parent
e394f4a07c
commit
313f55660c
@ -1,237 +0,0 @@
|
|||||||
cmake_minimum_required(VERSION 3.0.2)
|
|
||||||
project(Air_Ground_CEC)
|
|
||||||
|
|
||||||
## Compile as C++11, supported in ROS Kinetic and newer
|
|
||||||
add_compile_options(-std=c++11)
|
|
||||||
|
|
||||||
## Find catkin macros and libraries
|
|
||||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
|
||||||
## is used, also find other catkin packages
|
|
||||||
find_package(catkin REQUIRED COMPONENTS
|
|
||||||
roscpp
|
|
||||||
std_msgs
|
|
||||||
cv_bridge
|
|
||||||
sensor_msgs
|
|
||||||
image_transport
|
|
||||||
)
|
|
||||||
|
|
||||||
## System dependencies are found with CMake's conventions
|
|
||||||
# find_package(Boost REQUIRED COMPONENTS system)
|
|
||||||
|
|
||||||
|
|
||||||
## Uncomment this if the package has a setup.py. This macro ensures
|
|
||||||
## modules and global scripts declared therein get installedsudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
|
|
||||||
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
|
||||||
# catkin_python_setup()
|
|
||||||
|
|
||||||
################################################
|
|
||||||
## Declare ROS messages, services and actions ##
|
|
||||||
################################################
|
|
||||||
|
|
||||||
## To declare and build messages, services or actions from within this
|
|
||||||
## package, follow these steps:
|
|
||||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
|
||||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
|
||||||
## * In the file package.xml:
|
|
||||||
## * add a build_depend tag for "message_generation"
|
|
||||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
|
||||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
|
||||||
## but can be declared for certainty nonetheless:
|
|
||||||
## * add a exec_depend tag for "message_runtime"
|
|
||||||
## * In this file (CMakeLists.txt):
|
|
||||||
## * add "message_generation" and every package in MSG_DEP_SET to
|
|
||||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
||||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
|
||||||
## catkin_package(CATKIN_DEPENDS ...)
|
|
||||||
## * uncomment the add_*_files sections below as needed
|
|
||||||
## and list every .msg/.srv/.action file to be processed
|
|
||||||
## * uncomment the generate_messages entry below
|
|
||||||
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
|
||||||
|
|
||||||
## Generate messages in the 'msg' folder
|
|
||||||
# add_message_files(
|
|
||||||
# FILES
|
|
||||||
# Message1.msg
|
|
||||||
# Message2.msg
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Generate services in the 'srv' folder
|
|
||||||
# add_service_files(
|
|
||||||
# FILES
|
|
||||||
# Service1.srv
|
|
||||||
# Service2.srv
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Generate actions in the 'action' folder
|
|
||||||
# add_action_files(
|
|
||||||
# FILES
|
|
||||||
# Action1.action
|
|
||||||
# Action2.action
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Generate added messages and services with any dependencies listed here
|
|
||||||
# generate_messages(
|
|
||||||
# DEPENDENCIES
|
|
||||||
# std_msgs # Or other packages containing msgs
|
|
||||||
# )
|
|
||||||
|
|
||||||
################################################
|
|
||||||
## Declare ROS dynamic reconfigure parameters ##
|
|
||||||
################################################
|
|
||||||
|
|
||||||
## To declare and build dynamic reconfigure parameters within this
|
|
||||||
## package, follow these steps:
|
|
||||||
## * In the file package.xml:
|
|
||||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
|
||||||
## * In this file (CMakeLists.txt):
|
|
||||||
## * add "dynamic_reconfigure" to
|
|
||||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
||||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
|
||||||
## and list every .cfg file to be processed
|
|
||||||
|
|
||||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
|
||||||
# generate_dynamic_reconfigure_options(
|
|
||||||
# cfg/DynReconf1.cfg
|
|
||||||
# cfg/DynReconf2.cfg
|
|
||||||
# )
|
|
||||||
|
|
||||||
###################################
|
|
||||||
## catkin specific configuration ##
|
|
||||||
###################################
|
|
||||||
## The catkin_package macro generates cmake config files for your package
|
|
||||||
## Declare things to be passed to dependent projects
|
|
||||||
## INCLUDE_DIRS: uncomment this if your package contains header files
|
|
||||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
|
||||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
|
||||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
|
||||||
catkin_package(
|
|
||||||
# INCLUDE_DIRS include
|
|
||||||
# LIBRARIES Air_Ground_CEC
|
|
||||||
# CATKIN_DEPENDS roscpp
|
|
||||||
# DEPENDS system_lib
|
|
||||||
)
|
|
||||||
|
|
||||||
###########
|
|
||||||
## Build ##
|
|
||||||
###########
|
|
||||||
|
|
||||||
find_package(OpenCV REQUIRED)
|
|
||||||
find_package(Qt5 REQUIRED COMPONENTS Widgets )
|
|
||||||
set(CMAKE_AUTOMOC ON)
|
|
||||||
set(CMAKE_AUTOUIC ON)
|
|
||||||
set(CMAKE_INCLUDE_CURRENT_DIR ON)
|
|
||||||
|
|
||||||
set(SOURCES
|
|
||||||
src/include/qnode.hpp
|
|
||||||
src/include/joystick.h
|
|
||||||
src/include/dashboard.h
|
|
||||||
src/main/main.cpp
|
|
||||||
src/main/mainwindow.cpp
|
|
||||||
src/main/qnode.cpp
|
|
||||||
src/main/joystick.cpp
|
|
||||||
src/main/dashboard.cpp
|
|
||||||
src/ui/mainwindow.hpp
|
|
||||||
src/ui/mainwindow.ui
|
|
||||||
|
|
||||||
)
|
|
||||||
|
|
||||||
QT5_add_resources(qrc_Files src/resources/images.qrc)
|
|
||||||
## Specify additional locations of header files
|
|
||||||
## Your package locations should be listed before other locations
|
|
||||||
include_directories(
|
|
||||||
include/Air_Ground_CEC
|
|
||||||
${catkin_INCLUDE_DIRS}
|
|
||||||
${OpenCV_INCLUDE_DIRS}
|
|
||||||
)
|
|
||||||
|
|
||||||
add_executable(Air_Ground_CEC ${SOURCES} ${qrc_Files})
|
|
||||||
target_link_libraries(Air_Ground_CEC
|
|
||||||
Qt5::Widgets
|
|
||||||
${catkin_LIBRARIES}
|
|
||||||
${OpenCV_LIBRARIES}
|
|
||||||
)
|
|
||||||
|
|
||||||
## Declare a C++ library
|
|
||||||
# add_library(${PROJECT_NAME}
|
|
||||||
# src/${PROJECT_NAME}/Air_Ground_CEC.cpp
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Add cmake target dependencies of the library
|
|
||||||
## as an example, code may need to be generated before libraries
|
|
||||||
## either from message generation or dynamic reconfigure
|
|
||||||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
||||||
|
|
||||||
## Declare a C++ executable
|
|
||||||
## With catkin_make all packages are built within a single CMake context
|
|
||||||
## The recommended prefix ensures that target names across packages don't collide
|
|
||||||
# add_executable(${PROJECT_NAME}_node src/Air_Ground_CEC_node.cpp)
|
|
||||||
|
|
||||||
## Rename C++ executable without prefix
|
|
||||||
## The above recommended prefix causes long target names, the following renames the
|
|
||||||
## target back to the shorter version for ease of user use
|
|
||||||
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
|
||||||
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
|
||||||
|
|
||||||
## Add cmake target dependencies of the executable
|
|
||||||
## same as for the library above
|
|
||||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
||||||
|
|
||||||
## Specify libraries to link a library or executable target against
|
|
||||||
# target_link_libraries(${PROJECT_NAME}_node
|
|
||||||
# ${catkin_LIBRARIES}
|
|
||||||
# )
|
|
||||||
|
|
||||||
#############
|
|
||||||
## Install ##
|
|
||||||
#############
|
|
||||||
|
|
||||||
# all install targets should use catkin DESTINATION variables
|
|
||||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
|
||||||
|
|
||||||
## Mark executable scripts (Python etc.) for installation
|
|
||||||
## in contrast to setup.py, you can choose the destination
|
|
||||||
# catkin_install_python(PROGRAMS
|
|
||||||
# scripts/my_python_script
|
|
||||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Mark executables for installation
|
|
||||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
|
||||||
# install(TARGETS ${PROJECT_NAME}_node
|
|
||||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Mark libraries for installation
|
|
||||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
|
||||||
# install(TARGETS ${PROJECT_NAME}
|
|
||||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
||||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
||||||
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Mark cpp header files for installation
|
|
||||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
|
||||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
|
||||||
# FILES_MATCHING PATTERN "*.h"
|
|
||||||
# PATTERN ".svn" EXCLUDE
|
|
||||||
# )
|
|
||||||
|
|
||||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
|
||||||
# install(FILES
|
|
||||||
# # myfile1
|
|
||||||
# # myfile2
|
|
||||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
||||||
# )
|
|
||||||
|
|
||||||
#############
|
|
||||||
## Testing ##
|
|
||||||
#############
|
|
||||||
|
|
||||||
## Add gtest based cpp test target and link libraries
|
|
||||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_Air_Ground_CEC.cpp)
|
|
||||||
# if(TARGET ${PROJECT_NAME}-test)
|
|
||||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
|
||||||
# endif()
|
|
||||||
|
|
||||||
## Add folders to be run by python nosetests
|
|
||||||
# catkin_add_nosetests(test)
|
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -1,73 +0,0 @@
|
|||||||
<?xml version="1.0"?>
|
|
||||||
<package format="2">
|
|
||||||
<name>Air_Ground_CEC</name>
|
|
||||||
<version>0.1.0</version>
|
|
||||||
<description>The Air_Ground_CEC package</description>
|
|
||||||
|
|
||||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
|
||||||
<maintainer email="jackyma@todo.todo">jackyma</maintainer>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
|
||||||
<!-- Commonly used license strings: -->
|
|
||||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
|
||||||
<license>Apache 2.0</license>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
|
||||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <url type="website">http://wiki.ros.org/Air_Ground_CEC</url> -->
|
|
||||||
|
|
||||||
|
|
||||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
|
||||||
<!-- Authors do not have to be maintainers, but could be -->
|
|
||||||
<!-- Example: -->
|
|
||||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
|
||||||
|
|
||||||
|
|
||||||
<!-- The *depend tags are used to specify dependencies -->
|
|
||||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
|
||||||
<!-- Examples: -->
|
|
||||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
|
||||||
<!-- <depend>roscpp</depend> -->
|
|
||||||
<!-- Note that this is equivalent to the following: -->
|
|
||||||
<!-- <build_depend>roscpp</build_depend> -->
|
|
||||||
<!-- <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>
|
|
||||||
<build_depend>roscpp</build_depend>
|
|
||||||
<build_export_depend>roscpp</build_export_depend>
|
|
||||||
<exec_depend>roscpp</exec_depend>
|
|
||||||
|
|
||||||
<build_depend>opencv2</build_depend>
|
|
||||||
<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>
|
|
||||||
|
|
||||||
<build_depend>std_msgs sensor_msgs cv_bridge image_transport</build_depend>
|
|
||||||
<build_export_depend>std_msgs sensor_msgs cv_bridge image_transport</build_export_depend>
|
|
||||||
<exec_depend>std_msgs sensor_msgs cv_bridge image_transport</exec_depend>
|
|
||||||
|
|
||||||
<!-- The export tag contains other, unspecified, tags -->
|
|
||||||
<export>
|
|
||||||
<!-- Other tools can request additional information be placed here -->
|
|
||||||
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
@ -1,146 +0,0 @@
|
|||||||
#include"Djitellowhite.h"
|
|
||||||
#include<iostream>
|
|
||||||
#include<opencv2/opencv.hpp>
|
|
||||||
|
|
||||||
|
|
||||||
#include<stdio.h>
|
|
||||||
#include<sys/socket.h>
|
|
||||||
#include<string.h>
|
|
||||||
|
|
||||||
#include<arpa/inet.h>
|
|
||||||
#include<sys/types.h>
|
|
||||||
|
|
||||||
using namespace cv;
|
|
||||||
using namespace std;
|
|
||||||
Tello::Tello(const char* IP) {
|
|
||||||
this->stream_on=false;
|
|
||||||
this->host = inet_addr(IP);
|
|
||||||
cout << "create successfully!" << endl;
|
|
||||||
|
|
||||||
}
|
|
||||||
Tello::~Tello() {}
|
|
||||||
void Tello::set_conf(int socket){
|
|
||||||
this->sock = socket;
|
|
||||||
}
|
|
||||||
void Tello::get_connect(sockaddr_in serveraddr) {
|
|
||||||
char tmp[10] = {"command"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "connect successfully!" <<endl;
|
|
||||||
}
|
|
||||||
unsigned long Tello::gethost(){
|
|
||||||
return this->host;
|
|
||||||
}
|
|
||||||
void Tello::takeoff(sockaddr_in serveraddr) {
|
|
||||||
char tmp[10] = {"takeoff"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "takeoff successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::land(sockaddr_in serveraddr) {
|
|
||||||
char tmp[10] = {"land"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "land successfully!" <<endl;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool Tello::send_message(char* msg,sockaddr_in server_addr,int timeout){
|
|
||||||
char buffer[BUFFER_SIZE];
|
|
||||||
memset(buffer,0,sizeof(buffer));
|
|
||||||
strcpy(buffer,msg);
|
|
||||||
//cout << buffer;
|
|
||||||
sendto(this->sock,buffer,strlen(buffer),0,(struct sockaddr *)&server_addr, sizeof(server_addr));
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
void* Tello::udp_response_receiver(void* arg){
|
|
||||||
//int m_SockServer; //创建socket对象
|
|
||||||
//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)
|
|
||||||
//sockaddr_in serveraddrfrom;
|
|
||||||
|
|
||||||
//serveraddr.sin_family = AF_INET; //设置服务器地址家族
|
|
||||||
//serveraddr.sin_port = htons(8889); //设置服务器端口号
|
|
||||||
//serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0");
|
|
||||||
//m_SockServer = socket(AF_INET, SOCK_DGRAM, 0); //创建一个临时变量并赋值给m_SockServer
|
|
||||||
//int i = bind(m_SockServer, (sockaddr*)&serveraddr, sizeof(serveraddr)); //把名字和套接字绑定
|
|
||||||
//std::cout << "bind:" << i << std::endl;
|
|
||||||
|
|
||||||
int socket = *(int *)arg;
|
|
||||||
|
|
||||||
cout << "receive start" << endl;
|
|
||||||
while(1){
|
|
||||||
char buffer[20];
|
|
||||||
int iret;
|
|
||||||
memset(buffer,0,sizeof(buffer));
|
|
||||||
|
|
||||||
iret = recv(socket, buffer,20,MSG_WAITALL);
|
|
||||||
if(iret > 0 && iret <10){
|
|
||||||
printf("Message from tello: %s\n", buffer);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
void Tello::forward(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"forward 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "forward successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::back(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"back 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "back successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::left(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"left 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "left successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::right(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"right 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "right successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::up(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"up 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "up successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::down(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"down 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "down successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::cw(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"cw 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "cw successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::ccw(sockaddr_in serveraddr){
|
|
||||||
char tmp[15] = {"ccw 20"};
|
|
||||||
send_message(tmp,serveraddr,0);// 0 -> timeout
|
|
||||||
cout << "ccw successfully!" <<endl;
|
|
||||||
}
|
|
||||||
void Tello::get_video(sockaddr_in serveraddr){
|
|
||||||
|
|
||||||
char tmp[15] = {"streamon"};
|
|
||||||
send_message(tmp,serveraddr,0);
|
|
||||||
cout << "stream_on successfully!" <<endl;
|
|
||||||
this->stream_on = true;
|
|
||||||
|
|
||||||
cout << "vid";
|
|
||||||
VideoCapture cap("udp://@0.0.0.0:11111");
|
|
||||||
cout << "cap";
|
|
||||||
if(!cap.isOpened()){
|
|
||||||
cout << "fuck off";
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
Mat frame;
|
|
||||||
cout << "continue!";
|
|
||||||
while(1){
|
|
||||||
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