Merge branch 'main' of https://bdgit.educoder.net/pp3xivymc/Software_Architecture into main
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# Air模块配置文件
|
||||
# RoboMaster TT (Tello TLW004) 无人机配置
|
||||
|
||||
# 无人机基本配置
|
||||
drone:
|
||||
type: "tello" # 无人机类型
|
||||
model: "TLW004" # 型号
|
||||
name: "RoboMaster TT" # 显示名称
|
||||
|
||||
# 网络连接配置
|
||||
connection:
|
||||
ip: "192.168.10.1" # 无人机IP地址
|
||||
cmd_port: 8889 # 命令端口
|
||||
state_port: 8890 # 状态端口
|
||||
video_port: 11111 # 视频端口
|
||||
timeout: 5 # 连接超时时间(秒)
|
||||
|
||||
# 视频流配置
|
||||
video:
|
||||
# 支持的视频流格式
|
||||
formats:
|
||||
udp: "udp://{ip}:{port}"
|
||||
rtsp: "rtsp://{ip}:554/live"
|
||||
http: "http://{ip}:8080/video"
|
||||
|
||||
# 默认视频流URL
|
||||
default_stream: "udp://192.168.10.1:11111"
|
||||
|
||||
# 视频参数
|
||||
resolution:
|
||||
width: 960
|
||||
height: 720
|
||||
fps: 30
|
||||
|
||||
# 缓冲设置
|
||||
buffer_size: 10
|
||||
timeout: 10
|
||||
|
||||
# 录制设置
|
||||
recording:
|
||||
enabled: false
|
||||
format: "mp4"
|
||||
quality: "high"
|
||||
|
||||
# 图像分析配置
|
||||
analysis:
|
||||
# 检测阈值
|
||||
confidence_threshold: 0.25
|
||||
part_confidence_threshold: 0.3
|
||||
|
||||
# 模型路径（相对于项目根目录）
|
||||
models:
|
||||
ship_detector: "models/best.pt"
|
||||
part_detector: "models/part_detectors/best.pt"
|
||||
classifier: "models/custom/best.pt"
|
||||
|
||||
# 检测类别
|
||||
ship_classes:
|
||||
- "航空母舰"
|
||||
- "驱逐舰"
|
||||
- "护卫舰"
|
||||
- "潜艇"
|
||||
- "商船"
|
||||
- "油轮"
|
||||
|
||||
# 部件类别
|
||||
part_classes:
|
||||
- "舰桥"
|
||||
- "雷达"
|
||||
- "舰炮"
|
||||
- "导弹发射器"
|
||||
- "直升机甲板"
|
||||
- "烟囱"
|
||||
|
||||
# Web界面配置
|
||||
web:
|
||||
host: "0.0.0.0"
|
||||
port: 5000
|
||||
debug: true
|
||||
|
||||
# 静态文件路径
|
||||
static_folder: "web/static"
|
||||
template_folder: "web/templates"
|
||||
|
||||
# 上传设置
|
||||
upload:
|
||||
max_file_size: "10MB"
|
||||
allowed_extensions: [".jpg", ".jpeg", ".png", ".mp4", ".avi"]
|
||||
save_path: "uploads/drone_captures"
|
||||
|
||||
# 安全设置
|
||||
safety:
|
||||
max_height: 100 # 最大飞行高度(米)
|
||||
max_distance: 500 # 最大飞行距离(米)
|
||||
min_battery: 15 # 最低电量百分比
|
||||
return_home_battery: 30 # 自动返航电量
|
||||
|
||||
# 飞行限制区域
|
||||
no_fly_zones: []
|
||||
|
||||
# 日志配置
|
||||
logging:
|
||||
level: "INFO"
|
||||
format: "%(asctime)s - %(name)s - %(levelname)s - %(message)s"
|
||||
|
||||
# 日志文件
|
||||
files:
|
||||
main: "logs/air_main.log"
|
||||
drone: "logs/drone.log"
|
||||
video: "logs/video.log"
|
||||
analysis: "logs/analysis.log"
|
||||
|
||||
# 性能配置
|
||||
performance:
|
||||
# GPU使用
|
||||
use_gpu: true
|
||||
gpu_memory_fraction: 0.7
|
||||
|
||||
# 多线程设置
|
||||
max_workers: 4
|
||||
|
||||
# 内存限制
|
||||
max_memory_usage: "2GB"
|
||||
|
||||
# 开发调试配置
|
||||
debug:
|
||||
enabled: false
|
||||
save_frames: false
|
||||
frame_save_path: "debug/frames"
|
||||
log_commands: true
|
||||
mock_drone: false # 是否使用模拟无人机
|
||||
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||||
"""
|
||||
无人机接口子系统(DroneInterface)
|
||||
-------------
|
||||
与无人机建立通信连接
|
||||
接收无人机传回的视频流
|
||||
将视频流转发给图像分析子系统
|
||||
向无人机发送控制命令(如需要)
|
||||
"""
|
||||
|
||||
from .drone_manager import DroneManager
|
||||
from .video_receiver import VideoReceiver
|
||||
|
||||
__all__ = ['DroneManager', 'VideoReceiver']
|
||||
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||||
"""
|
||||
图像分析子系统(ImageAnalyzer)
|
||||
-------------
|
||||
调用模型进行舰船检测、分类和部件识别
|
||||
处理图像预处理和后处理
|
||||
生成分析结果报告
|
||||
提供API接口供Web应用调用
|
||||
"""
|
||||
|
||||
from .analyzer import ImageAnalyzer
|
||||
|
||||
__all__ = ['ImageAnalyzer']
|
||||
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<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>{% block title %}舰船识别系统{% endblock %} - ShipAI</title>
|
||||
<!-- Bootstrap CSS -->
|
||||
<link href="https://cdn.jsdelivr.net/npm/bootstrap@5.2.3/dist/css/bootstrap.min.css" rel="stylesheet">
|
||||
<!-- Font Awesome 图标 -->
|
||||
<link href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.4.2/css/all.min.css" rel="stylesheet">
|
||||
<!-- 自定义CSS -->
|
||||
<link rel="stylesheet" href="{{ url_for('static', filename='css/style.css') }}">
|
||||
{% block extra_css %}{% endblock %}
|
||||
</head>
|
||||
<body>
|
||||
<!-- 导航栏 -->
|
||||
<nav class="navbar navbar-expand-lg navbar-dark bg-dark">
|
||||
<div class="container">
|
||||
<a class="navbar-brand" href="{{ url_for('index') }}">ShipAI - 智能舰船识别系统</a>
|
||||
<button class="navbar-toggler" type="button" data-bs-toggle="collapse" data-bs-target="#navbarNav">
|
||||
<span class="navbar-toggler-icon"></span>
|
||||
</button>
|
||||
<div class="collapse navbar-collapse" id="navbarNav">
|
||||
<ul class="navbar-nav me-auto">
|
||||
<li class="nav-item">
|
||||
<a class="nav-link" href="{{ url_for('index') }}">首页</a>
|
||||
</li>
|
||||
<li class="nav-item">
|
||||
<a class="nav-link" href="{{ url_for('gallery') }}">样本图库</a>
|
||||
</li>
|
||||
<li class="nav-item">
|
||||
<a class="nav-link" href="{{ url_for('drone_control') }}">无人机控制</a>
|
||||
</li>
|
||||
<li class="nav-item dropdown">
|
||||
<a class="nav-link dropdown-toggle" href="#" id="analysisDropdown" role="button" data-bs-toggle="dropdown">
|
||||
分析工具
|
||||
</a>
|
||||
<div class="dropdown-menu">
|
||||
<a class="dropdown-item" href="{{ url_for('image_analysis') }}">图像分析</a>
|
||||
<a class="dropdown-item" href="{{ url_for('analytics') }}">分析报告</a>
|
||||
<a class="dropdown-item" href="{{ url_for('data_storage') }}">数据存储</a>
|
||||
</div>
|
||||
</li>
|
||||
<li class="nav-item dropdown">
|
||||
<a class="nav-link dropdown-toggle" href="#" id="modelDropdown" role="button" data-bs-toggle="dropdown">
|
||||
模型管理
|
||||
</a>
|
||||
<div class="dropdown-menu">
|
||||
<a class="dropdown-item" href="{{ url_for('model_settings') }}">模型设置</a>
|
||||
<a class="dropdown-item" href="{{ url_for('annotation_tool') }}">图像标注</a>
|
||||
<a class="dropdown-item" href="{{ url_for('train_model') }}">模型训练</a>
|
||||
</div>
|
||||
</li>
|
||||
<li class="nav-item">
|
||||
<a class="nav-link {% if request.path == '/ship-database' %}active{% endif %}" href="/ship-database">舰船数据库</a>
|
||||
</li>
|
||||
<li class="nav-item dropdown">
|
||||
<a class="nav-link dropdown-toggle" href="#" id="modelsDropdown" role="button" data-bs-toggle="dropdown" aria-expanded="false">
|
||||
部件检测
|
||||
</a>
|
||||
<ul class="dropdown-menu" aria-labelledby="modelsDropdown">
|
||||
<li><a class="dropdown-item" href="{{ url_for('part_detection') }}">部件库管理</a></li>
|
||||
<li><a class="dropdown-item" href="{{ url_for('annotation_tool', type='part') }}">部件标注工具</a></li>
|
||||
<li><a class="dropdown-item" href="{{ url_for('train_part_model') }}">部件模型训练</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="nav-item" id="nav-history">
|
||||
<a class="nav-link" href="{{ url_for('detection_history') }}">检测历史</a>
|
||||
</li>
|
||||
<li class="nav-item">
|
||||
<a class="nav-link" href="{{ url_for('about') }}">关于我们</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<!-- 消息提示 -->
|
||||
<div class="container mt-3">
|
||||
{% with messages = get_flashed_messages(with_categories=true) %}
|
||||
{% if messages %}
|
||||
{% for category, message in messages %}
|
||||
<div class="alert alert-{{ category if category != 'message' else 'info' }} alert-dismissible fade show">
|
||||
{{ message }}
|
||||
<button type="button" class="btn-close" data-bs-dismiss="alert"></button>
|
||||
</div>
|
||||
{% endfor %}
|
||||
{% endif %}
|
||||
{% endwith %}
|
||||
</div>
|
||||
|
||||
<!-- 主要内容 -->
|
||||
<main class="py-4">
|
||||
{% block content %}{% endblock %}
|
||||
</main>
|
||||
|
||||
<!-- 页脚 -->
|
||||
<footer class="bg-dark text-white py-4 mt-5">
|
||||
<div class="container">
|
||||
<div class="row">
|
||||
<div class="col-md-6">
|
||||
<h5>ShipAI - 智能舰船识别系统</h5>
|
||||
<p>基于深度学习的海上舰船自动识别与分析平台</p>
|
||||
</div>
|
||||
<div class="col-md-6 text-md-end">
|
||||
<p>© {{ current_year }} ShipAI 团队</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</footer>
|
||||
|
||||
<!-- JavaScript -->
|
||||
<script src="https://cdn.jsdelivr.net/npm/bootstrap@5.2.3/dist/js/bootstrap.bundle.min.js"></script>
|
||||
<script src="https://code.jquery.com/jquery-3.6.0.min.js"></script>
|
||||
<script src="{{ url_for('static', filename='js/modal_fix.js') }}"></script>
|
||||
<script>
|
||||
// 初始化所有模态框
|
||||
document.addEventListener('DOMContentLoaded', function() {
|
||||
// 使所有具有data-bs-toggle="modal"属性的元素正确工作
|
||||
var modalTriggers = document.querySelectorAll('[data-bs-toggle="modal"]');
|
||||
modalTriggers.forEach(function(trigger) {
|
||||
trigger.addEventListener('click', function() {
|
||||
var targetId = this.getAttribute('data-bs-target');
|
||||
if (targetId) {
|
||||
var modalElement = document.querySelector(targetId);
|
||||
if (modalElement) {
|
||||
var modal = new bootstrap.Modal(modalElement);
|
||||
modal.show();
|
||||
}
|
||||
}
|
||||
});
|
||||
});
|
||||
});
|
||||
</script>
|
||||
{% block scripts %}{% endblock %}
|
||||
{% block extra_js %}{% endblock %}
|
||||
</body>
|
||||
</html>
|
||||
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||||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>🛤️ 无人机轨迹模拟测试</title>
|
||||
<style>
|
||||
* {
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
box-sizing: border-box;
|
||||
}
|
||||
|
||||
body {
|
||||
font-family: 'Microsoft YaHei', sans-serif;
|
||||
background: linear-gradient(135deg, #1e3c72, #2a5298);
|
||||
color: white;
|
||||
min-height: 100vh;
|
||||
padding: 20px;
|
||||
}
|
||||
|
||||
.container {
|
||||
max-width: 800px;
|
||||
margin: 0 auto;
|
||||
background: rgba(255, 255, 255, 0.1);
|
||||
border-radius: 20px;
|
||||
padding: 30px;
|
||||
backdrop-filter: blur(10px);
|
||||
box-shadow: 0 20px 40px rgba(0, 0, 0, 0.3);
|
||||
}
|
||||
|
||||
.header {
|
||||
text-align: center;
|
||||
margin-bottom: 30px;
|
||||
}
|
||||
|
||||
.header h1 {
|
||||
font-size: 2.5em;
|
||||
margin-bottom: 10px;
|
||||
text-shadow: 2px 2px 4px rgba(0, 0, 0, 0.5);
|
||||
}
|
||||
|
||||
.header p {
|
||||
font-size: 1.1em;
|
||||
opacity: 0.8;
|
||||
}
|
||||
|
||||
.control-panel {
|
||||
background: rgba(255, 255, 255, 0.1);
|
||||
border-radius: 15px;
|
||||
padding: 25px;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.control-group {
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.control-group h3 {
|
||||
color: #00aaff;
|
||||
margin-bottom: 15px;
|
||||
font-size: 1.2em;
|
||||
border-bottom: 2px solid rgba(0, 170, 255, 0.3);
|
||||
padding-bottom: 8px;
|
||||
}
|
||||
|
||||
.button-grid {
|
||||
display: grid;
|
||||
grid-template-columns: repeat(auto-fit, minmax(120px, 1fr));
|
||||
gap: 15px;
|
||||
margin-bottom: 15px;
|
||||
}
|
||||
|
||||
.btn {
|
||||
padding: 12px 20px;
|
||||
border: none;
|
||||
border-radius: 8px;
|
||||
cursor: pointer;
|
||||
font-size: 14px;
|
||||
font-weight: bold;
|
||||
color: white;
|
||||
transition: all 0.3s ease;
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.btn:hover {
|
||||
transform: translateY(-2px);
|
||||
box-shadow: 0 5px 15px rgba(0, 0, 0, 0.3);
|
||||
}
|
||||
|
||||
.btn-circle {
|
||||
background: linear-gradient(135deg, #9C27B0, #7B1FA2);
|
||||
}
|
||||
|
||||
.btn-line {
|
||||
background: linear-gradient(135deg, #FF9800, #F57C00);
|
||||
}
|
||||
|
||||
.btn-random {
|
||||
background: linear-gradient(135deg, #607D8B, #455A64);
|
||||
}
|
||||
|
||||
.btn-stop {
|
||||
background: linear-gradient(135deg, #F44336, #D32F2F);
|
||||
}
|
||||
|
||||
.btn-clear {
|
||||
background: linear-gradient(135deg, #FF5722, #D32F2F);
|
||||
}
|
||||
|
||||
.input-group {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 10px;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.input-group label {
|
||||
min-width: 100px;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.input-group input,
|
||||
.input-group select {
|
||||
flex: 1;
|
||||
padding: 8px 12px;
|
||||
border: none;
|
||||
border-radius: 6px;
|
||||
background: rgba(255, 255, 255, 0.2);
|
||||
color: white;
|
||||
font-size: 14px;
|
||||
}
|
||||
|
||||
.input-group input::placeholder {
|
||||
color: rgba(255, 255, 255, 0.6);
|
||||
}
|
||||
|
||||
.status-panel {
|
||||
background: rgba(0, 0, 0, 0.3);
|
||||
border-radius: 10px;
|
||||
padding: 20px;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.status-item {
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
align-items: center;
|
||||
padding: 8px 0;
|
||||
border-bottom: 1px solid rgba(255, 255, 255, 0.1);
|
||||
}
|
||||
|
||||
.status-item:last-child {
|
||||
border-bottom: none;
|
||||
}
|
||||
|
||||
.status-value {
|
||||
font-weight: bold;
|
||||
color: #4CAF50;
|
||||
}
|
||||
|
||||
.alert {
|
||||
padding: 12px 15px;
|
||||
border-radius: 8px;
|
||||
margin-bottom: 15px;
|
||||
display: none;
|
||||
}
|
||||
|
||||
.alert.success {
|
||||
background: rgba(76, 175, 80, 0.2);
|
||||
border-left: 4px solid #4CAF50;
|
||||
}
|
||||
|
||||
.alert.error {
|
||||
background: rgba(244, 67, 54, 0.2);
|
||||
border-left: 4px solid #F44336;
|
||||
}
|
||||
|
||||
.alert.info {
|
||||
background: rgba(33, 150, 243, 0.2);
|
||||
border-left: 4px solid #2196F3;
|
||||
}
|
||||
|
||||
.drone-list {
|
||||
max-height: 200px;
|
||||
overflow-y: auto;
|
||||
background: rgba(0, 0, 0, 0.2);
|
||||
border-radius: 8px;
|
||||
padding: 10px;
|
||||
}
|
||||
|
||||
.drone-item {
|
||||
padding: 8px 10px;
|
||||
margin-bottom: 5px;
|
||||
background: rgba(255, 255, 255, 0.1);
|
||||
border-radius: 6px;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.link-section {
|
||||
text-align: center;
|
||||
margin-top: 20px;
|
||||
}
|
||||
|
||||
.link-section a {
|
||||
color: #00aaff;
|
||||
text-decoration: none;
|
||||
font-weight: bold;
|
||||
padding: 10px 20px;
|
||||
background: rgba(0, 170, 255, 0.2);
|
||||
border-radius: 8px;
|
||||
transition: all 0.3s ease;
|
||||
}
|
||||
|
||||
.link-section a:hover {
|
||||
background: rgba(0, 170, 255, 0.4);
|
||||
transform: translateY(-2px);
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<div class="container">
|
||||
<div class="header">
|
||||
<h1>🛤️ 无人机轨迹模拟测试</h1>
|
||||
<p>测试无人机轨迹记录和可视化功能</p>
|
||||
</div>
|
||||
|
||||
<div id="alertContainer"></div>
|
||||
|
||||
<!-- 快速启动面板 -->
|
||||
<div class="control-panel">
|
||||
<div class="control-group">
|
||||
<h3>🚀 快速启动模拟</h3>
|
||||
<div class="button-grid">
|
||||
<button class="btn btn-circle" onclick="startQuickSimulation('circle')">
|
||||
🔄 圆形轨迹
|
||||
</button>
|
||||
<button class="btn btn-line" onclick="startQuickSimulation('line')">
|
||||
↔️ 直线轨迹
|
||||
</button>
|
||||
<button class="btn btn-random" onclick="startQuickSimulation('random')">
|
||||
🎲 随机轨迹
|
||||
</button>
|
||||
<button class="btn btn-stop" onclick="stopSimulation()">
|
||||
⏹️ 停止模拟
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- 高级配置面板 -->
|
||||
<div class="control-panel">
|
||||
<div class="control-group">
|
||||
<h3>⚙️ 高级配置</h3>
|
||||
<div class="input-group">
|
||||
<label>轨迹类型:</label>
|
||||
<select id="simulationType">
|
||||
<option value="circle">圆形轨迹</option>
|
||||
<option value="line">直线往返</option>
|
||||
<option value="random">随机游走</option>
|
||||
</select>
|
||||
</div>
|
||||
<div class="input-group">
|
||||
<label>无人机数量:</label>
|
||||
<input type="number" id="droneCount" value="2" min="1" max="5" placeholder="1-5架">
|
||||
</div>
|
||||
<div class="input-group">
|
||||
<label>更新间隔:</label>
|
||||
<input type="number" id="updateSpeed" value="3" min="1" max="10" placeholder="秒">
|
||||
</div>
|
||||
<div class="button-grid">
|
||||
<button class="btn btn-circle" onclick="startCustomSimulation()">
|
||||
🛠️ 启动自定义模拟
|
||||
</button>
|
||||
<button class="btn btn-clear" onclick="clearAllTrajectories()">
|
||||
🗑️ 清除所有轨迹
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- 状态显示面板 -->
|
||||
<div class="status-panel">
|
||||
<h3 style="color: #00aaff; margin-bottom: 15px;">📊 模拟状态</h3>
|
||||
<div class="status-item">
|
||||
<span>模拟状态:</span>
|
||||
<span class="status-value" id="simulationStatus">未启动</span>
|
||||
</div>
|
||||
<div class="status-item">
|
||||
<span>轨迹类型:</span>
|
||||
<span class="status-value" id="simulationType">无</span>
|
||||
</div>
|
||||
<div class="status-item">
|
||||
<span>无人机数量:</span>
|
||||
<span class="status-value" id="droneCountStatus">0</span>
|
||||
</div>
|
||||
<div class="status-item">
|
||||
<span>轨迹记录:</span>
|
||||
<span class="status-value" id="trajectoryRecordingStatus">开启</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- 无人机列表 -->
|
||||
<div class="control-panel">
|
||||
<div class="control-group">
|
||||
<h3>🚁 模拟无人机列表</h3>
|
||||
<div class="drone-list" id="droneList">
|
||||
<div style="text-align: center; color: #999;">暂无模拟无人机</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- 链接到主系统 -->
|
||||
<div class="link-section">
|
||||
<a href="/" target="_blank">🎯 打开主系统查看轨迹</a>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
// 显示提示信息
|
||||
function showAlert(message, type = 'info') {
|
||||
const alertContainer = document.getElementById('alertContainer');
|
||||
const alert = document.createElement('div');
|
||||
alert.className = `alert ${type}`;
|
||||
alert.textContent = message;
|
||||
|
||||
alertContainer.appendChild(alert);
|
||||
alert.style.display = 'block';
|
||||
|
||||
setTimeout(() => {
|
||||
alert.style.display = 'none';
|
||||
alertContainer.removeChild(alert);
|
||||
}, 5000);
|
||||
}
|
||||
|
||||
// 快速启动模拟
|
||||
async function startQuickSimulation(type) {
|
||||
await startSimulation(type, 2, 3);
|
||||
}
|
||||
|
||||
// 自定义启动模拟
|
||||
async function startCustomSimulation() {
|
||||
const type = document.getElementById('simulationType').value;
|
||||
const droneCount = parseInt(document.getElementById('droneCount').value) || 2;
|
||||
const speed = parseInt(document.getElementById('updateSpeed').value) || 3;
|
||||
|
||||
await startSimulation(type, droneCount, speed);
|
||||
}
|
||||
|
||||
// 启动轨迹模拟
|
||||
async function startSimulation(type, droneCount = 2, speed = 3) {
|
||||
try {
|
||||
showAlert(`🚀 正在启动${droneCount}架无人机的${type}轨迹模拟...`, 'info');
|
||||
|
||||
const response = await fetch('/api/test/start_simulation', {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({
|
||||
type: type,
|
||||
drone_count: droneCount,
|
||||
speed: speed
|
||||
})
|
||||
});
|
||||
|
||||
const result = await response.json();
|
||||
if (result.status === 'success') {
|
||||
showAlert(`✅ ${result.message}`, 'success');
|
||||
updateStatus();
|
||||
} else {
|
||||
showAlert(`❌ 启动模拟失败: ${result.message}`, 'error');
|
||||
}
|
||||
} catch (error) {
|
||||
showAlert(`❌ 启动模拟失败: ${error.message}`, 'error');
|
||||
}
|
||||
}
|
||||
|
||||
// 停止轨迹模拟
|
||||
async function stopSimulation() {
|
||||
try {
|
||||
showAlert('🛑 正在停止轨迹模拟...', 'info');
|
||||
|
||||
const response = await fetch('/api/test/stop_simulation', {
|
||||
method: 'POST'
|
||||
});
|
||||
|
||||
const result = await response.json();
|
||||
if (result.status === 'success') {
|
||||
showAlert('✅ 轨迹模拟已停止', 'success');
|
||||
updateStatus();
|
||||
} else {
|
||||
showAlert(`❌ 停止模拟失败: ${result.message}`, 'error');
|
||||
}
|
||||
} catch (error) {
|
||||
showAlert(`❌ 停止模拟失败: ${error.message}`, 'error');
|
||||
}
|
||||
}
|
||||
|
||||
// 清除所有轨迹
|
||||
async function clearAllTrajectories() {
|
||||
try {
|
||||
// 这个功能需要在主页面中执行
|
||||
showAlert('🗑️ 请在主系统页面中点击"清除"按钮来清除轨迹', 'info');
|
||||
} catch (error) {
|
||||
showAlert(`❌ 清除轨迹失败: ${error.message}`, 'error');
|
||||
}
|
||||
}
|
||||
|
||||
// 更新状态显示
|
||||
async function updateStatus() {
|
||||
try {
|
||||
const response = await fetch('/api/test/simulation_status');
|
||||
const result = await response.json();
|
||||
|
||||
if (result.status === 'success') {
|
||||
// 更新状态显示
|
||||
document.getElementById('simulationStatus').textContent =
|
||||
result.simulation_active ? '运行中' : '未启动';
|
||||
document.getElementById('simulationStatus').style.color =
|
||||
result.simulation_active ? '#4CAF50' : '#F44336';
|
||||
|
||||
document.getElementById('simulationType').textContent =
|
||||
result.simulation_type || '无';
|
||||
document.getElementById('droneCountStatus').textContent =
|
||||
result.simulated_drones.length || '0';
|
||||
|
||||
// 更新无人机列表
|
||||
updateDroneList(result.simulated_drones);
|
||||
}
|
||||
} catch (error) {
|
||||
console.error('获取状态失败:', error);
|
||||
}
|
||||
}
|
||||
|
||||
// 更新无人机列表
|
||||
function updateDroneList(drones) {
|
||||
const droneList = document.getElementById('droneList');
|
||||
|
||||
if (!drones || drones.length === 0) {
|
||||
droneList.innerHTML = '<div style="text-align: center; color: #999;">暂无模拟无人机</div>';
|
||||
return;
|
||||
}
|
||||
|
||||
const html = drones.map((drone, index) => `
|
||||
<div class="drone-item">
|
||||
🚁 ${drone.name || `无人机-${index + 1}`}
|
||||
<br>
|
||||
<span style="color: #999;">
|
||||
ID: ${drone.device_id.substring(0, 12)}...
|
||||
</span>
|
||||
</div>
|
||||
`).join('');
|
||||
|
||||
droneList.innerHTML = html;
|
||||
}
|
||||
|
||||
// 页面加载完成后的初始化
|
||||
window.addEventListener('load', function () {
|
||||
updateStatus();
|
||||
|
||||
// 定期更新状态
|
||||
setInterval(updateStatus, 3000);
|
||||
|
||||
showAlert('🎯 轨迹模拟测试页面已加载', 'success');
|
||||
});
|
||||
</script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -0,0 +1,20 @@
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
project(mediamodule LANGUAGES CXX)
|
||||
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
|
||||
find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
|
||||
find_package(OpenCV REQUIRED)
|
||||
|
||||
add_library(mediamodule
|
||||
camera_streamer.cpp
|
||||
)
|
||||
|
||||
target_include_directories(mediamodule PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${OpenCV_INCLUDE_DIRS})
|
||||
|
||||
target_link_libraries(mediamodule PUBLIC Qt5::Core Qt5::Widgets ${OpenCV_LIBS})
|
||||
|
||||
add_executable(example_viewer example_viewer.cpp)
|
||||
|
||||
target_link_libraries(example_viewer PRIVATE mediamodule)
|
||||
@ -0,0 +1,39 @@
|
||||
#include <QApplication>
|
||||
#include <QLabel>
|
||||
#include <QVBoxLayout>
|
||||
#include <QHostAddress>
|
||||
#include "camera_streamer.h"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling);
|
||||
QApplication app(argc, argv);
|
||||
|
||||
// 主窗口
|
||||
QWidget window;
|
||||
window.setWindowTitle("Unitree Camera Viewer");
|
||||
auto *layout = new QVBoxLayout(&window);
|
||||
|
||||
QLabel *label = new QLabel(&window);
|
||||
label->setAlignment(Qt::AlignCenter);
|
||||
layout->addWidget(label);
|
||||
|
||||
CameraStreamer streamer;
|
||||
|
||||
QObject::connect(&streamer, &CameraStreamer::newFrame, &window, [label](const QImage &img){
|
||||
label->setPixmap(QPixmap::fromImage(img).scaled(label->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
|
||||
});
|
||||
|
||||
// 根据实际情况修改远端用户名、IP、端口
|
||||
QString remoteUser = "unitree";
|
||||
QString remoteHost = "192.168.123.10"; // 狗端 IP
|
||||
streamer.startStreaming(remoteUser, remoteHost);
|
||||
|
||||
window.resize(960, 540);
|
||||
window.show();
|
||||
|
||||
int ret = app.exec();
|
||||
|
||||
streamer.stopStreaming();
|
||||
return ret;
|
||||
}
|
||||
@ -0,0 +1,66 @@
|
||||
|
||||
add_executable(example_getRawFrame ./example_getRawFrame.cc)
|
||||
target_link_libraries(example_getRawFrame ${SDKLIBS})
|
||||
|
||||
add_executable(example_getDepthFrame ./example_getDepthFrame.cc)
|
||||
target_link_libraries(example_getDepthFrame ${SDKLIBS})
|
||||
|
||||
add_executable(example_getRectFrame ./example_getRectFrame.cc)
|
||||
target_link_libraries(example_getRectFrame ${SDKLIBS})
|
||||
|
||||
add_executable(example_getCalibParamsFile ./example_getCalibParamsFile.cc)
|
||||
target_link_libraries(example_getCalibParamsFile ${SDKLIBS})
|
||||
|
||||
add_executable(example_putImagetrans ./example_putImagetrans.cc)
|
||||
target_link_libraries(example_putImagetrans ${SDKLIBS})
|
||||
|
||||
add_executable(example_getimagetrans ./example_getimagetrans.cc)
|
||||
target_link_libraries(example_getimagetrans ${SDKLIBS})
|
||||
|
||||
# add_executable(example_share ./example_share.cc)
|
||||
# target_link_libraries(example_share ${SDKLIBS})
|
||||
|
||||
find_package(OpenGL REQUIRED)
|
||||
if(OpenGL_FOUND)
|
||||
include_directories(${OPENGL_INCLUDE_DIR})
|
||||
message(STATUS ${OPENGL_INCLUDE_DIR})
|
||||
message(STATUS ${OPENGL_LIBRARIES})
|
||||
else()
|
||||
message(WARNING "OpenGL Library Not Found")
|
||||
endif()
|
||||
|
||||
find_package(GLUT REQUIRED)
|
||||
if(GLUT_FOUND)
|
||||
include_directories(${GLUT_INCLUDE_DIR})
|
||||
message(STATUS ${GLUT_INCLUDE_DIR})
|
||||
message(STATUS ${GLUT_LIBRARY})
|
||||
else()
|
||||
message(WARNING "GLUT Library Not Found")
|
||||
endif()
|
||||
|
||||
find_package(X11 REQUIRED)
|
||||
if(X11_FOUND)
|
||||
include_directories(${X11_INCLUDE_DIR})
|
||||
message(${X11_INCLUDE_DIR})
|
||||
message(${X11_LIBRARIES})
|
||||
else()
|
||||
message(WARNING "X11 Library Not Found")
|
||||
endif()
|
||||
|
||||
if(X11_FOUND AND OpenGL_FOUND AND GLUT_FOUND)
|
||||
set(ShowPointCloud true)
|
||||
message(STATUS "Point Cloud Example Enabled")
|
||||
else()
|
||||
set(ShowPointCloud false)
|
||||
message(WARNING "Point Cloud Example Disabled")
|
||||
endif()
|
||||
|
||||
if(${ShowPointCloud})
|
||||
add_executable(example_getPointCloud ./example_getPointCloud.cc ./glViewer/glwindow_x11.cpp ./glViewer/scenewindow.cpp)
|
||||
target_link_libraries(example_getPointCloud ${SDKLIBS} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${X11_LIBRARIES} )
|
||||
endif()
|
||||
|
||||
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
|
||||
|
||||
|
||||
@ -0,0 +1,27 @@
|
||||
/**
|
||||
* @file example_getCalibParamsFile.cc
|
||||
* @brief This file is part of UnitreeCameraSDK.
|
||||
* @details This example that how to get camera internal parameters
|
||||
* @author ZhangChunyang
|
||||
* @date 2021.07.31
|
||||
* @version 1.0.1
|
||||
* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
|
||||
*/
|
||||
|
||||
#include <UnitreeCameraSDK.hpp>
|
||||
#include <unistd.h>
|
||||
|
||||
int main(int argc, char *argv[]){
|
||||
|
||||
UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file
|
||||
if(!cam.isOpened()) ///< get camera open state
|
||||
exit(EXIT_FAILURE);
|
||||
|
||||
cam.startCapture(); ///< disable image h264 encoding and share memory sharing
|
||||
usleep(100000); ///< wait parameters initialization finished
|
||||
cam.saveCalibParams("output_camCalibParams.yaml"); ///< save parameters to output_camCalibParams.yaml
|
||||
std::cout << cam.getSerialNumber() << " " << cam.getPosNumber() << std::endl;
|
||||
usleep(100000);
|
||||
cam.stopCapture(); ///< stop camera capturing
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,42 @@
|
||||
/**
|
||||
* @file example_getDepthFrame.cc
|
||||
* @brief This file is part of UnitreeCameraSDK.
|
||||
* @details This example that how to get depth frame
|
||||
* @author SunMingzhe
|
||||
* @date 2021.12.07
|
||||
* @version 1.1.0
|
||||
* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
|
||||
*/
|
||||
|
||||
#include <UnitreeCameraSDK.hpp>
|
||||
#include <unistd.h>
|
||||
|
||||
int main(int argc, char *argv[]){
|
||||
|
||||
UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file
|
||||
if(!cam.isOpened()) ///< get camera open state
|
||||
exit(EXIT_FAILURE);
|
||||
|
||||
cam.startCapture(); ///< disable image h264 encoding and share memory sharing
|
||||
cam.startStereoCompute(); ///< start disparity computing
|
||||
|
||||
while(cam.isOpened()){
|
||||
cv::Mat depth;
|
||||
std::chrono::microseconds t;
|
||||
if(!cam.getDepthFrame(depth, true, t)){ ///< get stereo camera depth image
|
||||
usleep(1000);
|
||||
continue;
|
||||
}
|
||||
if(!depth.empty()){
|
||||
cv::imshow("UnitreeCamera-Depth", depth);
|
||||
}
|
||||
char key = cv::waitKey(10);
|
||||
if(key == 27) // press ESC key
|
||||
break;
|
||||
}
|
||||
|
||||
cam.stopStereoCompute(); ///< stop disparity computing
|
||||
cam.stopCapture(); ///< stop camera capturing
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,97 @@
|
||||
/**
|
||||
* @file example_getPointCloud.cc
|
||||
* @brief This file is part of UnitreeCameraSDK.
|
||||
* @details This example that how to get camera point cloud.
|
||||
* @author ZhangChunyang
|
||||
* @date 2021.07.31
|
||||
* @version 1.0.1
|
||||
* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
|
||||
*/
|
||||
|
||||
#include <GL/gl.h>
|
||||
#include <signal.h>
|
||||
#include <cerrno>
|
||||
#include <cfenv>
|
||||
#include <unistd.h>
|
||||
#include "glViewer/scenewindow.hpp"
|
||||
#include <UnitreeCameraSDK.hpp>
|
||||
|
||||
#define RGB_PCL true ///< Color Point Cloud Enable Flag
|
||||
|
||||
void DrawScene(const std::vector<PCLType>& pcl_vec) {
|
||||
glBegin(GL_POINTS);
|
||||
for (uint i = 0; i < pcl_vec.size(); ++i) {
|
||||
PCLType pcl = pcl_vec[i];
|
||||
glColor3ub(pcl.clr(2), pcl.clr(1), pcl.clr(0));
|
||||
glVertex3f(-pcl.pts(0), -pcl.pts(1), pcl.pts(2));
|
||||
}
|
||||
glEnd();
|
||||
}
|
||||
|
||||
void DrawScene(const std::vector<cv::Vec3f>& pcl_vec) {
|
||||
glBegin(GL_POINTS);
|
||||
for (uint i = 0; i < pcl_vec.size(); ++i) {
|
||||
cv::Vec3f pcl = pcl_vec[i];
|
||||
glColor3ub(255, 255, 0);
|
||||
glVertex3f(-pcl(0), -pcl(1), pcl(2));
|
||||
}
|
||||
glEnd();
|
||||
}
|
||||
|
||||
bool killSignalFlag = false;
|
||||
void ctrl_c_handler(int s){
|
||||
killSignalFlag = true;
|
||||
return ;
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]){
|
||||
|
||||
UnitreeCamera cam("stereo_camera_config.yaml");
|
||||
if(!cam.isOpened())
|
||||
exit(EXIT_FAILURE);
|
||||
|
||||
cam.startCapture();
|
||||
cam.startStereoCompute();
|
||||
|
||||
struct sigaction sigIntHandler;
|
||||
sigIntHandler.sa_handler = ctrl_c_handler;
|
||||
sigemptyset(&sigIntHandler.sa_mask);
|
||||
sigIntHandler.sa_flags = 0;
|
||||
sigaction(SIGINT, &sigIntHandler, NULL);
|
||||
|
||||
std::cout << cam.getSerialNumber() << " " << cam.getPosNumber() << std::endl;
|
||||
|
||||
glwindow::SceneWindow scene(960, 720, "Panorama 3D Scene");
|
||||
|
||||
while(cam.isOpened()){
|
||||
|
||||
if(killSignalFlag){
|
||||
break;
|
||||
}
|
||||
|
||||
std::chrono::microseconds t;
|
||||
#if RGB_PCL
|
||||
std::vector<PCLType> pcl_vec;
|
||||
if(!cam.getPointCloud(pcl_vec, t)){
|
||||
usleep(1000);
|
||||
continue;
|
||||
}
|
||||
#else
|
||||
std::vector<cv::Vec3f> pcl_vec;
|
||||
if(!cam.getPointCloud(pcl_vec, t)){
|
||||
usleep(1000);
|
||||
continue;
|
||||
}
|
||||
#endif
|
||||
if (scene.win.alive()) {
|
||||
if (scene.start_draw()) {
|
||||
DrawScene(pcl_vec);
|
||||
scene.finish_draw();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
cam.stopStereoCompute();
|
||||
cam.stopCapture();
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,63 @@
|
||||
/**
|
||||
* @file example_getRawFrame.cc
|
||||
* @brief This file is part of UnitreeCameraSDK.
|
||||
* @details This example that how to get camera raw frame.
|
||||
* @author ZhangChunyang
|
||||
* @date 2021.07.31
|
||||
* @version 1.0.1
|
||||
* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
|
||||
*/
|
||||
|
||||
#include <UnitreeCameraSDK.hpp>
|
||||
#include <unistd.h>
|
||||
|
||||
int main(int argc, char *argv[]){
|
||||
|
||||
int deviceNode = 0; // default 0 -> /dev/video0
|
||||
cv::Size frameSize(1856, 800); // defalut image size: 1856 X 800
|
||||
int fps = 30;
|
||||
|
||||
if(argc >= 2){
|
||||
deviceNode = std::atoi(argv[1]);
|
||||
if(argc >= 4){
|
||||
frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3]));
|
||||
}
|
||||
if(argc >=5)
|
||||
fps = std::atoi(argv[4]);
|
||||
}
|
||||
|
||||
UnitreeCamera cam(deviceNode); ///< init camera by device node number
|
||||
if(!cam.isOpened())
|
||||
exit(EXIT_FAILURE);
|
||||
|
||||
cam.setRawFrameSize(frameSize); ///< set camera frame size
|
||||
cam.setRawFrameRate(fps); ///< set camera frame rate
|
||||
|
||||
std::cout << "Device Position Number:" << cam.getPosNumber() << std::endl;
|
||||
|
||||
cam.startCapture(); ///< start camera capturing
|
||||
|
||||
while(cam.isOpened())
|
||||
{
|
||||
|
||||
cv::Mat frame;
|
||||
std::chrono::microseconds t;
|
||||
if(!cam.getRawFrame(frame, t)){ ///< get camera raw image
|
||||
usleep(1000);
|
||||
continue;
|
||||
}
|
||||
|
||||
cv::Mat left,right;
|
||||
frame(cv::Rect(0, 0, frame.size().width/2, frame.size().height)).copyTo(right);
|
||||
frame(cv::Rect(frame.size().width/2,0, frame.size().width/2, frame.size().height)).copyTo(left);
|
||||
cv::hconcat(left, right, frame);
|
||||
cv::imshow("UnitreeCamera_Left-Right", frame);
|
||||
char key = cv::waitKey(10);
|
||||
if(key == 27) // press ESC key
|
||||
break;
|
||||
}
|
||||
|
||||
cam.stopCapture(); ///< stop camera capturing
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,60 @@
|
||||
/**
|
||||
* @file example_getRectFrame.cc
|
||||
* @brief This file is part of UnitreeCameraSDK.
|
||||
* @details This example that how to get depth frame
|
||||
* @author ZhangChunyang
|
||||
* @date 2021.07.31
|
||||
* @version 1.0.1
|
||||
* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
|
||||
*/
|
||||
|
||||
#include <UnitreeCameraSDK.hpp>
|
||||
#include <unistd.h>
|
||||
|
||||
int main(int argc, char *argv[]){
|
||||
|
||||
int deviceNode = 0; ///< default 0 -> /dev/video0
|
||||
cv::Size frameSize(1856, 800); ///< default frame size 1856x800
|
||||
int fps = 30; ///< default camera fps: 30
|
||||
|
||||
if(argc >= 2){
|
||||
deviceNode = std::atoi(argv[1]);
|
||||
if(argc >= 4){
|
||||
frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3]));
|
||||
}
|
||||
if(argc >=5)
|
||||
fps = std::atoi(argv[4]);
|
||||
}
|
||||
|
||||
UnitreeCamera cam("stereo_camera_config.yaml"); ///< init camera by device node number
|
||||
if(!cam.isOpened()) ///< get camera open state
|
||||
exit(EXIT_FAILURE);
|
||||
|
||||
cam.setRawFrameSize(frameSize); ///< set camera frame size
|
||||
cam.setRawFrameRate(fps); ///< set camera camera fps
|
||||
cam.setRectFrameSize(cv::Size(frameSize.width >> 2, frameSize.height >> 1)); ///< set camera rectify frame size
|
||||
cam.startCapture(); ///< disable image h264 encoding and share memory sharing
|
||||
|
||||
usleep(500000);
|
||||
while(cam.isOpened()){
|
||||
cv::Mat left,right;
|
||||
if(!cam.getRectStereoFrame(left,right)){ ///< get rectify left,right frame
|
||||
usleep(1000);
|
||||
continue;
|
||||
}
|
||||
|
||||
cv::Mat stereo;
|
||||
// cv::flip(left,left, -1);
|
||||
// cv::flip(right,right, -1);
|
||||
cv::hconcat(left, right, stereo);
|
||||
cv::flip(stereo,stereo, -1);
|
||||
cv::imshow("Longlat_Rect", stereo);
|
||||
char key = cv::waitKey(10);
|
||||
if(key == 27) // press ESC key
|
||||
break;
|
||||
}
|
||||
|
||||
cam.stopCapture(); ///< stop camera capturing
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,29 @@
|
||||
#include <UnitreeCameraSDK.hpp>
|
||||
#include <unistd.h>
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number
|
||||
if(!cam.isOpened()) ///< get camera open state
|
||||
exit(EXIT_FAILURE);
|
||||
cam.startCapture(false, true);
|
||||
|
||||
usleep(500000);
|
||||
while(cam.isOpened())
|
||||
{
|
||||
cv::Mat left,right,feim;
|
||||
if(!cam.getRectStereoFrame(left,right))
|
||||
{
|
||||
usleep(1000);
|
||||
continue;
|
||||
}
|
||||
char key = cv::waitKey(10);
|
||||
if(key == 27) // press ESC key
|
||||
break;
|
||||
}
|
||||
|
||||
cam.stopCapture(); ///< stop camera capturing
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,124 @@
|
||||
// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <vector>
|
||||
|
||||
namespace glwindow {
|
||||
|
||||
namespace ButtonEvent {
|
||||
enum Buttons {
|
||||
LEFT=1, MIDDLE=2, RIGHT=4, WHEEL=8,
|
||||
MODKEY_CTRL=16, MODKEY_SHIFT=32,
|
||||
};
|
||||
};
|
||||
|
||||
namespace KeyCode {
|
||||
enum Codes {
|
||||
BACKSPACE=0x8,
|
||||
TAB=0x9,
|
||||
ENTER=0xD,
|
||||
ESCAPE=0x1B,
|
||||
DEL=0x7F,
|
||||
|
||||
SHIFT=0xFF00,
|
||||
CTRL,
|
||||
ALT,
|
||||
SUPER,
|
||||
CAPSLOCK,
|
||||
LEFT,
|
||||
UP,
|
||||
RIGHT,
|
||||
DOWN,
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
class GLWindow;
|
||||
|
||||
struct EventHandler
|
||||
{
|
||||
public:
|
||||
virtual ~EventHandler() {}
|
||||
virtual bool on_key_down(GLWindow& win, int key) { return false; }
|
||||
virtual bool on_key_up(GLWindow& win, int key) { return false; }
|
||||
virtual bool on_text(GLWindow& win, const char *text, int len) { return false; }
|
||||
virtual bool on_button_down(GLWindow& win, int btn, int state, int x, int y) { return false; }
|
||||
virtual bool on_button_up(GLWindow& win, int btn, int state, int x, int y) { return false; }
|
||||
virtual bool on_mouse_move(GLWindow& win, int state, int x, int y) { return false; }
|
||||
virtual bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy) { return false; }
|
||||
virtual bool on_resize(GLWindow& win, int x, int y, int w, int h) { return false; }
|
||||
virtual bool on_close(GLWindow& win) { return false; }
|
||||
};
|
||||
|
||||
// Dispatches to each handler in reverse order until one returns true
|
||||
class EventDispatcher : public EventHandler
|
||||
{
|
||||
public:
|
||||
const std::vector<EventHandler*> &handlers;
|
||||
EventDispatcher(const std::vector<EventHandler*> &h) :
|
||||
handlers(h) {}
|
||||
bool on_key_down(GLWindow& win, int key);
|
||||
bool on_key_up(GLWindow& win, int key);
|
||||
bool on_text(GLWindow& win, const char *text, int len);
|
||||
bool on_button_down(GLWindow& win, int btn, int state, int x, int y);
|
||||
bool on_button_up(GLWindow& win, int btn, int state, int x, int y);
|
||||
bool on_mouse_move(GLWindow& win, int state, int x, int y);
|
||||
bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy);
|
||||
bool on_resize(GLWindow& win, int x, int y, int w, int h);
|
||||
bool on_close(GLWindow& win);
|
||||
};
|
||||
|
||||
class GLWindow
|
||||
{
|
||||
public:
|
||||
GLWindow(int w=-1, int h=-1, const char *title=0);
|
||||
virtual ~GLWindow();
|
||||
|
||||
int width() const;
|
||||
int height() const;
|
||||
bool visible() const;
|
||||
bool alive() const;
|
||||
|
||||
bool make_current();
|
||||
bool push_context();
|
||||
void pop_context();
|
||||
|
||||
struct ScopedContext {
|
||||
GLWindow &win;
|
||||
ScopedContext(GLWindow &w) : win(w) {
|
||||
win.push_context();
|
||||
}
|
||||
~ScopedContext() {
|
||||
win.pop_context();
|
||||
}
|
||||
};
|
||||
|
||||
void swap_buffers();
|
||||
|
||||
void set_size(int w, int h);
|
||||
void set_position(int x, int y);
|
||||
|
||||
void set_title(const char* title);
|
||||
|
||||
void add_handler(EventHandler* handler);
|
||||
bool remove_handler(EventHandler *handler);
|
||||
void handle_events();
|
||||
static void handle_all_events();
|
||||
|
||||
void destroy();
|
||||
|
||||
void draw_text(double x, double y, const char *text, int xywh[4]=0);
|
||||
protected:
|
||||
struct SystemState;
|
||||
SystemState *sys_state;
|
||||
|
||||
std::vector<EventHandler*> handlers;
|
||||
GLWindow *prev_active;
|
||||
|
||||
static GLWindow *active_context;
|
||||
static std::vector<GLWindow*> all_windows;
|
||||
static void add_window(GLWindow *win);
|
||||
static bool remove_window(GLWindow *win);
|
||||
};
|
||||
}
|
||||
@ -0,0 +1,518 @@
|
||||
// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
|
||||
|
||||
#include "glwindow.hpp"
|
||||
|
||||
#include <X11/Xlib.h>
|
||||
#include <X11/keysym.h>
|
||||
#include <GL/glx.h>
|
||||
#include <iostream>
|
||||
|
||||
using namespace glwindow;
|
||||
|
||||
std::vector<GLWindow*> GLWindow::all_windows;
|
||||
|
||||
void GLWindow::add_window(GLWindow *win)
|
||||
{
|
||||
all_windows.push_back(win);
|
||||
}
|
||||
|
||||
bool GLWindow::remove_window(GLWindow *win)
|
||||
{
|
||||
for (size_t i=0; i<all_windows.size(); ++i) {
|
||||
if (all_windows[i] == win) {
|
||||
all_windows[i] = all_windows.back();
|
||||
all_windows.pop_back();
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void GLWindow::handle_all_events()
|
||||
{
|
||||
for (size_t i=0; i<all_windows.size(); ++i)
|
||||
all_windows[i]->handle_events();
|
||||
}
|
||||
|
||||
GLWindow *GLWindow::active_context = 0;
|
||||
|
||||
bool GLWindow::push_context()
|
||||
{
|
||||
prev_active = active_context;
|
||||
return make_current();
|
||||
}
|
||||
|
||||
void GLWindow::pop_context()
|
||||
{
|
||||
if (active_context != this)
|
||||
return;
|
||||
|
||||
if (prev_active) {
|
||||
prev_active->make_current();
|
||||
} else {
|
||||
active_context = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void GLWindow::add_handler(EventHandler* handler)
|
||||
{
|
||||
handlers.push_back(handler);
|
||||
}
|
||||
|
||||
bool GLWindow::remove_handler(EventHandler* handler)
|
||||
{
|
||||
std::vector<EventHandler*>::reverse_iterator it;
|
||||
for (it = handlers.rbegin(); it != handlers.rend(); ++it) {
|
||||
if (*it == handler) {
|
||||
handlers.erase(it.base());
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool EventDispatcher::on_key_down(GLWindow& win, int key) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_key_down(win, key))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
bool EventDispatcher::on_key_up(GLWindow& win, int key) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_key_up(win, key))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
bool EventDispatcher::on_text(GLWindow& win, const char *text, int len) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_text(win, text, len))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool EventDispatcher::on_button_down(GLWindow& win, int btn, int state, int x, int y) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_button_down(win, btn, state, x, y))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool EventDispatcher::on_button_up(GLWindow& win, int btn, int state, int x, int y) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_button_up(win, btn, state, x, y))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool EventDispatcher::on_mouse_move(GLWindow& win, int state, int x, int y) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_mouse_move(win, state, x, y))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool EventDispatcher::on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_mouse_wheel(win, state, x, y, dx, dy))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool EventDispatcher::on_resize(GLWindow &win, int x, int y, int w, int h) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_resize(win, x, y, w, h))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool EventDispatcher::on_close(GLWindow &win) {
|
||||
for (int i=handlers.size()-1; i>=0; --i)
|
||||
if (handlers[i]->on_close(win))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
static XVisualInfo *makeVisualInfo(Display *display)
|
||||
{
|
||||
int visualAttributes[] = {
|
||||
GLX_RED_SIZE, 8,
|
||||
GLX_GREEN_SIZE, 8,
|
||||
GLX_BLUE_SIZE, 8,
|
||||
GLX_DEPTH_SIZE, 16,
|
||||
GLX_STENCIL_SIZE, 8,
|
||||
GLX_RGBA,
|
||||
GLX_DOUBLEBUFFER,
|
||||
None
|
||||
};
|
||||
XVisualInfo *vi = glXChooseVisual(display, DefaultScreen(display), visualAttributes);
|
||||
return vi;
|
||||
}
|
||||
|
||||
static Window makeWindow(Display *display, XVisualInfo *vi, int width, int height)
|
||||
{
|
||||
Window rootWindow = RootWindow(display, vi->screen);
|
||||
|
||||
XSetWindowAttributes attributes;
|
||||
attributes.border_pixel = 0;
|
||||
attributes.colormap = XCreateColormap(display, rootWindow, vi->visual, AllocNone);
|
||||
attributes.event_mask = (KeyPressMask | KeyReleaseMask |
|
||||
ButtonPressMask | ButtonReleaseMask |
|
||||
PointerMotionMask |
|
||||
VisibilityChangeMask |
|
||||
StructureNotifyMask |
|
||||
ExposureMask);
|
||||
|
||||
Window window = XCreateWindow(display,
|
||||
rootWindow,
|
||||
0, 0, width, height,
|
||||
0, vi->depth,
|
||||
InputOutput,
|
||||
vi->visual,
|
||||
CWBorderPixel | CWColormap | CWEventMask,
|
||||
&attributes);
|
||||
return window;
|
||||
}
|
||||
|
||||
struct GLWindow::SystemState
|
||||
{
|
||||
Display* display;
|
||||
Window window;
|
||||
GLXContext context;
|
||||
Atom delete_atom;
|
||||
Cursor cursor;
|
||||
|
||||
int width, height;
|
||||
bool visible;
|
||||
|
||||
SystemState() {
|
||||
display = 0;
|
||||
window = 0;
|
||||
width = 0;
|
||||
height = 0;
|
||||
visible = false;
|
||||
}
|
||||
~SystemState() {
|
||||
if (!display)
|
||||
return;
|
||||
|
||||
if (context) {
|
||||
destroy();
|
||||
|
||||
glXMakeCurrent(display, None, 0);
|
||||
glXDestroyContext(display, context);
|
||||
}
|
||||
|
||||
XCloseDisplay(display);
|
||||
}
|
||||
|
||||
bool init(int w, int h, const char *title)
|
||||
{
|
||||
display = XOpenDisplay(0);
|
||||
if (!display)
|
||||
return false;
|
||||
XVisualInfo *vi = makeVisualInfo(display);
|
||||
if (!vi)
|
||||
return false;
|
||||
|
||||
context = glXCreateContext(display, vi, 0, True);
|
||||
if (!context)
|
||||
return false;
|
||||
|
||||
width = w;
|
||||
height = h;
|
||||
window = makeWindow(display, vi, width, height);
|
||||
if (!window)
|
||||
return false;
|
||||
|
||||
XStoreName(display, window, title);
|
||||
|
||||
{
|
||||
XClassHint classHint;
|
||||
classHint.res_name = const_cast<char*>(title);
|
||||
char classname[] = "glwindow";
|
||||
classHint.res_class = classname;
|
||||
XSetClassHint(display, window, &classHint);
|
||||
XMapWindow(display, window);
|
||||
}
|
||||
|
||||
XEvent ev;
|
||||
do {
|
||||
XNextEvent(display, &ev);
|
||||
} while (ev.type != MapNotify);
|
||||
|
||||
visible = true;
|
||||
delete_atom = XInternAtom(display, "WM_DELETE_WINDOW", True);
|
||||
XSetWMProtocols(display, window, &delete_atom, 1);
|
||||
|
||||
cursor = XCreateFontCursor(display, ' ');
|
||||
return true;
|
||||
}
|
||||
|
||||
void destroy()
|
||||
{
|
||||
if (window) {
|
||||
XUnmapWindow(display, window);
|
||||
XDestroyWindow(display, window);
|
||||
window = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void swap_buffers()
|
||||
{
|
||||
if (window) {
|
||||
glXSwapBuffers(display, window);
|
||||
}
|
||||
}
|
||||
|
||||
void set_title(const char *title)
|
||||
{
|
||||
if (window) {
|
||||
XStoreName(display, window, title);
|
||||
}
|
||||
}
|
||||
|
||||
bool make_current()
|
||||
{
|
||||
if (!window)
|
||||
return false;
|
||||
glXMakeCurrent(display, window, context);
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
GLWindow::GLWindow(int w, int h, const char *title)
|
||||
{
|
||||
sys_state = new SystemState();
|
||||
sys_state->init(w, h, title);
|
||||
all_windows.push_back(this);
|
||||
}
|
||||
|
||||
GLWindow::~GLWindow()
|
||||
{
|
||||
for (size_t i=0; i<all_windows.size(); ++i) {
|
||||
if (all_windows[i] == this) {
|
||||
all_windows[i] = all_windows.back();
|
||||
all_windows.pop_back();
|
||||
break;
|
||||
}
|
||||
}
|
||||
delete sys_state;
|
||||
}
|
||||
|
||||
int GLWindow::width() const
|
||||
{
|
||||
return sys_state->width;
|
||||
}
|
||||
|
||||
int GLWindow::height() const
|
||||
{
|
||||
return sys_state->height;
|
||||
}
|
||||
|
||||
bool GLWindow::visible() const
|
||||
{
|
||||
return sys_state->visible;
|
||||
}
|
||||
|
||||
bool GLWindow::alive() const
|
||||
{
|
||||
return 0 != sys_state->window;
|
||||
}
|
||||
|
||||
bool GLWindow::make_current()
|
||||
{
|
||||
if (!sys_state->make_current())
|
||||
return false;
|
||||
|
||||
active_context = this;
|
||||
return true;
|
||||
}
|
||||
|
||||
void GLWindow::swap_buffers()
|
||||
{
|
||||
sys_state->swap_buffers();
|
||||
}
|
||||
|
||||
void GLWindow::set_size(int w, int h)
|
||||
{
|
||||
if (!alive())
|
||||
return;
|
||||
|
||||
XWindowChanges c;
|
||||
c.width = w;
|
||||
c.height = h;
|
||||
XConfigureWindow(sys_state->display,
|
||||
sys_state->window,
|
||||
CWWidth | CWHeight,
|
||||
&c);
|
||||
}
|
||||
|
||||
void GLWindow::set_position(int x, int y)
|
||||
{
|
||||
if (!alive())
|
||||
return;
|
||||
|
||||
XWindowChanges c;
|
||||
c.x = x;
|
||||
c.y = y;
|
||||
XConfigureWindow(sys_state->display,
|
||||
sys_state->window,
|
||||
CWX | CWY,
|
||||
&c);
|
||||
}
|
||||
|
||||
void GLWindow::set_title(const char* title)
|
||||
{
|
||||
if (!alive())
|
||||
return;
|
||||
|
||||
sys_state->set_title(title);
|
||||
}
|
||||
|
||||
static int convert_button_state(unsigned int state)
|
||||
{
|
||||
int s = 0;
|
||||
if (state & Button1Mask) s |= ButtonEvent::LEFT;
|
||||
if (state & Button2Mask) s |= ButtonEvent::MIDDLE;
|
||||
if (state & Button3Mask) s |= ButtonEvent::RIGHT;
|
||||
if (state & ControlMask) s |= ButtonEvent::MODKEY_CTRL;
|
||||
if (state & ShiftMask) s |= ButtonEvent::MODKEY_SHIFT;
|
||||
return s;
|
||||
}
|
||||
|
||||
static int convert_button(int button)
|
||||
{
|
||||
switch (button) {
|
||||
case Button1: return ButtonEvent::LEFT;
|
||||
case Button2: return ButtonEvent::MIDDLE;
|
||||
case Button3: return ButtonEvent::RIGHT;
|
||||
default: return 0;
|
||||
}
|
||||
}
|
||||
|
||||
static int convert_keycode(int key)
|
||||
{
|
||||
switch (key) {
|
||||
case XK_BackSpace: return KeyCode::BACKSPACE;
|
||||
case XK_Tab: return KeyCode::TAB;
|
||||
case XK_Return: return KeyCode::ENTER;
|
||||
case XK_Shift_L: return KeyCode::SHIFT;
|
||||
case XK_Shift_R: return KeyCode::SHIFT;
|
||||
case XK_Control_L: return KeyCode::CTRL;
|
||||
case XK_Control_R: return KeyCode::CTRL;
|
||||
case XK_Alt_L: return KeyCode::ALT;
|
||||
case XK_Alt_R: return KeyCode::ALT;
|
||||
case XK_Super_L: return KeyCode::SUPER;
|
||||
case XK_Super_R: return KeyCode::SUPER;
|
||||
case XK_Caps_Lock: return KeyCode::CAPSLOCK;
|
||||
case XK_Delete: return KeyCode::DEL;
|
||||
case XK_Escape: return KeyCode::ESCAPE;
|
||||
case XK_Left: return KeyCode::LEFT;
|
||||
case XK_Up: return KeyCode::UP;
|
||||
case XK_Right: return KeyCode::RIGHT;
|
||||
case XK_Down: return KeyCode::DOWN;
|
||||
}
|
||||
return key;
|
||||
}
|
||||
|
||||
void GLWindow::handle_events()
|
||||
{
|
||||
if (!alive())
|
||||
return;
|
||||
|
||||
XEvent event;
|
||||
KeySym key;
|
||||
const int text_size = 64;
|
||||
char text[text_size];
|
||||
int len;
|
||||
EventDispatcher dispatcher(handlers);
|
||||
|
||||
int btn, state;
|
||||
|
||||
while (XPending(sys_state->display))
|
||||
{
|
||||
XNextEvent(sys_state->display, &event);
|
||||
//std::cerr << "event " << event.type << std::endl;
|
||||
switch (event.type) {
|
||||
case ButtonPress:
|
||||
state = convert_button_state(event.xbutton.state);
|
||||
if (event.xbutton.button == Button4) {
|
||||
// MouseWheel down
|
||||
dispatcher.on_mouse_wheel(*this, state, event.xbutton.x, event.xbutton.y, 0, 1);
|
||||
} else if (event.xbutton.button == Button5) {
|
||||
// MouseWheel up
|
||||
dispatcher.on_mouse_wheel(*this, state, event.xbutton.x, event.xbutton.y, 0, -1);
|
||||
} else {
|
||||
btn = convert_button(event.xbutton.button);
|
||||
dispatcher.on_button_down(*this, btn, state, event.xbutton.x, event.xbutton.y);
|
||||
}
|
||||
break;
|
||||
|
||||
case ButtonRelease:
|
||||
if (event.xbutton.button == Button4 ||
|
||||
event.xbutton.button == Button5)
|
||||
break;
|
||||
btn = convert_button(event.xbutton.button);
|
||||
state = convert_button_state(event.xbutton.state);
|
||||
dispatcher.on_button_up(*this, btn, state, event.xbutton.x, event.xbutton.y);
|
||||
break;
|
||||
|
||||
case MotionNotify:
|
||||
state = convert_button_state(event.xbutton.state);
|
||||
dispatcher.on_mouse_move(*this, state, event.xmotion.x, event.xmotion.y);
|
||||
break;
|
||||
|
||||
case KeyPress:
|
||||
len = XLookupString(&event.xkey, text, text_size-1, &key, 0);
|
||||
dispatcher.on_key_down(*this, convert_keycode(key));
|
||||
if (len > 0) {
|
||||
text[len] = 0;
|
||||
dispatcher.on_text(*this, text, len);
|
||||
}
|
||||
break;
|
||||
|
||||
case KeyRelease:
|
||||
XLookupString(&event.xkey, 0, 0, &key, 0);
|
||||
dispatcher.on_key_up(*this, convert_keycode(key));
|
||||
break;
|
||||
|
||||
case ConfigureNotify:
|
||||
sys_state->width = event.xconfigure.width;
|
||||
sys_state->height = event.xconfigure.height;
|
||||
dispatcher.on_resize(*this, event.xconfigure.x, event.xconfigure.y,
|
||||
sys_state->width, sys_state->height);
|
||||
break;
|
||||
|
||||
case VisibilityNotify:
|
||||
if (event.xvisibility.state == VisibilityFullyObscured)
|
||||
sys_state->visible = false;
|
||||
else
|
||||
sys_state->visible = true;
|
||||
break;
|
||||
|
||||
case DestroyNotify:
|
||||
//std::cerr << "DestroyNotify" << std::endl;
|
||||
//sys_state->window = 0;
|
||||
break;
|
||||
|
||||
case Expose:
|
||||
//std::cerr << "Expose" << std::endl;
|
||||
break;
|
||||
|
||||
case ClientMessage:
|
||||
if (event.xclient.data.l[0] == (int)sys_state->delete_atom) {
|
||||
if (!dispatcher.on_close(*this))
|
||||
destroy();
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GLWindow::destroy()
|
||||
{
|
||||
sys_state->destroy();
|
||||
}
|
||||
@ -0,0 +1,181 @@
|
||||
// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
|
||||
|
||||
#include "scenewindow.hpp"
|
||||
#include <GL/gl.h>
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
|
||||
using namespace glwindow;
|
||||
|
||||
SceneWindow::SceneWindow(int width, int height, const char *title)
|
||||
: win(width, height, title)
|
||||
{
|
||||
dragging = false;
|
||||
drawing = false;
|
||||
win.add_handler(this);
|
||||
}
|
||||
|
||||
SceneWindow::~SceneWindow()
|
||||
{
|
||||
}
|
||||
|
||||
void SceneWindow::update()
|
||||
{
|
||||
win.handle_events();
|
||||
}
|
||||
|
||||
SceneWindow::Viewpoint::Viewpoint()
|
||||
{
|
||||
target[0] = -0.05;
|
||||
target[1] = -0.75;
|
||||
target[2] = 0.;
|
||||
azimuth = 0.;
|
||||
elevation = 0.0;
|
||||
distance = 8.0;
|
||||
}
|
||||
|
||||
static void set_viewpoint(const SceneWindow::Viewpoint &vp)
|
||||
{
|
||||
const double RAD_TO_DEG = 180.0 / 3.141592653589793;
|
||||
glTranslated(0,0,vp.distance);
|
||||
glRotated(vp.elevation * RAD_TO_DEG, 1, 0, 0);
|
||||
glRotated(vp.azimuth * RAD_TO_DEG, 0, 1, 0);
|
||||
glTranslated(-vp.target[0], -vp.target[1], -vp.target[2]);
|
||||
}
|
||||
|
||||
bool SceneWindow::start_draw()
|
||||
{
|
||||
if (!win.alive() || drawing)
|
||||
return false;
|
||||
|
||||
drawing = true;
|
||||
|
||||
win.push_context();
|
||||
glPushAttrib(GL_COLOR_BUFFER_BIT | GL_CURRENT_BIT | GL_ENABLE_BIT);
|
||||
|
||||
glViewport(0, 0, win.width(), win.height());
|
||||
double aspect = (double)win.width() / (double)std::max(win.height(),1);
|
||||
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
double znear = 0.01;
|
||||
double zfar = 100.0;
|
||||
double fy = 0.6 * znear;
|
||||
double fx = aspect * fy;
|
||||
glFrustum(-fx,fx,-fy,fy, znear, zfar);
|
||||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glLoadIdentity();
|
||||
glScaled(1, -1, -1);
|
||||
|
||||
set_viewpoint(viewpoint);
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
glDepthFunc(GL_LEQUAL);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
glEnable(GL_BLEND);
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void SceneWindow::finish_draw()
|
||||
{
|
||||
if (!drawing)
|
||||
return;
|
||||
|
||||
glPopAttrib();
|
||||
glFlush();
|
||||
win.swap_buffers();
|
||||
win.handle_events();
|
||||
|
||||
win.pop_context();
|
||||
drawing = false;
|
||||
}
|
||||
|
||||
bool SceneWindow::on_key_down(GLWindow& win, int key)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
bool SceneWindow::on_button_down(GLWindow& win, int btn, int state, int x, int y)
|
||||
{
|
||||
if (dragging)
|
||||
return false;
|
||||
|
||||
//std::cerr << "down " << btn << std::endl;
|
||||
drag_btn = btn;
|
||||
x0 = x;
|
||||
y0 = y;
|
||||
vp0 = viewpoint;
|
||||
inv_w0 = 1.0 / win.width();
|
||||
inv_h0 = 1.0 / win.height();
|
||||
dragging = true;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool SceneWindow::on_button_up(GLWindow& win, int btn, int state, int x, int y)
|
||||
{
|
||||
//std::cerr << "up " << btn << std::endl;
|
||||
dragging = false;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool SceneWindow::on_mouse_move(GLWindow& win, int state, int x, int y)
|
||||
{
|
||||
int idx = x - x0;
|
||||
int idy = y - y0;
|
||||
double dx = idx * inv_w0;
|
||||
double dy = idy * inv_w0;
|
||||
|
||||
//std::cerr << dx << ", " << dy << std::endl;
|
||||
|
||||
if (!dragging)
|
||||
return false;
|
||||
|
||||
if (drag_btn == ButtonEvent::LEFT) {
|
||||
viewpoint.azimuth = vp0.azimuth - dx * 4.0;
|
||||
viewpoint.elevation = vp0.elevation + dy * 4.0;
|
||||
return true;
|
||||
} else if (drag_btn == ButtonEvent::RIGHT) {
|
||||
viewpoint.distance = ::exp(dy * 4.0) * vp0.distance;
|
||||
return true;
|
||||
} else if (drag_btn == ButtonEvent::MIDDLE) {
|
||||
double sa = ::sin(-vp0.azimuth);
|
||||
double ca = ::cos(-vp0.azimuth);
|
||||
double se = ::sin(vp0.elevation);
|
||||
double ce = ::cos(vp0.elevation);
|
||||
|
||||
double tx = -idx * 0.003;
|
||||
double ty = -idy * 0.003;
|
||||
|
||||
double dtx = ca * tx - se*sa*ty;
|
||||
double dty = ce * ty;
|
||||
double dtz = -sa*tx - se*ca*ty;
|
||||
double r = vp0.distance;
|
||||
|
||||
viewpoint.target[0] = vp0.target[0] + r*dtx;
|
||||
viewpoint.target[1] = vp0.target[1] + r*dty;
|
||||
viewpoint.target[2] = vp0.target[2] + r*dtz;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool SceneWindow::on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy)
|
||||
{
|
||||
viewpoint.distance *= ::exp(dy * -0.08);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool SceneWindow::on_resize(GLWindow& win, int x, int y, int w, int h)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
@ -0,0 +1,49 @@
|
||||
// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "glwindow.hpp"
|
||||
|
||||
namespace glwindow
|
||||
{
|
||||
|
||||
class SceneWindow : public EventHandler
|
||||
{
|
||||
public:
|
||||
|
||||
struct Viewpoint
|
||||
{
|
||||
double target[3];
|
||||
double azimuth, elevation, distance;
|
||||
Viewpoint();
|
||||
};
|
||||
|
||||
SceneWindow(int width, int height, const char *title);
|
||||
virtual ~SceneWindow();
|
||||
|
||||
void update();
|
||||
|
||||
bool start_draw();
|
||||
void finish_draw();
|
||||
|
||||
GLWindow win;
|
||||
Viewpoint viewpoint;
|
||||
|
||||
protected:
|
||||
bool on_key_down(GLWindow& win, int key);
|
||||
bool on_button_down(GLWindow& win, int btn, int state, int x, int y);
|
||||
bool on_button_up(GLWindow& win, int btn, int state, int x, int y);
|
||||
bool on_mouse_move(GLWindow& win, int state, int x, int y);
|
||||
bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy);
|
||||
bool on_resize(GLWindow& win, int x, int y, int w, int h);
|
||||
|
||||
bool dragging;
|
||||
int drag_btn;
|
||||
int x0, y0;
|
||||
double inv_w0, inv_h0;
|
||||
Viewpoint vp0;
|
||||
|
||||
bool drawing;
|
||||
};
|
||||
|
||||
}
|
||||
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Reference in new issue