parent
e394f4a07c
commit
313f55660c
@ -1,237 +0,0 @@
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cmake_minimum_required(VERSION 3.0.2)
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project(Air_Ground_CEC)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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cv_bridge
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sensor_msgs
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image_transport
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installedsudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES Air_Ground_CEC
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# CATKIN_DEPENDS roscpp
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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find_package(OpenCV REQUIRED)
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find_package(Qt5 REQUIRED COMPONENTS Widgets )
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_AUTOUIC ON)
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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set(SOURCES
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src/include/qnode.hpp
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src/include/joystick.h
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src/include/dashboard.h
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src/main/main.cpp
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src/main/mainwindow.cpp
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src/main/qnode.cpp
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src/main/joystick.cpp
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src/main/dashboard.cpp
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src/ui/mainwindow.hpp
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src/ui/mainwindow.ui
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)
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QT5_add_resources(qrc_Files src/resources/images.qrc)
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include/Air_Ground_CEC
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${catkin_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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)
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add_executable(Air_Ground_CEC ${SOURCES} ${qrc_Files})
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target_link_libraries(Air_Ground_CEC
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Qt5::Widgets
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${catkin_LIBRARIES}
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${OpenCV_LIBRARIES}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/Air_Ground_CEC.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/Air_Ground_CEC_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_Air_Ground_CEC.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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@ -1,73 +0,0 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>Air_Ground_CEC</name>
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<version>0.1.0</version>
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<description>The Air_Ground_CEC package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="jackyma@todo.todo">jackyma</maintainer>
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||||
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<!-- One license tag required, multiple allowed, one license per tag -->
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||||
<!-- Commonly used license strings: -->
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||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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||||
<license>Apache 2.0</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/Air_Ground_CEC</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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||||
<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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||||
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||||
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||||
<!-- The *depend tags are used to specify dependencies -->
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||||
<!-- Dependencies can be catkin packages or system dependencies -->
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||||
<!-- Examples: -->
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||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
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||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
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||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
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||||
<build_depend>roscpp</build_depend>
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<exec_depend>roscpp</exec_depend>
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||||
|
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<build_depend>opencv2</build_depend>
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<build_export_depend>opencv2</build_export_depend>
|
||||
<exec_depend>opencv2</exec_depend>
|
||||
|
||||
<build_depend>message_generation</build_depend>
|
||||
<build_export_depend>message_generation</build_export_depend>
|
||||
<exec_depend>message_runtime</exec_depend>
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||||
|
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<build_depend>std_msgs sensor_msgs cv_bridge image_transport</build_depend>
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<build_export_depend>std_msgs sensor_msgs cv_bridge image_transport</build_export_depend>
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||||
<exec_depend>std_msgs sensor_msgs cv_bridge image_transport</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
|
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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@ -1,146 +0,0 @@
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#include"Djitellowhite.h"
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#include<iostream>
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#include<opencv2/opencv.hpp>
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#include<stdio.h>
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#include<sys/socket.h>
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#include<string.h>
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#include<arpa/inet.h>
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#include<sys/types.h>
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using namespace cv;
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using namespace std;
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Tello::Tello(const char* IP) {
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this->stream_on=false;
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this->host = inet_addr(IP);
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cout << "create successfully!" << endl;
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}
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Tello::~Tello() {}
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void Tello::set_conf(int socket){
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this->sock = socket;
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}
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void Tello::get_connect(sockaddr_in serveraddr) {
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char tmp[10] = {"command"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "connect successfully!" <<endl;
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}
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unsigned long Tello::gethost(){
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return this->host;
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}
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void Tello::takeoff(sockaddr_in serveraddr) {
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char tmp[10] = {"takeoff"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "takeoff successfully!" <<endl;
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}
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void Tello::land(sockaddr_in serveraddr) {
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char tmp[10] = {"land"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "land successfully!" <<endl;
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}
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bool Tello::send_message(char* msg,sockaddr_in server_addr,int timeout){
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char buffer[BUFFER_SIZE];
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memset(buffer,0,sizeof(buffer));
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strcpy(buffer,msg);
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//cout << buffer;
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sendto(this->sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr));
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return true;
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}
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void* Tello::udp_response_receiver(void* arg){
|
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//int m_SockServer; //创建socket对象
|
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//sockaddr_in serveraddr; //创建sockaddr_in对象储存自身信息(当有多个端口，可以多个绑定)
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//sockaddr_in serveraddrfrom;
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//serveraddr.sin_family = AF_INET; //设置服务器地址家族
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//serveraddr.sin_port = htons(8889); //设置服务器端口号
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//serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0");
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//m_SockServer = socket(AF_INET, SOCK_DGRAM, 0); //创建一个临时变量并赋值给m_SockServer
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//int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr)); //把名字和套接字绑定
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//std::cout << "bind:" << i << std::endl;
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|
||||
int socket = *(int *)arg;
|
||||
|
||||
cout << "receive start" << endl;
|
||||
while(1){
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||||
char buffer[20];
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int iret;
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memset(buffer,0,sizeof(buffer));
|
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|
||||
iret = recv(socket, buffer,20,MSG_WAITALL);
|
||||
if(iret > 0 && iret <10){
|
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printf("Message from tello: %s\n", buffer);
|
||||
}
|
||||
}
|
||||
}
|
||||
void Tello::forward(sockaddr_in serveraddr){
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||||
char tmp[15] = {"forward 20"};
|
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "forward successfully!" <<endl;
|
||||
}
|
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void Tello::back(sockaddr_in serveraddr){
|
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char tmp[15] = {"back 20"};
|
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send_message(tmp,serveraddr,0);// 0 -> timeout
|
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cout << "back successfully!" <<endl;
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||||
}
|
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void Tello::left(sockaddr_in serveraddr){
|
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char tmp[15] = {"left 20"};
|
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "left successfully!" <<endl;
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}
|
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void Tello::right(sockaddr_in serveraddr){
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char tmp[15] = {"right 20"};
|
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send_message(tmp,serveraddr,0);// 0 -> timeout
|
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cout << "right successfully!" <<endl;
|
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}
|
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void Tello::up(sockaddr_in serveraddr){
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char tmp[15] = {"up 20"};
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send_message(tmp,serveraddr,0);// 0 -> timeout
|
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cout << "up successfully!" <<endl;
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}
|
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void Tello::down(sockaddr_in serveraddr){
|
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char tmp[15] = {"down 20"};
|
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "down successfully!" <<endl;
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}
|
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void Tello::cw(sockaddr_in serveraddr){
|
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char tmp[15] = {"cw 20"};
|
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "cw successfully!" <<endl;
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}
|
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void Tello::ccw(sockaddr_in serveraddr){
|
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char tmp[15] = {"ccw 20"};
|
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send_message(tmp,serveraddr,0);// 0 -> timeout
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cout << "ccw successfully!" <<endl;
|
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}
|
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void Tello::get_video(sockaddr_in serveraddr){
|
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|
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char tmp[15] = {"streamon"};
|
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send_message(tmp,serveraddr,0);
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cout << "stream_on successfully!" <<endl;
|
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this->stream_on = true;
|
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|
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cout << "vid";
|
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VideoCapture cap("udp://@0.0.0.0:11111");
|
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cout << "cap";
|
||||
if(!cap.isOpened()){
|
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cout << "fuck off";
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return;
|
||||
}
|
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|
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Mat frame;
|
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cout << "continue!";
|
||||
while(1){
|
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cap>>frame;
|
||||
if(frame.empty())
|
||||
break;
|
||||
imshow("video",frame);
|
||||
waitKey(20);
|
||||
|
||||
}
|
||||
cap.release();
|
||||
|
||||
|
||||
}
|
||||
@ -1,80 +0,0 @@
|
||||
#ifndef _DJITELLOWHITE_H
|
||||
#define _DJITELLOWHITE_H
|
||||
#include<iostream>
|
||||
#include<sys/socket.h>
|
||||
#include<arpa/inet.h>
|
||||
#include<pthread.h>
|
||||
#include<cstring>
|
||||
#include<unistd.h>
|
||||
/*Library for interacting with DJI Ryze Tello drones.*/
|
||||
|
||||
|
||||
//coding = utf - 8
|
||||
|
||||
/* """C++ wrapper to interact with the Ryze Tello drone using the official Tello api.
|
||||
Tello API documentation:
|
||||
[1.3](https://dl-cdn.ryzerobotics.com/downloads/tello/20180910/Tello%20SDK%20Documentation%20EN_1.3.pdf)
|
||||
*/
|
||||
|
||||
#define RESPONSE_TIMEOUT 7 //in seconds
|
||||
#define TAKEOFF_TIMEOUT 20 //in seconds
|
||||
#define FRAME_GRAB_TIMEOUT 3
|
||||
#define TIME_BTW_COMMANDS 0.1 //in seconds
|
||||
#define TIME_BTW_RC_CONTROL_COMMANDS 0.001 //in seconds
|
||||
#define RETRY_COUNT 3 //number of retries after a failed command
|
||||
|
||||
|
||||
//Video stream, server socket
|
||||
#define VS_UDP_IP "0.0.0.0"
|
||||
#define VS_UDP_PORT 11111
|
||||
|
||||
#define CONTROL_UDP_PORT 8889
|
||||
#define STATE_UDP_PORT 8890
|
||||
|
||||
#define BUFFER_SIZE 1024
|
||||
//Constants for video settings
|
||||
#define BITRATE_AUTO 0
|
||||
#define BITRATE_1MBPS 1
|
||||
#define BITRATE_2MBPS 2
|
||||
#define BITRATE_3MBPS 3
|
||||
#define BITRATE_4MBPS 4
|
||||
#define BITRATE_5MBPS 5
|
||||
#define RESOLUTION_480P "low"
|
||||
#define RESOLUTION_720P "high"
|
||||
#define FPS_5 "low"
|
||||
#define FPS_15 "middle"
|
||||
#define FPS_30 "high"
|
||||
#define CAMERA_FORWARD 0
|
||||
#define CAMERA_DOWNWARD 1
|
||||
//日志模块暂时不写
|
||||
|
||||
class Tello {
|
||||
private:
|
||||
int sock;
|
||||
bool stream_on;
|
||||
unsigned long host;
|
||||
public:
|
||||
Tello(const char* IP);
|
||||
~Tello();
|
||||
void set_conf(int socket);
|
||||
unsigned long gethost();
|
||||
void get_connect(sockaddr_in serveraddr);
|
||||
void takeoff(sockaddr_in serveraddr);
|
||||
void land(sockaddr_in serveraddr);
|
||||
void forward(sockaddr_in serveraddr);
|
||||
void back(sockaddr_in serveraddr);
|
||||
void left(sockaddr_in serveraddr);
|
||||
void right(sockaddr_in serveraddr);
|
||||
void up(sockaddr_in serveraddr);
|
||||
void down(sockaddr_in serveraddr);
|
||||
void cw(sockaddr_in serveraddr);
|
||||
void ccw(sockaddr_in serveraddr);
|
||||
bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT);
|
||||
static void *udp_response_receiver(void* arg);
|
||||
void get_video(sockaddr_in serveraddr);
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
Binary file not shown.
@ -1,6 +0,0 @@
|
||||
#ifndef _HARDWARELISTENER_H
|
||||
#define _HARDWARELISTENER_H
|
||||
#include "Djitellowhite.h"
|
||||
int listenkeyboard(Tello T,sockaddr_in serveraddr);
|
||||
int scanKeyboard();
|
||||
#endif
|
||||
@ -1,45 +0,0 @@
|
||||
#include"Djitellowhite.h"
|
||||
#include"Hardwarelistener.h"
|
||||
#include<iostream>
|
||||
using namespace std;
|
||||
int main(void){
|
||||
Tello T("192.168.10.1");
|
||||
int socket_fd, err;
|
||||
|
||||
if((socket_fd = socket(PF_INET,SOCK_DGRAM,IPPROTO_UDP))==-1)
|
||||
{
|
||||
cout << "initialized error" << endl;
|
||||
cout << 0;
|
||||
return -1;
|
||||
}
|
||||
|
||||
//cout << 1 << socket_fd;
|
||||
T.set_conf(socket_fd);
|
||||
|
||||
pthread_t thread_receive;
|
||||
err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd);
|
||||
sleep(3);
|
||||
struct sockaddr_in serveraddr;
|
||||
memset(&serveraddr,0,sizeof(serveraddr));
|
||||
serveraddr.sin_family=AF_INET;
|
||||
serveraddr.sin_addr.s_addr=T.gethost();
|
||||
serveraddr.sin_port=htons(CONTROL_UDP_PORT);
|
||||
|
||||
|
||||
|
||||
if(err!=0)
|
||||
{
|
||||
cout << err << " " << "can't create thread";
|
||||
}
|
||||
|
||||
T.get_connect(serveraddr);
|
||||
//sleep(1);
|
||||
//T.takeoff(serveraddr);
|
||||
T.get_video(serveraddr);
|
||||
sleep(5);
|
||||
//T.land(serveraddr);
|
||||
|
||||
pthread_join(thread_receive,NULL);
|
||||
listenkeyboard(T,serveraddr);
|
||||
return 0;
|
||||
}
|
||||
@ -1,57 +0,0 @@
|
||||
#include <termio.h>
|
||||
#include <stdio.h>
|
||||
#include "Hardwarelistener.h"
|
||||
#include <iostream>
|
||||
|
||||
using namespace std;
|
||||
int scanKeyboard()
|
||||
{
|
||||
|
||||
int in;
|
||||
|
||||
struct termios new_settings;
|
||||
struct termios stored_settings;
|
||||
//设置终端参数
|
||||
tcgetattr(0,&stored_settings);
|
||||
new_settings = stored_settings;
|
||||
new_settings.c_lflag &= (~ICANON);
|
||||
new_settings.c_cc[VTIME] = 0;
|
||||
tcgetattr(0,&stored_settings);
|
||||
new_settings.c_cc[VMIN] = 1;
|
||||
tcsetattr(0,TCSANOW,&new_settings);
|
||||
in = getchar();
|
||||
tcsetattr(0,TCSANOW,&stored_settings);
|
||||
|
||||
return in;
|
||||
|
||||
}
|
||||
|
||||
//测试函数
|
||||
int listenkeyboard(Tello T, sockaddr_in serveraddr){
|
||||
while(1){
|
||||
switch(scanKeyboard())
|
||||
{
|
||||
case (int)'w':
|
||||
cout << "forward"<< endl;
|
||||
T.forward(serveraddr);
|
||||
break;
|
||||
case (int)'s':
|
||||
cout << "back" << endl;
|
||||
T.back(serveraddr);
|
||||
break;
|
||||
case (int)'a':
|
||||
cout << "left" <<endl;
|
||||
T.left(serveraddr);
|
||||
break;
|
||||
case (int)'d':
|
||||
cout << "right"<<endl;
|
||||
T.right(serveraddr);
|
||||
break;
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
|
||||
// while(1){
|
||||
// printf("%d\n",scanKeyboard());
|
||||
// }
|
||||
}
|
||||
Binary file not shown.
@ -1,21 +0,0 @@
|
||||
obj = Djitellowhite.o keyboard.cpp Triplet.cpp
|
||||
CXXFLAGS += -c -Wall $(shell pkg-config --cflags opencv4)
|
||||
LDFLAGS += $(shell pkg-config --libs --static opencv4)
|
||||
test : $(obj)
|
||||
$(CXX) -o test $(obj) $(LDFLAGS)
|
||||
|
||||
Djitellowhite.o : Djitellowhite.h
|
||||
$(CXX) -c Djitellowhite.cpp $(CXXFLAGS)
|
||||
|
||||
keyboard.o : Hardwarelistener.h
|
||||
$(CXX) -c keyboard.cpp $(CXXFLAGS)
|
||||
|
||||
Triplet : Djitellowhite.h Hardwarelistener.h
|
||||
$(CXX) -c Triplet.cpp -lpthread $(CXXFLAGS)
|
||||
|
||||
.PHONY : clean
|
||||
clean :
|
||||
rm test $(obj)
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
@ -1,53 +0,0 @@
|
||||
#ifndef DASHBOARD_H
|
||||
#define DASHBOARD_H
|
||||
|
||||
#include <QWidget>
|
||||
|
||||
class DashBoard : public QWidget {
|
||||
Q_OBJECT
|
||||
public:
|
||||
enum Gear {
|
||||
kGear_1 = 1,
|
||||
kGear_2,
|
||||
kGear_3,
|
||||
kGear_4,
|
||||
kGear_5,
|
||||
kGear_6,
|
||||
kGear_7,
|
||||
kGear_8,
|
||||
kGear_D,
|
||||
kGear_N,
|
||||
kGear_P,
|
||||
kGear_R
|
||||
};
|
||||
|
||||
public:
|
||||
explicit DashBoard(QWidget* parent = nullptr);
|
||||
|
||||
public slots:
|
||||
void set_gear(const Gear gear);
|
||||
void set_rpm(const int rpm);
|
||||
void set_speed(const int speed);
|
||||
void set_temperature(const double temperature);
|
||||
void set_oil(const int oil);
|
||||
|
||||
protected:
|
||||
void paintEvent(QPaintEvent* event);
|
||||
|
||||
private:
|
||||
void draw_tachometer(QPainter& painter); // 转速表
|
||||
void draw_speedometer(QPainter& painter); // 迈速表
|
||||
void draw_gear(QPainter& painter); // 挡位
|
||||
void draw_thermometer(QPainter& painter); // 水箱温度计
|
||||
void draw_oil_meter(QPainter& painter); // 油表
|
||||
|
||||
private:
|
||||
Gear _gear{kGear_N};
|
||||
int _rpm;
|
||||
int _speed;
|
||||
double _temperature;
|
||||
int _oil;
|
||||
QWidget* parent;
|
||||
};
|
||||
|
||||
#endif // DASHBOARD_H
|
||||
@ -1,55 +0,0 @@
|
||||
#ifndef JOYSTICK_H
|
||||
#define JOYSTICK_H
|
||||
|
||||
#include <QDebug>
|
||||
#include <QDrag>
|
||||
#include <QMouseEvent>
|
||||
#include <QPainter>
|
||||
#include <QTimer>
|
||||
#include <QWidget>
|
||||
#include <QtMath>
|
||||
class JoyStick : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
JoyStick(QWidget *parent = 0);
|
||||
~JoyStick();
|
||||
enum {
|
||||
upleft = 0,
|
||||
up,
|
||||
upright,
|
||||
left,
|
||||
stop,
|
||||
right,
|
||||
downleft,
|
||||
down,
|
||||
downright
|
||||
};
|
||||
signals:
|
||||
void keyNumchanged(int num);
|
||||
|
||||
protected:
|
||||
void paintEvent(QPaintEvent *event) override;
|
||||
void mouseMoveEvent(QMouseEvent *event) override;
|
||||
void mouseReleaseEvent(QMouseEvent *event) override;
|
||||
void mousePressEvent(QMouseEvent *event) override;
|
||||
// void resizeEvent(QResizeEvent *event)override;
|
||||
private:
|
||||
int mouseX;
|
||||
int mouseY;
|
||||
int JoyStickX; //摇杆
|
||||
int JoyStickY;
|
||||
int JoyStickR;
|
||||
int padX; //底盘
|
||||
int padY;
|
||||
int padR;
|
||||
double handPadDis; //两圆圆心距离
|
||||
bool mousePressed;
|
||||
QTimer *tim;
|
||||
|
||||
private:
|
||||
double Pointdis(int a, int b, int x, int y); //两点距离
|
||||
int getKeyNum();
|
||||
};
|
||||
|
||||
#endif // JoyStick_H
|
||||
@ -1,64 +0,0 @@
|
||||
#ifndef Air_Ground_CEC_QNODE_HPP_
|
||||
#define Air_Ground_CEC_QNODE_HPP_
|
||||
|
||||
#ifndef Q_MOC_RUN
|
||||
#include <ros/ros.h>
|
||||
#endif
|
||||
#include <iostream>
|
||||
|
||||
#include <QImage>
|
||||
#include <QThread>
|
||||
#include <QStringListModel>
|
||||
#include <QSettings>
|
||||
|
||||
#include <opencv2/core/core.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
|
||||
#include <std_msgs/String.h>
|
||||
#include <ros/network.h>
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <geometry_msgs/Twist.h>
|
||||
#include <nav_msgs/Odometry.h>
|
||||
#include <std_msgs/Float64.h>
|
||||
#include <std_msgs/Float32.h>
|
||||
|
||||
using namespace std;
|
||||
|
||||
class QNode : public QThread{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
QNode(int argc, char **argv);
|
||||
virtual ~QNode();
|
||||
bool init();
|
||||
void SubAndPubTopic();
|
||||
void KeyboardMove(char key, float speed_linear, float speed_trun);
|
||||
|
||||
Q_SIGNALS:
|
||||
void speed_x(double x);
|
||||
void speed_th(double th);
|
||||
void power(float p);
|
||||
|
||||
private:
|
||||
int init_argc;
|
||||
char **init_argv;
|
||||
ros::Publisher chatter_publisher;
|
||||
ros::Subscriber chatter_subscriber;
|
||||
ros::Publisher cmd_pub;
|
||||
ros::Subscriber cmdVel_sub;
|
||||
ros::Subscriber power_sub;
|
||||
|
||||
QString odom_topic;
|
||||
QString batteryState_topic;
|
||||
|
||||
|
||||
void speedCallback(const nav_msgs::Odometry::ConstPtr& msg);
|
||||
void powerCallback(const std_msgs::Float32& message_holder);
|
||||
void myCallback(const std_msgs::Float64& message_holder);
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@ -1,27 +0,0 @@
|
||||
|
||||
#include "../ui/mainwindow.hpp"
|
||||
|
||||
#include <QApplication>
|
||||
|
||||
#include <ros/ros.h>
|
||||
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
|
||||
|
||||
QApplication app(argc, argv);
|
||||
MainWindow CEC(0,0,0);
|
||||
|
||||
CEC.show();
|
||||
return app.exec();
|
||||
|
||||
return(0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* find . "(" -name "*.cpp" -or -name "*.h" -or -name "*.hpp" -or -name "*.qrc" ")" -print | xargs wc -l
|
||||
*/
|
||||
@ -1,78 +0,0 @@
|
||||
#include "../include/qnode.hpp"
|
||||
|
||||
#include "sensor_msgs/image_encodings.h"
|
||||
|
||||
QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
QNode::~QNode() {
|
||||
if (ros::isStarted()) {
|
||||
ros::shutdown(); // explicitly needed since we use ros::start();
|
||||
ros::waitForShutdown();
|
||||
}
|
||||
wait();
|
||||
}
|
||||
|
||||
bool QNode::init() {
|
||||
QSettings topic_setting("ros_controller", "settings");
|
||||
odom_topic = topic_setting.value("topic/topic_odom", "odom").toString();
|
||||
batteryState_topic =
|
||||
topic_setting.value("topic/topic_power", "battery_state").toString();
|
||||
ros::init(init_argc,init_argv,"Air_Ground_CEC",
|
||||
ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
|
||||
SubAndPubTopic();
|
||||
return true;
|
||||
}
|
||||
|
||||
void QNode::SubAndPubTopic(){
|
||||
ros::NodeHandle n;
|
||||
//创建速度话题的订阅者
|
||||
cmdVel_sub = n.subscribe<nav_msgs::Odometry>(odom_topic.toStdString(), 200,
|
||||
&QNode::speedCallback, this);
|
||||
//power_sub = n.subscribe(batteryState_topic.toStdString(), 1000,
|
||||
// &QNode::powerCallback, this);
|
||||
cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
|
||||
}
|
||||
|
||||
void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
|
||||
std::map<char, std::vector<float>> moveBindings {
|
||||
// {'key', {x, y, z, th}}
|
||||
{'7', {1, 1, 0, 1}}, {'8', {1, 0, 0, 0}}, {'9', {1, -1, 0, -1}},
|
||||
{'4', {0, 0, 0, 1}}, {'5', {0, 0, 0, 0}}, {'6', {0, 0, 0, -1}},
|
||||
{'1', {-1, 1, 0, 1}}, {'2', {-1, 0, 0, 0}}, {'3', {-1, -1, 0, -1}}
|
||||
};
|
||||
|
||||
float x = moveBindings[key][0];
|
||||
float y = moveBindings[key][1];
|
||||
float z = moveBindings[key][2];
|
||||
float th = moveBindings[key][3];
|
||||
|
||||
//计算线速度和角速度
|
||||
float speed = speed_linear;
|
||||
float turn = speed_trun;
|
||||
|
||||
|
||||
|
||||
geometry_msgs::Twist twist;
|
||||
twist.linear.x = x * speed;
|
||||
twist.linear.y = y * speed;
|
||||
twist.linear.z = z * speed;
|
||||
|
||||
twist.angular.x = 0;
|
||||
twist.angular.y = 0;
|
||||
twist.angular.z = th * turn;
|
||||
|
||||
cmd_pub.publish(twist);
|
||||
ros::spinOnce();
|
||||
}
|
||||
|
||||
//速度回调函数
|
||||
void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
|
||||
{
|
||||
emit speed_x(msg->twist.twist.linear.x);
|
||||
emit speed_th(msg->twist.twist.angular.z);
|
||||
}
|
||||
@ -1,20 +0,0 @@
|
||||
<RCC>
|
||||
<qresource prefix="/">
|
||||
<file>images/down.png</file>
|
||||
<file>images/down_2.png</file>
|
||||
<file>images/down_left.png</file>
|
||||
<file>images/down_left_2.png</file>
|
||||
<file>images/down_right.png</file>
|
||||
<file>images/down_right_2.png</file>
|
||||
<file>images/left.png</file>
|
||||
<file>images/left_2.png</file>
|
||||
<file>images/right.png</file>
|
||||
<file>images/right_2.png</file>
|
||||
<file>images/up.png</file>
|
||||
<file>images/up_2.png</file>
|
||||
<file>images/up_left.png</file>
|
||||
<file>images/up_left_2.png</file>
|
||||
<file>images/up_right.png</file>
|
||||
<file>images/up_right_2.png</file>
|
||||
</qresource>
|
||||
</RCC>
|
||||
|
Before Width: | Height: | Size: 1.4 KiB |
|
Before Width: | Height: | Size: 910 B |
|
Before Width: | Height: | Size: 1.9 KiB |
|
Before Width: | Height: | Size: 1.9 KiB |
|
Before Width: | Height: | Size: 1.9 KiB |
|
Before Width: | Height: | Size: 1.9 KiB |
|
Before Width: | Height: | Size: 719 B |
|
Before Width: | Height: | Size: 2.0 KiB |
|
Before Width: | Height: | Size: 764 B |
|
Before Width: | Height: | Size: 723 B |
|
Before Width: | Height: | Size: 1.2 KiB |
|
Before Width: | Height: | Size: 2.5 KiB |
|
Before Width: | Height: | Size: 1.9 KiB |
|
Before Width: | Height: | Size: 2.6 KiB |
|
Before Width: | Height: | Size: 1.9 KiB |
|
Before Width: | Height: | Size: 2.8 KiB |
@ -1,73 +0,0 @@
|
||||
# This file is used to ignore files which are generated
|
||||
# ----------------------------------------------------------------------------
|
||||
|
||||
*~
|
||||
*.autosave
|
||||
*.a
|
||||
*.core
|
||||
*.moc
|
||||
*.o
|
||||
*.obj
|
||||
*.orig
|
||||
*.rej
|
||||
*.so
|
||||
*.so.*
|
||||
*_pch.h.cpp
|
||||
*_resource.rc
|
||||
*.qm
|
||||
.#*
|
||||
*.*#
|
||||
core
|
||||
!core/
|
||||
tags
|
||||
.DS_Store
|
||||
.directory
|
||||
*.debug
|
||||
Makefile*
|
||||
*.prl
|
||||
*.app
|
||||
moc_*.cpp
|
||||
ui_*.h
|
||||
qrc_*.cpp
|
||||
Thumbs.db
|
||||
*.res
|
||||
*.rc
|
||||
/.qmake.cache
|
||||
/.qmake.stash
|
||||
|
||||
# qtcreator generated files
|
||||
*.pro.user*
|
||||
|
||||
# xemacs temporary files
|
||||
*.flc
|
||||
|
||||
# Vim temporary files
|
||||
.*.swp
|
||||
|
||||
# Visual Studio generated files
|
||||
*.ib_pdb_index
|
||||
*.idb
|
||||
*.ilk
|
||||
*.pdb
|
||||
*.sln
|
||||
*.suo
|
||||
*.vcproj
|
||||
*vcproj.*.*.user
|
||||
*.ncb
|
||||
*.sdf
|
||||
*.opensdf
|
||||
*.vcxproj
|
||||
*vcxproj.*
|
||||
|
||||
# MinGW generated files
|
||||
*.Debug
|
||||
*.Release
|
||||
|
||||
# Python byte code
|
||||
*.pyc
|
||||
|
||||
# Binaries
|
||||
# --------
|
||||
*.dll
|
||||
*.exe
|
||||
|
||||
@ -1,38 +0,0 @@
|
||||
QT += core gui
|
||||
|
||||
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
|
||||
|
||||
CONFIG += c++11
|
||||
|
||||
# The following define makes your compiler emit warnings if you use
|
||||
# any Qt feature that has been marked deprecated (the exact warnings
|
||||
# depend on your compiler). Please consult the documentation of the
|
||||
# deprecated API in order to know how to port your code away from it.
|
||||
DEFINES += QT_DEPRECATED_WARNINGS
|
||||
|
||||
# You can also make your code fail to compile if it uses deprecated APIs.
|
||||
# In order to do so, uncomment the following line.
|
||||
# You can also select to disable deprecated APIs only up to a certain version of Qt.
|
||||
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
|
||||
|
||||
SOURCES += \
|
||||
main.cpp \
|
||||
mainwindow.cpp
|
||||
|
||||
HEADERS += \
|
||||
mainwindow.h
|
||||
|
||||
FORMS += \
|
||||
mainwindow.ui
|
||||
|
||||
# Default rules for deployment.
|
||||
qnx: target.path = /tmp/$${TARGET}/bin
|
||||
else: unix:!android: target.path = /opt/$${TARGET}/bin
|
||||
!isEmpty(target.path): INSTALLS += target
|
||||
|
||||
INCLUDEPATH += /usr/local/include \
|
||||
/usr/local/include/opencv2 \
|
||||
/usr/local/include/opencv4
|
||||
|
||||
|
||||
LIBS += /usr/local/lib/libopencv_world.so
|
||||
@ -1 +0,0 @@
|
||||
1
|
||||
@ -1,11 +0,0 @@
|
||||
#include "mainwindow.h"
|
||||
|
||||
#include <QApplication>
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QApplication a(argc, argv);
|
||||
MainWindow w;
|
||||
w.show();
|
||||
return a.exec();
|
||||
}
|
||||
@ -1,45 +0,0 @@
|
||||
#include "mainwindow.h"
|
||||
#include "ui_mainwindow.h"
|
||||
|
||||
MainWindow::MainWindow(QWidget *parent)
|
||||
: QMainWindow(parent)
|
||||
, ui(new Ui::MainWindow)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
timer = new QTimer(this);
|
||||
connect(timer, SIGNAL(timeout()), this, SLOT(importFrame()));
|
||||
|
||||
//InitVideo();
|
||||
}
|
||||
|
||||
void MainWindow::importFrame()
|
||||
{
|
||||
capture >> frame;
|
||||
cvtColor(frame, frame, CV_BGR2RGB);
|
||||
QImage srcQImage = QImage((uchar*)(frame.data), frame.cols, frame.rows, QImage::Format_RGB888);
|
||||
ui->label->setPixmap(QPixmap::fromImage(srcQImage));
|
||||
ui->label->resize(srcQImage.size());
|
||||
ui->label->show();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
MainWindow::~MainWindow()
|
||||
{
|
||||
delete ui;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_PLAY_clicked()
|
||||
{
|
||||
capture.open("udp://@0.0.0.0:11111");
|
||||
timer->start(30);
|
||||
}
|
||||
|
||||
void MainWindow::on_CLOSE_clicked()
|
||||
{
|
||||
timer->stop();
|
||||
capture.release();
|
||||
}
|
||||
@ -1,47 +0,0 @@
|
||||
#ifndef MAINWINDOW_H
|
||||
#define MAINWINDOW_H
|
||||
|
||||
#include <QMainWindow>
|
||||
#include <QtWidgets/QMainWindow>
|
||||
#include <QTimer>
|
||||
#include "opencv2/opencv.hpp"
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include <opencv2/imgproc/types_c.h>
|
||||
#include <opencv2/highgui.hpp>
|
||||
#include <opencv2/video.hpp>
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
|
||||
QT_BEGIN_NAMESPACE
|
||||
namespace Ui { class MainWindow; }
|
||||
QT_END_NAMESPACE
|
||||
|
||||
class MainWindow : public QMainWindow
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
MainWindow(QWidget *parent = nullptr);
|
||||
~MainWindow();
|
||||
VideoCapture cap;
|
||||
void InitVideo();
|
||||
|
||||
|
||||
private slots:
|
||||
|
||||
|
||||
void importFrame();//read video
|
||||
|
||||
void on_PLAY_clicked();//start video
|
||||
|
||||
void on_CLOSE_clicked();//finish video
|
||||
|
||||
private:
|
||||
Ui::MainWindow *ui;
|
||||
VideoCapture capture;
|
||||
QTimer *timer;
|
||||
Mat frame;
|
||||
bool isCamerea = 0;
|
||||
};
|
||||
#endif // MAINWINDOW_H
|
||||
@ -1,64 +0,0 @@
|
||||
#ifndef MAINWINDOW_H
|
||||
#define MAINWINDOW_H
|
||||
|
||||
#include <QMainWindow>
|
||||
#include <QImage>
|
||||
#include <QMutex>
|
||||
|
||||
#include "ui_mainwindow.h"
|
||||
#include "../include/joystick.h"
|
||||
#include "../include/qnode.hpp"
|
||||
#include "../include/dashboard.h"
|
||||
|
||||
namespace Ui {
|
||||
class MainWindow;
|
||||
}
|
||||
|
||||
class MainWindow : public QMainWindow
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
|
||||
~MainWindow();
|
||||
enum {
|
||||
upleft = 0,
|
||||
up,
|
||||
upright,
|
||||
left,
|
||||
stop,
|
||||
right,
|
||||
downleft,
|
||||
down,
|
||||
downright
|
||||
};
|
||||
|
||||
|
||||
|
||||
public slots:
|
||||
void slot_keyboard_control();
|
||||
//void slot_command_control(int linear, int angular);
|
||||
void slot_rockKeyChange(int);
|
||||
void slot_speed_x(double x);
|
||||
void slot_speed_th(double th);
|
||||
void Slider_raw_valueChanged(int v);
|
||||
void Slider_linear_valueChanged(int v);
|
||||
|
||||
|
||||
|
||||
private:
|
||||
Ui::MainWindow *ui;
|
||||
QNode qnode;
|
||||
JoyStick *rock_widget;
|
||||
DashBoard *m_DashBoard_x;
|
||||
DashBoard *m_DashBoard_th;
|
||||
|
||||
void initUis();
|
||||
void setBtnStyles();
|
||||
void connections();
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif // MAINWINDOW_H
|
||||
@ -1,2 +0,0 @@
|
||||
opencvtest.cpp is used to detect whether the virtual machine can be connected to the camera
|
||||
g++ `pkg-config opencv4 --cflags` opencvtest.cpp -o example `pkg-config opencv4 --libs`
|
||||
Loading…
Reference in new issue