Merge branch 'master' into gehongbo_branch

test

CMakeLists.txt

@@ -124,12 +124,12 @@ 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
 

src/include/dashboard.h

@@ -0,0 +1,53 @@
+#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

src/include/qnode.hpp

@@ -7,6 +7,9 @@
 #include <iostream>
 
 #include <QImage>
+#include <QThread>
+#include <QStringListModel>
+#include <QSettings>
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
@@ -17,7 +20,9 @@
 #include <cv_bridge/cv_bridge.h>
 #include <image_transport/image_transport.h>
 #include <geometry_msgs/Twist.h>
-#include <QThread>
+#include <nav_msgs/Odometry.h>
+#include <std_msgs/Float64.h>
+#include <std_msgs/Float32.h>
 
 using namespace std;
 
@@ -31,13 +36,27 @@ public:
     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::Subscriber cmdVel_sub;
+    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);
 
 };
 

src/main/dashboard.cpp

@@ -0,0 +1,384 @@
+#include "../include/dashboard.h"
+
+#include <qapplication.h>
+#include <qpainter.h>
+#include <qpainterpath.h>
+
+#include <QtGui/QFontDatabase>
+
+#include "QDebug"
+DashBoard::DashBoard(QWidget* parent)
+    : QWidget(parent),
+      _gear(kGear_1),
+      _rpm(0),
+      _speed(0),
+      _temperature(0),
+      _oil(0) {
+  QFontDatabase::addApplicationFont(":/fonts/DejaVuSans.ttf");
+  this->resize(parent->size());
+  this->parent = parent;
+}
+
+void DashBoard::set_gear(const DashBoard::Gear gear) {
+  _gear = gear;
+  update();
+}
+
+void DashBoard::set_rpm(const int rpm) {
+  _rpm = rpm;
+  update();
+}
+
+void DashBoard::set_speed(const int speed) {
+  _speed = speed;
+  _rpm = speed;
+  update();
+}
+
+void DashBoard::set_temperature(const double temperature) {
+  _temperature = temperature;
+  update();
+}
+
+void DashBoard::set_oil(const int oil) {
+  _oil = oil;
+  update();
+}
+
+void DashBoard::paintEvent(QPaintEvent* event) {
+  this->resize(parent->size());
+  QWidget::paintEvent(event);
+
+  int side = qMin(int(parent->width() / 1.8), parent->height());
+
+  QPainter painter(this);
+  painter.setRenderHint(QPainter::Antialiasing);
+  painter.translate(parent->width() / 2, parent->height() / 2);
+  painter.scale(side / 200.0, side / 200.0);
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(Qt::NoBrush);
+
+  draw_tachometer(painter);
+  draw_speedometer(painter);
+  draw_gear(painter);
+  draw_thermometer(painter);
+  draw_oil_meter(painter);
+}
+
+void DashBoard::draw_tachometer(QPainter& painter) {
+  static QColor normal_color(26, 245, 245, 245);
+  static QColor overrun_color(245, 64, 64, 225);
+
+  // 绘制表盘外檐
+  painter.save();
+  painter.setPen(QPen(normal_color, 1, Qt::SolidLine));
+  QRect rect(-95, -95, 190, 190);
+  painter.drawArc(rect, 0, 270 * 16);
+  painter.restore();
+
+  // 绘制红色区域
+  painter.save();
+  static QRectF rectangle_outer(-95, -95, 190, 190);
+  static QRectF rectangle_inner(-87, -87, 174, 174);
+  painter.setBrush(overrun_color);
+  QPainterPath path;
+  path.arcTo(rectangle_outer, 0.0, 108.0);
+  path.arcTo(rectangle_inner, 108, -108);
+  painter.drawPath(path);
+  painter.restore();
+
+  // 绘制大刻度
+  painter.save();
+  painter.setPen(QPen(normal_color, 1, Qt::SolidLine));
+  painter.rotate(90);
+  for (int i = 0; i < 21; ++i) {
+    painter.drawLine(88, 0, 94, 0);
+    painter.rotate(13.5);
+  }
+  painter.restore();
+
+  // 绘制小刻度
+  painter.save();
+  painter.setPen(QPen(normal_color, 1, Qt::SolidLine));
+  painter.rotate(90);
+  for (int i = 0; i < 100; ++i) {
+    painter.drawLine(91, 0, 94, 0);
+    painter.rotate(2.7);
+  }
+  painter.restore();
+
+  // 绘制表盘数字
+  painter.save();
+  painter.rotate(90);
+  painter.setPen(normal_color);
+  painter.setFont(QFont("Times", 14));
+  for (int i = 0; i < 11; ++i) {
+    painter.save();
+    if (i > 6) {
+      painter.setPen(overrun_color);
+    }
+    painter.rotate(27.0 * i);
+    painter.translate(76, 0);
+    painter.rotate(270 - 27.0 * i);
+    painter.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter,
+                     QString::number(i));
+    painter.restore();
+  }
+  painter.restore();
+
+  // 绘制指针
+  static const QPoint hand[] = {QPoint(-4, 0), QPoint(0, 94), QPoint(4, 0),
+                                QPoint(0, -6)};
+  static QColor hand_color(26, 245, 245, 176);
+  painter.save();
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(hand_color);
+  painter.rotate(27.0 * (_rpm / 10.0));
+  painter.drawConvexPolygon(hand, 4);
+  painter.restore();
+
+  // 绘制文字
+  painter.save();
+  painter.setPen(normal_color);
+  painter.setFont(QFont("DejaVu Sans", 8));
+  painter.drawText(QRect(-50, -70, 100, 50), Qt::AlignCenter, "×10");
+  painter.setFont(QFont("DejaVu Sans", 8, 50, true));
+  painter.drawText(QRect(-50, 34, 32, 16), Qt::AlignCenter, "CM/S");
+  painter.restore();
+}
+
+void DashBoard::draw_speedometer(QPainter& painter) {
+  painter.save();
+
+  painter.setPen(QColor(64, 64, 245));
+  painter.setFont(QFont("DejaVu Sans", 6, 50, true));
+  painter.drawText(QRect(80, 50, 70, 20), Qt::AlignCenter, "SPEED");
+
+  painter.setPen(QColor(26, 245, 245));
+  painter.setFont(QFont("DejaVu Sans", 24, 63, true));
+  painter.drawText(QRect(80, 50, 70, 50), Qt::AlignBottom | Qt::AlignLeft,
+                   QString("%0").arg(QString::number(_speed), 3, '0'));
+
+  painter.setPen(QColor(26, 245, 245));
+  painter.setFont(QFont("DejaVu Sans", 8, 63, true));
+  painter.drawText(QRect(145, 75, 40, 20), Qt::AlignBottom | Qt::AlignLeft,
+                   "cm/s");
+
+  painter.restore();
+}
+
+void DashBoard::draw_gear(QPainter& painter) {
+  static QRect gear_rect(0, 0, 80, 80);
+  static QRect suffix_rect(48, 48, 32, 32);
+  static QFont suffix_font("DejaVu Sans", 16, 63, true);
+
+  painter.save();
+  painter.setPen(QPen(QColor(26, 245, 245), 1, Qt::SolidLine));
+  painter.setFont(QFont("DejaVu Sans", 48, 63, true));
+
+  switch (_gear) {
+    case kGear_1:
+      painter.drawText(gear_rect, Qt::AlignCenter, QString::number(_gear));
+      painter.setFont(suffix_font);
+      painter.drawText(suffix_rect, Qt::AlignCenter, "st");
+      break;
+    case kGear_2:
+      painter.drawText(gear_rect, Qt::AlignCenter, QString::number(_gear));
+      painter.setFont(suffix_font);
+      painter.drawText(suffix_rect, Qt::AlignCenter, "nd");
+      break;
+    case kGear_3:
+      painter.drawText(gear_rect, Qt::AlignCenter, QString::number(_gear));
+      painter.setFont(suffix_font);
+      painter.drawText(suffix_rect, Qt::AlignCenter, "rd");
+      break;
+    case kGear_4:
+    case kGear_5:
+    case kGear_6:
+    case kGear_7:
+    case kGear_8:
+      painter.drawText(gear_rect, Qt::AlignCenter, QString::number(_gear));
+      painter.setFont(suffix_font);
+      painter.drawText(suffix_rect, Qt::AlignCenter, "th");
+      break;
+    case kGear_D:
+      painter.drawText(gear_rect, Qt::AlignCenter, "D");
+      break;
+    case kGear_N:
+      painter.drawText(gear_rect, Qt::AlignCenter, "N");
+      break;
+    case kGear_P:
+      painter.drawText(gear_rect, Qt::AlignCenter, "P");
+      break;
+    case kGear_R:
+      painter.drawText(gear_rect, Qt::AlignCenter, "R");
+      break;
+    default:
+      break;
+  }
+
+  painter.restore();
+}
+
+void DashBoard::draw_thermometer(QPainter& painter) {
+  painter.save();
+
+  painter.drawImage(QRect(115, -60, 8, 16),
+                    QImage("://images/temperature-icon.png"));
+
+  painter.translate(-160, 100);
+
+  static QColor normal_color(26, 245, 245, 245);
+  static QColor overrun_color(245, 64, 64, 225);
+
+  // 绘制表盘外檐
+  painter.save();
+  painter.setPen(QPen(normal_color, 1, Qt::SolidLine));
+  QRect rect(-300, -300, 600, 600);
+  painter.drawArc(rect, 12 * 16, 20 * 16);
+  painter.restore();
+
+  // 绘制刻度
+  painter.save();
+  painter.setPen(QPen(normal_color, 1, Qt::SolidLine));
+  painter.rotate(-12);
+  painter.drawLine(300, 0, 306, 0);
+  painter.rotate(-10);
+  painter.drawLine(300, 0, 304, 0);
+  painter.rotate(-10);
+  painter.drawLine(300, 0, 306, 0);
+  painter.restore();
+
+  // 绘制刻度值
+  painter.save();
+  painter.setPen(normal_color);
+  painter.setFont(QFont("DejaVu Sans", 6));
+
+  painter.rotate(-12);
+  painter.save();
+  painter.translate(316, 0);
+  painter.rotate(12);
+  painter.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter,
+                   QString::number(0) + "°C");
+  painter.restore();
+
+  painter.rotate(-10);
+  painter.save();
+  painter.translate(317, 0);
+  painter.rotate(22);
+  painter.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter,
+                   QString::number(50) + "°C");
+  painter.restore();
+
+  painter.rotate(-10);
+  painter.save();
+  painter.translate(320, 0);
+  painter.rotate(32);
+  painter.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter,
+                   QString::number(100) + "°C");
+  painter.restore();
+
+  painter.restore();
+
+  // 绘制红色区域
+  painter.save();
+  static QRectF rectangle_outer(-304, -304, 608, 608);
+  static QRectF rectangle_inner(-300.5, -300.5, 601, 601);
+  painter.setBrush(overrun_color);
+  QPainterPath path;
+  path.arcTo(rectangle_outer, 28, 3.9);
+  path.arcTo(rectangle_inner, 31.9, -3.9);
+  painter.drawPath(path);
+  painter.restore();
+
+  // 绘制指针
+  painter.save();
+  painter.setPen(QPen(overrun_color, 1, Qt::SolidLine));
+  painter.rotate(-12 - 0.2 * _temperature);
+  painter.drawLine(298, 0, 306, 0);
+  painter.restore();
+
+  painter.restore();
+}
+
+void DashBoard::draw_oil_meter(QPainter& painter) {
+  painter.save();
+
+  painter.drawImage(QRect(-130, -60, 16, 16),
+                    QImage("://images/fuel-icon.png"));
+
+  painter.translate(160, 100);
+  painter.rotate(180);
+
+  static QColor normal_color(26, 245, 245, 245);
+  static QColor overrun_color(245, 64, 64, 225);
+
+  // 绘制表盘外檐
+  painter.save();
+  painter.setPen(QPen(normal_color, 1, Qt::SolidLine));
+  QRect rect(-300, -300, 600, 600);
+  painter.drawArc(rect, -12 * 16, -20 * 16);
+  painter.restore();
+
+  // 绘制刻度
+  painter.save();
+  painter.setPen(QPen(normal_color, 1, Qt::SolidLine));
+  painter.rotate(12);
+  painter.drawLine(300, 0, 306, 0);
+  painter.rotate(10);
+  painter.drawLine(300, 0, 304, 0);
+  painter.rotate(10);
+  painter.drawLine(300, 0, 306, 0);
+  painter.restore();
+
+  // 绘制刻度值
+  painter.save();
+  painter.setPen(normal_color);
+  painter.setFont(QFont("DejaVu Sans", 6));
+
+  painter.rotate(12);
+  painter.save();
+  painter.translate(316, 0);
+  painter.rotate(168);
+  painter.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter,
+                   QString::number(0) + "%");
+  painter.restore();
+
+  painter.rotate(10);
+  painter.save();
+  painter.translate(317, 0);
+  painter.rotate(158);
+  painter.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter,
+                   QString::number(50) + "%");
+  painter.restore();
+
+  painter.rotate(10);
+  painter.save();
+  painter.translate(320, 0);
+  painter.rotate(148);
+  painter.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter,
+                   QString::number(100) + "%");
+  painter.restore();
+
+  painter.restore();
+
+  // 绘制红色区域
+  painter.save();
+  static QRectF rectangle_outer(-304, -304, 608, 608);
+  static QRectF rectangle_inner(-300.5, -300.5, 601, 601);
+  painter.setBrush(overrun_color);
+  QPainterPath path;
+  path.arcTo(rectangle_outer, -12.1, -3.9);
+  path.arcTo(rectangle_inner, -16, 3.9);
+  painter.drawPath(path);
+  painter.restore();
+
+  // 绘制指针
+  painter.save();
+  painter.setPen(QPen(overrun_color, 1, Qt::SolidLine));
+  painter.rotate(12 + 0.2 * _oil);
+  painter.drawLine(298, 0, 306, 0);
+  painter.restore();
+
+  painter.restore();
+}

src/main/qnode.cpp

@@ -18,7 +18,10 @@ QNode::~QNode() {
 }
 
 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();
@@ -27,6 +30,11 @@ bool QNode::init() {
 
 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);
 }
 
@@ -62,3 +70,9 @@ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
     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);
+}

src/ui/mainwindow.hpp

@@ -8,6 +8,7 @@
 #include "ui_mainwindow.h"
 #include "../include/joystick.h"
 #include "../include/qnode.hpp"
+#include "../include/dashboard.h"
 
 namespace Ui {
 class MainWindow;
@@ -38,6 +39,8 @@ 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);
 
@@ -47,6 +50,8 @@ private:
     Ui::MainWindow *ui;
     QNode qnode;
     JoyStick *rock_widget;
+    DashBoard *m_DashBoard_x;
+    DashBoard *m_DashBoard_th;
 
     void initUis();
     void setBtnStyles();