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adds nav_date displayer to keyboard_cmd

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Louis-Guillaume DUBOIS 2015-05-02 21:18:47 +02:00
parent 4c4d3b11aa
commit bd757b23ea
3 changed files with 61 additions and 12 deletions
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64
src/display.cpp
View file

@ -2,7 +2,7 @@
#include <string> #include <string>
#include "display.h" #include "display.h"
const int Curses::cmd_kbd_lines = 7; const int Curses::cmd_kbd_lines = 8;
const int Curses::cmd_kbd_columns = 55; const int Curses::cmd_kbd_columns = 55;
const int Curses::cmd_speed_lines = 4; const int Curses::cmd_speed_lines = 4;
@ -39,12 +39,15 @@ Curses::Curses() {
1, cmd_kbd_columns + 1); 1, cmd_kbd_columns + 1);
log_line_number = log_sent_w_lines - 2; log_line_number = log_sent_w_lines - 2;
wattron(log_sent_w, A_BOLD); wattron(log_sent_w, A_BOLD);
init_pair(1, COLOR_RED, COLOR_BLACK); init_pair(1, COLOR_GREEN, COLOR_BLACK);
wattron(log_sent_w, COLOR_PAIR(1)); wattron(log_sent_w, COLOR_PAIR(1));
scrollok(log_sent_w, TRUE); scrollok(log_sent_w, TRUE);
nav_data = newwin(nav_data_lines, nav_data_columns, nav_data = newwin(nav_data_lines, nav_data_columns,
cmd_kbd_lines + get_lines + cmd_speed_lines + 1, 0); cmd_kbd_lines + get_lines + cmd_speed_lines + 1, 0);
init_pair(2, COLOR_RED, COLOR_BLACK);
wattron(nav_data, COLOR_PAIR(2));
wattron(nav_data, A_BOLD);
print_nav_data(); print_nav_data();
print_cmd_kbd(); print_cmd_kbd();
@ -70,13 +73,14 @@ char Curses::getchar() {
void Curses::print_cmd_kbd() { void Curses::print_cmd_kbd() {
wmove(cmd_kbd, 0, 0); wmove(cmd_kbd, 0, 0);
waddstr(cmd_kbd, " ---------------------\n"); waddstr(cmd_kbd, " ---------------------\n");
waddstr(cmd_kbd, "takeoff>| t|⇑ y|↖ u|↑ i|↗ o|\n"); waddstr(cmd_kbd, " takeoff>| t|⇑ y|↖ u|↑ i|↗ o|\n");
waddstr(cmd_kbd, " |---|---|---|---|---|----\n"); waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
waddstr(cmd_kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|\n"); waddstr(cmd_kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|\n");
waddstr(cmd_kbd, " |---|---|---|---|---|----\n"); waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
waddstr(cmd_kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|\n"); waddstr(cmd_kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|\n");
waddstr(cmd_kbd, " ---------------------\n"); waddstr(cmd_kbd, " ---------------------\n");
waddstr(cmd_kbd, " Press ctrl + C to quit");
wrefresh(cmd_kbd); wrefresh(cmd_kbd);
} }
@ -126,7 +130,47 @@ void Curses::print_nav_data() {
wrefresh(nav_data); wrefresh(nav_data);
} }
void Curses::update_navdata(const float& batteryPercent, void Curses::update_nav_data(const float& batteryPercent,
const int& state, const int& state,
const float& time) { const float& time) {
wmove(nav_data, 0, 10);
wprintw(nav_data, "%f %", batteryPercent);
wmove(nav_data, 2, 10);
wprintw(nav_data, "%f %", time);
wmove(nav_data, 1, 10);
switch(state) {
case 0:
waddstr(nav_data, "unknown ");
break;
case 1:
waddstr(nav_data, "inited ");
break;
case 2:
waddstr(nav_data, "landed ");
break;
case 3:
waddstr(nav_data, "flying ");
break;
case 4:
waddstr(nav_data, "hovering ");
break;
case 5:
waddstr(nav_data, "test ");
break;
case 6:
waddstr(nav_data, "taking off ");
break;
case 7:
waddstr(nav_data, "flying ");
break;
case 8:
waddstr(nav_data, "landing ");
break;
case 9:
waddstr(nav_data, "looping ");
break;
default:
;
}
wrefresh(nav_data);
} }

2
src/display.h
View file

@ -39,7 +39,7 @@ class Curses
// TODO // TODO
void update_cmd_speed(const char& coord, const float& v); void update_cmd_speed(const char& coord, const float& v);
void update_navdata(const float& batteryPercent, void update_nav_data(const float& batteryPercent,
const int& state, const int& state,
const float& time); const float& time);
void log_sent(const std::string& str); void log_sent(const std::string& str);

7
src/keyboard_cmd.cpp
View file

@ -18,7 +18,7 @@ class Callback
term(terminal) {} term(terminal) {}
void operator()(const ardrone_autonomy::Navdata::ConstPtr& msg) { void operator()(const ardrone_autonomy::Navdata::ConstPtr& msg) {
term->update_navdata(msg->batteryPercent, msg->state, msg->tm); term->update_nav_data(msg->batteryPercent, msg->state, msg->tm);
} }
}; // class Callback }; // class Callback
@ -56,6 +56,11 @@ class Run
term->update_cmd_speed('y', y_speed); term->update_cmd_speed('y', y_speed);
term->update_cmd_speed('z', z_speed); term->update_cmd_speed('z', z_speed);
term->update_cmd_speed('t', turn); term->update_cmd_speed('t', turn);
float a(0);
int s(0);
float time(0);
term->update_nav_data(a, s, time);
} }
void operator()() void operator()()