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Air_Ground_CEC
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pull/31/head
大耳刮子 3 years ago
parent 062a36cccb
commit aaf38a9a28
6 changed files with 248 additions and 152 deletions
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23
src/include/qnode.hpp
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@ -20,6 +20,7 @@
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/BatteryState.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Float32.h>
@ -37,14 +38,16 @@ public:
void KeyboardMove(char key, float speed_linear, float speed_trun);
void AutoMove(float speed_linear, float speed_turn,
float target_linear, float target_turn);
//void subImage();
QImage image;
Q_SIGNALS:
void speed_x(double x);
void speed_th(double th);
void power(float p);
void loggingCamera();//发出设置相机图片信号
//void power(float p);
void batteryState(sensor_msgs::BatteryState);
void show_image(QImage image);//发出设置相机图片信号
@ -56,20 +59,26 @@ private:
ros::Publisher cmd_pub;
ros::Publisher cmd_pub1;
ros::Subscriber cmdVel_sub;
ros::Subscriber power_sub;
ros::Subscriber battery_sub;
ros::Subscriber image_sub0;
QStringListModel logging_model;
image_transport::Subscriber image_sub;
cv::Mat img;
QString odom_topic;
QString batteryState_topic;
// image subscribe
image_transport::Subscriber image_sub;
void speedCallback(const nav_msgs::Odometry::ConstPtr& msg);
void powerCallback(const std_msgs::Float32& message_holder);
//void myCallback(const std_msgs::Float64& message_holder);
void batteryCallback(const sensor_msgs::BatteryState &message);
void imageCallback(const sensor_msgs::CompressedImageConstPtr &msg);//camera callback function
void myCallback_img(const sensor_msgs::ImageConstPtr& msg);//camera callback function
QImage Mat2QImage(cv::Mat const &src);
cv::Mat QImage2Mat(QImage &image);
};

2
src/main/main.cpp
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@ -24,4 +24,6 @@ int main(int argc, char** argv)
/*
* find . "(" -name "*.cpp" -or -name "*.h" -or -name "*.hpp" -or -name "*.qrc" ")" -print | xargs wc -l
* rosrun rqt_graph rqt_graph
*
*/

266
src/main/mainwindow.cpp
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@ -41,123 +41,7 @@ void MainWindow::initUis(){
}
void MainWindow::setBtnStyles(){
/*
* set PushButton state
*/
ui->btn_main->setIcon(QIcon("://images/up.png"));
ui->btn_main->setText("mainWidget");
ui->btn_main->setStyleSheet(
"QPushButton:hover{"
"background-color:rgb(186, 189, 182);"
"border-bottom:2px solid rgb(67, 154, 246);}"
"QPushButton:checked{"
"background-color:cyan;"
"border-bottom:2px solid white}"
"QPushButton:pressed{"
"background-color:rgb(67, 154, 246)}"
"QPushButton{"
"background-color:rgb(238, 238, 236);"
"border:none;"
"padding:0px 0px 0px 0px;"
"margin:0px 0px 0px 0px;}");
ui->btn_uav->setStyleSheet(
"QPushButton:hover{"
"background-color:rgb(186, 189, 182);"
"border-bottom:2px solid rgb(67, 154, 246);}"
"QPushButton:checked{"
"background-color:cyan;"
"border-bottom:2px solid white}"
"QPushButton:pressed{"
"background-color:rgb(67, 154, 246)}"
"QPushButton{"
"background-color:rgb(238, 238, 236);"
"border:none;"
"padding:0px 0px 0px 0px;"
"margin:0px 0px 0px 0px;}");
ui->btn_ugv->setStyleSheet(
"QPushButton:hover{"
"background-color:rgb(186, 189, 182);"
"border-bottom:2px solid rgb(67, 154, 246);}"
"QPushButton:checked{"
"background-color:cyan;"
"border-bottom:2px solid white}"
"QPushButton:pressed{"
"background-color:rgb(67, 154, 246)}"
"QPushButton{"
"background-color:rgb(238, 238, 236);"
"border:none;"
"padding:0px 0px 0px 0px;"
"margin:0px 0px 0px 0px;}");
// 8 -> Forward: ↑
ui->pushButton_Forward->setShortcut(Qt::Key_8);
ui->pushButton_Forward->setStyleSheet(
"QPushButton{border-image: url(://images/up.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/up_2.png)}");
ui->pushButton_Forward->setFlat(true);
// 2 -> Back: ↓
ui->pushButton_Back->setShortcut(Qt::Key_2);
ui->pushButton_Back->setStyleSheet(
"QPushButton{border-image: url(://images/down.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/down_2.png)}");
ui->pushButton_Back->setFlat(true);
// 4 -> Left: ←
ui->pushButton_Left->setShortcut(Qt::Key_4);
ui->pushButton_Left->setStyleSheet(
"QPushButton{border-image: url(://images/left.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/left_2.png)}");
ui->pushButton_Left->setFlat(true);
// 6 -> Right: →
ui->pushButton_Right->setShortcut(Qt::Key_6);
ui->pushButton_Right->setStyleSheet(
"QPushButton{border-image: url(://images/right.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/right_2.png)}");
ui->pushButton_Right->setFlat(true);
// 7 -> Left_Forward: ↖
ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
ui->pushButton_Left_Forward->setStyleSheet(
"QPushButton{border-image: url(://images/up_left.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/up_left_2.png)}");
ui->pushButton_Left_Forward->setFlat(true);
// 9 -> Right_Forward: ↗
ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
ui->pushButton_Right_Forward->setStyleSheet(
"QPushButton{border-image: url(://images/up_right.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/up_right_2.png)}");
ui->pushButton_Right_Forward->setFlat(true);
// 1 -> Left_Back: ↙
ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
ui->pushButton_Left_Back->setStyleSheet(
"QPushButton{border-image: url(://images/down_left.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/down_left_2.png)}");
ui->pushButton_Left_Back->setFlat(true);
// 3 -> Right_Back: ↘
ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
ui->pushButton_Right_Back->setStyleSheet(
"QPushButton{border-image: url(://images/down_right.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
ui->pushButton_Right_Back->setFlat(true);
}
void MainWindow::slot_keyboard_control(){
@ -189,6 +73,7 @@ void MainWindow::slot_keyboard_control(){
float turn = ui->horizontalSlider_raw->value() * 0.01;
//bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
//std::cout<<liner<<" "<<turn<<std::endl;
//qnode.AutoMove(0.2,0,1,0);
qnode.KeyboardMove(key, liner, turn);
@ -228,6 +113,26 @@ void MainWindow::slot_rockKeyChange(int key){
}
void MainWindow::slot_batteryState(sensor_msgs::BatteryState msg) {
ui->label_power->setText("10V");
ui->label_power->setText(QString::number(msg.voltage).mid(0, 5) + "V");
double percentage = msg.percentage;
m_DashBoard_x->set_oil(percentage);
ui->progressBar->setValue(percentage > 100 ? 100 : percentage);
//当电量过低时发出提示
if (percentage <= 20) {
ui->progressBar->setStyleSheet(
"QProgressBar::chunk {background-color: red;width: 20px;} QProgressBar "
"{border: 2px solid grey;border-radius: 5px;text-align: center;}");
// QMessageBox::warning(NULL, "电量不足", "电量不足，请及时充电！",
// QMessageBox::Yes , QMessageBox::Yes);
} else {
ui->progressBar->setStyleSheet(
"QProgressBar {border: 2px solid grey;border-radius: 5px;text-align: "
"center;}");
}
}
void MainWindow::connections(){
QObject::connect(ui->btn_main, &QPushButton::clicked, this, [=](){
ui->stackedWidget_main->setCurrentIndex(0);
@ -279,7 +184,11 @@ void MainWindow::connections(){
connect(&qnode, SIGNAL(speed_x(double)), this, SLOT(slot_speed_x(double)));
connect(&qnode, SIGNAL(speed_th(double)), this, SLOT(slot_speed_th(double)));
QObject::connect(&qnode,SIGNAL(loggingCamera()),this,SLOT(updateLogcamera()));
//电源的信号
connect(&qnode, SIGNAL(batteryState(sensor_msgs::BatteryState)), this,
SLOT(slot_batteryState(sensor_msgs::BatteryState)));
connect(&qnode, SIGNAL(show_image(QImage)), this, SLOT(slot_show_image(QImage)));
}
@ -325,7 +234,7 @@ void MainWindow::Slider_linear_valueChanged(int v) {
ui->label_linear->setText(QString::number(v));
}
void MainWindow::displayCamera(const QImage &image)
void MainWindow::slot_show_image(QImage image)
{
qimage_mutex_.lock();
qimage_ = image.copy();
@ -333,7 +242,122 @@ void MainWindow::displayCamera(const QImage &image)
ui->label_camera->resize(ui->label_camera->pixmap()->size());
qimage_mutex_.unlock();
}
void MainWindow::updateLogcamera()
{
displayCamera(qnode.image);
void MainWindow::setBtnStyles(){
/*
* set PushButton state
*/
ui->btn_main->setIcon(QIcon("://images/up.png"));
ui->btn_main->setText("mainWidget");
ui->btn_main->setStyleSheet(
"QPushButton:hover{"
"background-color:rgb(186, 189, 182);"
"border-bottom:2px solid rgb(67, 154, 246);}"
"QPushButton:checked{"
"background-color:cyan;"
"border-bottom:2px solid white}"
"QPushButton:pressed{"
"background-color:rgb(67, 154, 246)}"
"QPushButton{"
"background-color:rgb(238, 238, 236);"
"border:none;"
"padding:0px 0px 0px 0px;"
"margin:0px 0px 0px 0px;}");
ui->btn_uav->setStyleSheet(
"QPushButton:hover{"
"background-color:rgb(186, 189, 182);"
"border-bottom:2px solid rgb(67, 154, 246);}"
"QPushButton:checked{"
"background-color:cyan;"
"border-bottom:2px solid white}"
"QPushButton:pressed{"
"background-color:rgb(67, 154, 246)}"
"QPushButton{"
"background-color:rgb(238, 238, 236);"
"border:none;"
"padding:0px 0px 0px 0px;"
"margin:0px 0px 0px 0px;}");
ui->btn_ugv->setStyleSheet(
"QPushButton:hover{"
"background-color:rgb(186, 189, 182);"
"border-bottom:2px solid rgb(67, 154, 246);}"
"QPushButton:checked{"
"background-color:cyan;"
"border-bottom:2px solid white}"
"QPushButton:pressed{"
"background-color:rgb(67, 154, 246)}"
"QPushButton{"
"background-color:rgb(238, 238, 236);"
"border:none;"
"padding:0px 0px 0px 0px;"
"margin:0px 0px 0px 0px;}");
// 8 -> Forward: ↑
ui->pushButton_Forward->setShortcut(Qt::Key_8);
ui->pushButton_Forward->setStyleSheet(
"QPushButton{border-image: url(://images/up.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/up_2.png)}");
ui->pushButton_Forward->setFlat(true);
// 2 -> Back: ↓
ui->pushButton_Back->setShortcut(Qt::Key_2);
ui->pushButton_Back->setStyleSheet(
"QPushButton{border-image: url(://images/down.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/down_2.png)}");
ui->pushButton_Back->setFlat(true);
// 4 -> Left: ←
ui->pushButton_Left->setShortcut(Qt::Key_4);
ui->pushButton_Left->setStyleSheet(
"QPushButton{border-image: url(://images/left.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/left_2.png)}");
ui->pushButton_Left->setFlat(true);
// 6 -> Right: →
ui->pushButton_Right->setShortcut(Qt::Key_6);
ui->pushButton_Right->setStyleSheet(
"QPushButton{border-image: url(://images/right.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/right_2.png)}");
ui->pushButton_Right->setFlat(true);
// 7 -> Left_Forward: ↖
ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
ui->pushButton_Left_Forward->setStyleSheet(
"QPushButton{border-image: url(://images/up_left.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/up_left_2.png)}");
ui->pushButton_Left_Forward->setFlat(true);
// 9 -> Right_Forward: ↗
ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
ui->pushButton_Right_Forward->setStyleSheet(
"QPushButton{border-image: url(://images/up_right.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/up_right_2.png)}");
ui->pushButton_Right_Forward->setFlat(true);
// 1 -> Left_Back: ↙
ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
ui->pushButton_Left_Back->setStyleSheet(
"QPushButton{border-image: url(://images/down_left.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/down_left_2.png)}");
ui->pushButton_Left_Back->setFlat(true);
// 3 -> Right_Back: ↘
ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
ui->pushButton_Right_Back->setStyleSheet(
"QPushButton{border-image: url(://images/down_right.png)}"
"QPushButton{border:none}"
"QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
ui->pushButton_Right_Back->setFlat(true);
}

100
src/main/qnode.cpp
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@ -22,6 +22,7 @@ bool QNode::init() {
odom_topic = topic_setting.value("topic/topic_odom", "odom").toString();
batteryState_topic =
topic_setting.value("topic/topic_power", "battery_state").toString();
qRegisterMetaType<sensor_msgs::BatteryState>("sensor_msgs::BatteryState");
ros::init(init_argc,init_argv,"Air_Ground_CEC",
ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
SubAndPubTopic();
@ -31,17 +32,28 @@ 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);
cmdVel_sub = n.subscribe<nav_msgs::Odometry>(odom_topic.toStdString(), 10,
&QNode::speedCallback, this);
//power_sub = n.subscribe(batteryState_topic.toStdString(), 1000,
// &QNode::powerCallback, this);
cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
cmd_pub1 = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
battery_sub = n.subscribe(batteryState_topic.toStdString(), 1000,
&QNode::batteryCallback, this);
image_transport::ImageTransport it(n);
//chatter_subscriber = n.subscribe("chatter",1000,&QNode::myCallback,this);
image_sub = it.subscribe("camera/image",100,&QNode::myCallback_img,this);
image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this);
//chatter_publisher = n.advertise<std_msgs::String>("chatter1", 1000);
//chatter_subscriber = n.subscribe("chatter",1000,&QNode::myCallback,this);
}
void QNode::batteryCallback(const sensor_msgs::BatteryState& message) {
emit batteryState(message);
}
void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
@ -49,7 +61,7 @@ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
// {'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}}
{'1', {-1, 1, 0, -1}}, {'2', {-1, 0, 0, 0}}, {'3', {-1, -1, 0, 1}}
};
float x = moveBindings[key][0];
@ -73,6 +85,7 @@ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
twist.angular.z = th * turn;
cmd_pub.publish(twist);
ros::spinOnce();
}
@ -148,29 +161,76 @@ void QNode::AutoMove(float speed_linear, float speed_turn,
ros::spinOnce();
}
int i =0;
//速度回调函数
void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
{
std::cout<<i++<<endl;
ROS_INFO("i am ok");
emit speed_x(msg->twist.twist.linear.x);
emit speed_th(msg->twist.twist.angular.z);
}
}
void QNode::myCallback_img(const sensor_msgs::ImageConstPtr &msg)
void QNode::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg)
{
try
{
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
img = cv_ptr->image;
image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change to QImage format
ROS_INFO("I'm setting picture in mul_t callback function!");
std::cout<<"10"<<std::endl;
emit loggingCamera();
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
cv_bridge::CvImagePtr cv_ptr;
try {
//深拷贝转换为opencv类型
cv_bridge::CvImagePtr cv_ptr_compressed =
cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
QImage im = Mat2QImage(cv_ptr_compressed->image);
emit show_image(im);
} catch (cv_bridge::Exception& e) {
//log(Error, ("video frame0 exception: " + QString(e.what())).toStdString());
return;
}
ros::spin();
}
QImage QNode::Mat2QImage(cv::Mat const& src) {
QImage dest(src.cols, src.rows, QImage::Format_ARGB32);
const float scale = 255.0;
if (src.depth() == CV_8U) {
if (src.channels() == 1) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
int level = src.at<quint8>(i, j);
dest.setPixel(j, i, qRgb(level, level, level));
}
}
} else if (src.channels() == 3) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
cv::Vec3b bgr = src.at<cv::Vec3b>(i, j);
dest.setPixel(j, i, qRgb(bgr[2], bgr[1], bgr[0]));
}
}
}
} else if (src.depth() == CV_32F) {
if (src.channels() == 1) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
int level = scale * src.at<float>(i, j);
dest.setPixel(j, i, qRgb(level, level, level));
}
}
} else if (src.channels() == 3) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
cv::Vec3f bgr = scale * src.at<cv::Vec3f>(i, j);
dest.setPixel(j, i, qRgb(bgr[2], bgr[1], bgr[0]));
}
}
}
}
return dest;
}

5
src/ui/mainwindow.hpp
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@ -9,6 +9,7 @@
#include "../include/joystick.h"
#include "../include/qnode.hpp"
#include "../include/dashboard.h"
#include <sensor_msgs/BatteryState.h>
namespace Ui {
class MainWindow;
@ -41,11 +42,11 @@ public slots:
void slot_rockKeyChange(int);
void slot_speed_x(double x);
void slot_speed_th(double th);
void slot_batteryState(sensor_msgs::BatteryState);
void Slider_raw_valueChanged(int v);
void Slider_linear_valueChanged(int v);
void updateLogcamera();//added
void displayCamera(const QImage& image);//added
void slot_show_image(QImage image);//added
private:

4
src/ui/mainwindow.ui
Unescape View File

@ -239,8 +239,8 @@ margin:0px 0px 0px 0px;
<widget class="QWidget" name="">
<property name="geometry">
<rect>
<x>700</x>
<y>0</y>
<x>680</x>
<y>10</y>
<width>735</width>
<height>750</height>
</rect>

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