adds nav_date displayer to keyboard_cmd
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parent
4c4d3b11aa
commit
bd757b23ea
3 changed files with 61 additions and 12 deletions
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@ -2,7 +2,7 @@
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#include <string>
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#include "display.h"
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const int Curses::cmd_kbd_lines = 7;
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const int Curses::cmd_kbd_lines = 8;
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const int Curses::cmd_kbd_columns = 55;
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const int Curses::cmd_speed_lines = 4;
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@ -39,12 +39,15 @@ Curses::Curses() {
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1, cmd_kbd_columns + 1);
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log_line_number = log_sent_w_lines - 2;
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wattron(log_sent_w, A_BOLD);
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init_pair(1, COLOR_RED, COLOR_BLACK);
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init_pair(1, COLOR_GREEN, COLOR_BLACK);
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wattron(log_sent_w, COLOR_PAIR(1));
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scrollok(log_sent_w, TRUE);
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nav_data = newwin(nav_data_lines, nav_data_columns,
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cmd_kbd_lines + get_lines + cmd_speed_lines + 1, 0);
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init_pair(2, COLOR_RED, COLOR_BLACK);
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wattron(nav_data, COLOR_PAIR(2));
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wattron(nav_data, A_BOLD);
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print_nav_data();
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print_cmd_kbd();
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@ -70,13 +73,14 @@ char Curses::getchar() {
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void Curses::print_cmd_kbd() {
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wmove(cmd_kbd, 0, 0);
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waddstr(cmd_kbd, " ---------------------\n");
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waddstr(cmd_kbd, "takeoff>| t|⇑ y|↖ u|↑ i|↗ o|\n");
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waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
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waddstr(cmd_kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|\n");
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waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
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waddstr(cmd_kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|\n");
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waddstr(cmd_kbd, " ---------------------\n");
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waddstr(cmd_kbd, " ---------------------\n");
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waddstr(cmd_kbd, " takeoff>| t|⇑ y|↖ u|↑ i|↗ o|\n");
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waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
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waddstr(cmd_kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|\n");
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waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
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waddstr(cmd_kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|\n");
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waddstr(cmd_kbd, " ---------------------\n");
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waddstr(cmd_kbd, " Press ctrl + C to quit");
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wrefresh(cmd_kbd);
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}
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@ -126,7 +130,47 @@ void Curses::print_nav_data() {
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wrefresh(nav_data);
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}
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void Curses::update_navdata(const float& batteryPercent,
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void Curses::update_nav_data(const float& batteryPercent,
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const int& state,
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const float& time) {
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wmove(nav_data, 0, 10);
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wprintw(nav_data, "%f %", batteryPercent);
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wmove(nav_data, 2, 10);
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wprintw(nav_data, "%f %", time);
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wmove(nav_data, 1, 10);
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switch(state) {
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case 0:
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waddstr(nav_data, "unknown ");
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break;
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case 1:
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waddstr(nav_data, "inited ");
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break;
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case 2:
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waddstr(nav_data, "landed ");
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break;
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case 3:
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waddstr(nav_data, "flying ");
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break;
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case 4:
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waddstr(nav_data, "hovering ");
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break;
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case 5:
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waddstr(nav_data, "test ");
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break;
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case 6:
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waddstr(nav_data, "taking off ");
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break;
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case 7:
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waddstr(nav_data, "flying ");
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break;
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case 8:
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waddstr(nav_data, "landing ");
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break;
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case 9:
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waddstr(nav_data, "looping ");
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break;
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default:
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;
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}
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wrefresh(nav_data);
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}
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@ -39,7 +39,7 @@ class Curses
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// TODO
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void update_cmd_speed(const char& coord, const float& v);
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void update_navdata(const float& batteryPercent,
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void update_nav_data(const float& batteryPercent,
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const int& state,
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const float& time);
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void log_sent(const std::string& str);
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@ -18,7 +18,7 @@ class Callback
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term(terminal) {}
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void operator()(const ardrone_autonomy::Navdata::ConstPtr& msg) {
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term->update_navdata(msg->batteryPercent, msg->state, msg->tm);
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term->update_nav_data(msg->batteryPercent, msg->state, msg->tm);
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}
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}; // class Callback
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@ -56,6 +56,11 @@ class Run
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term->update_cmd_speed('y', y_speed);
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term->update_cmd_speed('z', z_speed);
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term->update_cmd_speed('t', turn);
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float a(0);
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int s(0);
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float time(0);
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term->update_nav_data(a, s, time);
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}
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void operator()()
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