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Add ncurses interfaces to control.cpp

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This commit is contained in:
lhark 2016-06-16 02:20:49 +02:00
parent 284c115b1c
commit 3038c41036
3 changed files with 67 additions and 2 deletions
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4
CMakeLists.txt
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@ -9,6 +9,8 @@ find_package(catkin REQUIRED COMPONENTS
message_generation
)
find_package(OpenCV)
find_package( PkgConfig REQUIRED )
pkg_check_modules ( ncurses++ REQUIRED ncurses++ )
add_message_files(
FILES
@ -34,7 +36,7 @@ add_executable (papillon src/papillon.cpp)
add_executable (control src/control.cpp)
add_dependencies( papillon ${PROJECT_NAME}_generate_messages_cpp )
target_link_libraries(papillon ${catkin_LIBRARIES})
target_link_libraries(control ${catkin_LIBRARIES})
target_link_libraries(control ${catkin_LIBRARIES} ncurses)
set_property (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${OpenCV_INCLUDE_DIRS})
set_property (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${catkin_INCLUDE_DIRS})
set_property (TARGET papillon APPEND PROPERTY LINK_LIBRARIES ${OpenCV_LIBRARIES})

1
package.xml
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@ -46,6 +46,7 @@
<build_depend>image_transport</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>ncurses++</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>image_transport</run_depend>

64
src/control.cpp
View file

@ -1,6 +1,8 @@
#include "ros/ros.h"
#include <papillon/BoundingBox.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/Empty.h>
#include <ncurses.h>
#include <opencv/cv.h>
@ -12,7 +14,10 @@ class Drone_control {
public:
ros::NodeHandle n;
ros::Publisher pub_cmd;
ros::Publisher pub_takeoff;
ros::Publisher pub_land;
ros::Subscriber sub_box;
std_msgs::Empty nope;
float THRES_TURN = 0.1;
bool emergency = false;
@ -20,6 +25,8 @@ class Drone_control {
Drone_control() : n("~") {
pub_cmd = n.advertise<geometry_msgs::Twist>("/bebop/cmd_vel", 1);
pub_takeoff = n.advertise<std_msgs::Empty>("/bebop/takeoff", 1);
pub_land = n.advertise<std_msgs::Empty>("/bebop/land", 1);
sub_box = n.subscribe<papillon::BoundingBox>("/papillon/bbox", 1, &Drone_control::on_msg, this);
ROS_INFO("Built !");
}
@ -41,6 +48,61 @@ class Drone_control {
pub_cmd.publish(twist);
}
void key_spin() {
// >>>>> nCurses initization
initscr();
keypad(stdscr, TRUE);
cbreak();
noecho();
//timeout(mKeyTimeout);
// <<<<< nCurses initization
int c;
printw(" ------------------------\n");
printw("| Papillon HQ |\n");
printw(" ------------------------ \n");
printw("| Press F to take off. |\n");
printw("| Press SPACEBAR to land.|\n");
printw("| Press Q to exit. |\n");
printw(" ------------------------\n");
bool stop = false;
ros::Rate rate(1.0/30.0); // 30 Hz
while(!stop)
{
c = getch();
switch(c)
{
case 'f':
{
// Takeoff
ROS_DEBUG_STREAM("Taking off...\r");
pub_takeoff.publish(nope);
printw("Taking off...\r");
break;
}
case ' ':
{
// Takeoff
ROS_DEBUG_STREAM("Landing...\r");
pub_takeoff.publish(nope);
printw("Landing...\r");
break;
}
case 'q':
case 'Q':
{
ROS_DEBUG_STREAM("EXIT\r");
stop = true;
}
}
ros::spinOnce();
}
}
};
@ -48,7 +110,7 @@ int main(int argc, char **argv)
{
ros::init(argc, argv, "control");
Drone_control con=Drone_control();
ros::spin();
con.key_spin();
return 0;
}