.publish(msg);
term->log_sent("backward left !");
break;
}
case ':' :
@ -122,100 +128,112 @@ class Run
msg->angular.z = -turn;
msg->linear.x = -x_speed;
cmd.publish(msg);
term->log_sent("backward right !");
break;
}
case 'y' :
{//up
msg->linear.z = z_speed;
cmd.publish(msg);
term->log_sent("up !");
break;
}
case 'n' :
{//down
msg->linear.z = -z_speed;
cmd.publish(msg);
term->log_sent("down !");
break;
}
case 't' :
{//takeoff
takeoff();
term->log_sent("takeoff !");
break;
}
case 'b' :
{//land
land();
term->log_sent("land !");
break;
}
case 'g' :
{//reset
reset();
term->log_sent("reset !");
break;
}
case 'a' :
{// + x_speed
x_speed *= 1.1;
print_speed();
term->update_speed('x', x_speed);
break;
}
case 'w' :
{// - x_speed
x_speed *= 0.9;
print_speed();
term->update_speed('x', x_speed);
break;
}
case 'z' :
{// + y_speed
y_speed *= 1.1;
print_speed();
term->update_speed('y', y_speed);
break;
}
case 'x' :
{// - y_speed
y_speed *= 0.9;
print_speed();
term->update_speed('y', y_speed);
break;
}
case 'e' :
{// + z_speed
z_speed *= 1.1;
print_speed();
term->update_speed('z', z_speed);
break;
}
case 'c' :
{// - z_speed
z_speed *= 0.9;
print_speed();
term->update_speed('z', z_speed);
break;
}
case 'r' :
{// + turn speed
turn *= 1.1;
print_speed();
term->update_speed('t', turn);
break;
}
case 'v' :
{// - turn speed
turn *= 0.9;
print_speed();
term->update_speed('t', turn);
break;
}
default :
break;
} // switch
ros::spinOnce();
} // switch(c)
loop_rate.sleep();
} // while
} // run
} //void run()
}; // class
}; // class Run
class Callback
{
//TODO
// receives nav_data and display them in the term
}; // class Callback
int main(int argc, char** argv)
{
setlocale(LC_ALL, "");
ros::init(argc, argv, "keyboard_cmd");
//ros::Subscriber ... (navdata)
boost::shared_ptr<Curses> term(new Curses());
Run fun(term);
fun();
return 0;
}
} // main