From df80fbfcb867d25630dc1d9db30363102fb11b64 Mon Sep 17 00:00:00 2001 From: Louis-Guillaume DUBOIS Date: Sat, 2 May 2015 15:37:58 +0200 Subject: [PATCH] on progress --- src/display.cpp | 74 +++++++++++++++++++++++++++++--------------- src/display.h | 24 ++++++++------ src/keyboard_cmd.cpp | 52 ++++++++++++++++++------------- 3 files changed, 94 insertions(+), 56 deletions(-) diff --git a/src/display.cpp b/src/display.cpp index dab99c8..7c96091 100644 --- a/src/display.cpp +++ b/src/display.cpp @@ -1,46 +1,70 @@ #include +#include #include "display.h" -const int Curses::kbd_lines = 12; -const int Curses::kbd_columns = 50; -const int Curses::speed_lines = 4; -const int Curses::speed_columns = 50; +const int Curses::cmd_kbd_lines = 12; +const int Curses::cmd_kbd_columns = 50; +const int Curses::cmd_speed_lines = 4; +const int Curses::cmd_speed_columns = 50; Curses::Curses() { initscr(); cbreak(); //noecho(); - kbd = newwin(kbd_lines, kbd_columns, 0, 0); - speed = newwin(speed_lines, speed_columns, kbd_lines+1, 0); - get = newwin(1,1,kbd_lines+speed_lines+1,2); - print_kbd(); + cmd_kbd = newwin(cmd_kbd_lines, cmd_kbd_columns, 0, 0); + cmd_speed = newwin(cmd_speed_lines, + cmd_speed_columns, cmd_kbd_lines+1, 0); + get = newwin(1,1,cmd_kbd_lines + cmd_speed_lines + 1,2); + //log_sent_w = newwin(/// + //nav_data = newwin(// + print_cmd_kbd(); + print_cmd_speed(); wmove(get, 0, 0); wrefresh(get); } Curses::~Curses() { - delwin(kbd); - delwin(speed); + delwin(cmd_kbd); + delwin(cmd_speed); + delwin(log_sent_w); + delwin(nav_data); delwin(get); endwin(); } -char Curses::getchar() -{ +char Curses::getchar() { return wgetch(get); } -void Curses::print_kbd() { - wmove(kbd, 0, 0); waddstr(kbd, " ---------------------"); - wmove(kbd, 1, 0); waddstr(kbd, "takeoff>| t|⇑ y|↖ u|↑ i|↗ o|"); - wmove(kbd, 2, 0); waddstr(kbd, " |---|---|---|---|---|----"); - wmove(kbd, 3, 0); waddstr(kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|"); - wmove(kbd, 4, 0); waddstr(kbd, " |---|---|---|---|---|----"); - wmove(kbd, 5, 0); waddstr(kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|"); - wmove(kbd, 6, 0); waddstr(kbd, " ---------------------"); - wmove(kbd, 8, 0); waddstr(kbd, "a/w : increase/decrease linear `x` speeds by 10%"); - wmove(kbd, 9, 0); waddstr(kbd, "z/x : increase/decrease linear `y` speed by 10%"); - wmove(kbd, 10, 0); waddstr(kbd, "e/c : increase/decrease linear `z` speed by 10%"); - wmove(kbd, 11, 0); waddstr(kbd, "r/v : increase/decrease rotation speed by 10%"); - wrefresh(kbd); +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%"); + wrefresh(cmd_kbd); +} + +void Curses::print_cmd_speed() { + +} + +void Curses::update_cmd_speed(const char& coord, const float& v) { + +} + +void Curses::log_sent(const std::string& str) { + +} + +void Curses::update_navdata(const float& batteryPercent, + const int& state, + const float& time) { + } diff --git a/src/display.h b/src/display.h index 5e6edd7..367f10f 100644 --- a/src/display.h +++ b/src/display.h @@ -2,17 +2,19 @@ #define CURSES_DISPLAY #include +#include class Curses { private: - static const int kbd_lines; - static const int kbd_columns; - WINDOW* kbd; - static const int speed_lines; - static const int speed_columns; - WINDOW* speed; - void print_kbd(); + static const int cmd_kbd_lines; + static const int cmd_kbd_columns; + WINDOW* cmd_kbd; + static const int cmd_speed_lines; + static const int cmd_speed_columns; + WINDOW* cmd_speed; + void print_cmd_kbd(); + void print_cmd_speed(); WINDOW* get; // TODO (avec scroll) @@ -25,9 +27,11 @@ class Curses char getchar(); // TODO - void update_speed(const char&, const float&); - // void update_navdata(... - void log_sent(char*); + void update_cmd_speed(const char& coord, const float& v); + void update_navdata(const float& batteryPercent, + const int& state, + const float& time); + void log_sent(const std::string& str); }; #endif diff --git a/src/keyboard_cmd.cpp b/src/keyboard_cmd.cpp index a523d33..f151fff 100644 --- a/src/keyboard_cmd.cpp +++ b/src/keyboard_cmd.cpp @@ -6,6 +6,21 @@ #include #include +#include + +class Callback +{ + private: + boost::shared_ptr term; + + public: + Callback(const boost::shared_ptr& terminal) : + term(terminal) {} + + void operator()(const ardrone_autonomy::Navdata::ConstPtr msg) { + term->update_navdata(msg->batteryPercent, msg->state, msg->tm); + } +}; // class Callback class Run { @@ -14,17 +29,17 @@ class Run ros::NodeHandle n; ros::Rate loop_rate; ros::Publisher cmd, pub_takeoff, pub_land, pub_reset; - void land() - { pub_land.publish(empty); }; - void takeoff() - { pub_takeoff.publish(empty); }; - void reset() - { pub_reset.publish(empty); }; + ros::Subscriber data_subscriber; + void land() { pub_land.publish(empty); }; + void takeoff() { pub_takeoff.publish(empty); }; + void reset() { pub_reset.publish(empty); }; float x_speed, y_speed, z_speed, turn; boost::shared_ptr term; + Callback data_callback; public: - Run(boost::shared_ptr terminal) : + Run(const boost::shared_ptr& terminal) : + data_callback(terminal), term(terminal), loop_rate(30), x_speed(0.2), @@ -35,6 +50,7 @@ class Run pub_takeoff = n.advertise("/ardrone/takeoff", 1); pub_land = n.advertise("/ardrone/land", 1); pub_reset = n.advertise("/ardrone/reset", 1); + data_subscriber = n.subscribe("/ardrone/navdata", 1, data_callback); } void operator()() @@ -166,49 +182,49 @@ class Run case 'a' : {// + x_speed x_speed *= 1.1; - term->update_speed('x', x_speed); + term->update_cmd_speed('x', x_speed); break; } case 'w' : {// - x_speed x_speed *= 0.9; - term->update_speed('x', x_speed); + term->update_cmd_speed('x', x_speed); break; } case 'z' : {// + y_speed y_speed *= 1.1; - term->update_speed('y', y_speed); + term->update_cmd_speed('y', y_speed); break; } case 'x' : {// - y_speed y_speed *= 0.9; - term->update_speed('y', y_speed); + term->update_cmd_speed('y', y_speed); break; } case 'e' : {// + z_speed z_speed *= 1.1; - term->update_speed('z', z_speed); + term->update_cmd_speed('z', z_speed); break; } case 'c' : {// - z_speed z_speed *= 0.9; - term->update_speed('z', z_speed); + term->update_cmd_speed('z', z_speed); break; } case 'r' : {// + turn speed turn *= 1.1; - term->update_speed('t', turn); + term->update_cmd_speed('t', turn); break; } case 'v' : {// - turn speed turn *= 0.9; - term->update_speed('t', turn); + term->update_cmd_speed('t', turn); break; } default : @@ -220,12 +236,6 @@ class Run }; // 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, "");