parent
d26d56759c
commit
fb6fe3e761
@ -0,0 +1,237 @@
|
|||||||
|
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/main/main.cpp
|
||||||
|
src/main/mainwindow.cpp
|
||||||
|
src/main/qnode.cpp
|
||||||
|
src/main/joystick.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.
@ -0,0 +1,73 @@
|
|||||||
|
<?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>
|
||||||
@ -0,0 +1,146 @@
|
|||||||
|
#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();
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,80 @@
|
|||||||
|
#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.
@ -0,0 +1,6 @@
|
|||||||
|
#ifndef _HARDWARELISTENER_H
|
||||||
|
#define _HARDWARELISTENER_H
|
||||||
|
#include "Djitellowhite.h"
|
||||||
|
int listenkeyboard(Tello T,sockaddr_in serveraddr);
|
||||||
|
int scanKeyboard();
|
||||||
|
#endif
|
||||||
@ -0,0 +1,45 @@
|
|||||||
|
#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;
|
||||||
|
}
|
||||||
@ -0,0 +1,57 @@
|
|||||||
|
#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.
@ -0,0 +1,21 @@
|
|||||||
|
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.
@ -0,0 +1,55 @@
|
|||||||
|
#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
|
||||||
@ -0,0 +1,45 @@
|
|||||||
|
#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 <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 <QThread>
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
|
|
||||||
|
private:
|
||||||
|
int init_argc;
|
||||||
|
char **init_argv;
|
||||||
|
|
||||||
|
ros::Subscriber cmdVel_sub;
|
||||||
|
ros::Publisher cmd_pub;
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
@ -0,0 +1,27 @@
|
|||||||
|
|
||||||
|
#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
|
||||||
|
*/
|
||||||
@ -0,0 +1,273 @@
|
|||||||
|
#include "../ui/mainwindow.hpp"
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
|
||||||
|
QMainWindow(parent), qnode(argc, argv),
|
||||||
|
ui(new Ui::MainWindow)
|
||||||
|
|
||||||
|
{
|
||||||
|
qnode.init();
|
||||||
|
ui->setupUi(this);
|
||||||
|
initUis();
|
||||||
|
connections();
|
||||||
|
}
|
||||||
|
|
||||||
|
MainWindow::~MainWindow()
|
||||||
|
{
|
||||||
|
delete ui;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void MainWindow::initUis(){
|
||||||
|
setBtnStyles();
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
* init
|
||||||
|
*/
|
||||||
|
|
||||||
|
rock_widget = new JoyStick(ui->JoyStick_widget);
|
||||||
|
rock_widget->show();
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
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(){
|
||||||
|
QPushButton *btn = qobject_cast<QPushButton *>(sender());
|
||||||
|
std::string btn_name = btn->text().toStdString();
|
||||||
|
char key = ' ';
|
||||||
|
|
||||||
|
if (btn_name == "↙")
|
||||||
|
key = '1';
|
||||||
|
else if (btn_name == "↓")
|
||||||
|
key = '2';
|
||||||
|
else if (btn_name == "↘")
|
||||||
|
key = '3';
|
||||||
|
else if (btn_name == "←")
|
||||||
|
key = '4';
|
||||||
|
//else if (btn_name == "")
|
||||||
|
// key = '5';
|
||||||
|
else if (btn_name == "→")
|
||||||
|
key = '6';
|
||||||
|
else if (btn_name == "↖")
|
||||||
|
key = '7';
|
||||||
|
else if (btn_name == "↑")
|
||||||
|
key = '8';
|
||||||
|
else if (btn_name == "↗")
|
||||||
|
key = '9';
|
||||||
|
|
||||||
|
//速度
|
||||||
|
float liner = ui->horizontalSlider_linear->value() * 0.01;
|
||||||
|
float turn = ui->horizontalSlider_raw->value() * 0.01;
|
||||||
|
//bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
|
||||||
|
//std::cout<<liner<<" "<<turn<<std::endl;
|
||||||
|
qnode.KeyboardMove(key, liner, turn);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void MainWindow::slot_rockKeyChange(int key){
|
||||||
|
//速度
|
||||||
|
float liner = ui->horizontalSlider_linear->value() * 0.01;
|
||||||
|
float turn = ui->horizontalSlider_raw->value() * 0.01;
|
||||||
|
switch (key) {
|
||||||
|
case upleft:
|
||||||
|
qnode.KeyboardMove('7', liner, turn);
|
||||||
|
break;
|
||||||
|
case up:
|
||||||
|
qnode.KeyboardMove('8', liner, turn);
|
||||||
|
break;
|
||||||
|
case upright:
|
||||||
|
qnode.KeyboardMove('9', liner, turn);
|
||||||
|
break;
|
||||||
|
case left:
|
||||||
|
qnode.KeyboardMove('4', liner, turn);
|
||||||
|
break;
|
||||||
|
case right:
|
||||||
|
qnode.KeyboardMove('6', liner, turn);
|
||||||
|
break;
|
||||||
|
case downleft:
|
||||||
|
qnode.KeyboardMove('1', liner, turn);
|
||||||
|
break;
|
||||||
|
case down:
|
||||||
|
qnode.KeyboardMove('2', liner, turn);
|
||||||
|
break;
|
||||||
|
case downright:
|
||||||
|
qnode.KeyboardMove('3', liner, turn);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
void MainWindow::connections(){
|
||||||
|
QObject::connect(ui->btn_main, &QPushButton::clicked, this, [=](){
|
||||||
|
ui->stackedWidget_main->setCurrentIndex(0);
|
||||||
|
});
|
||||||
|
QObject::connect(ui->btn_uav, &QPushButton::clicked, this, [=](){
|
||||||
|
ui->stackedWidget_main->setCurrentIndex(1);
|
||||||
|
});
|
||||||
|
QObject::connect(ui->btn_ugv, &QPushButton::clicked, this, [=](){
|
||||||
|
ui->stackedWidget_main->setCurrentIndex(2);
|
||||||
|
});
|
||||||
|
/*
|
||||||
|
* 绑定速度控制按钮
|
||||||
|
*/
|
||||||
|
|
||||||
|
// 8 -> Forward: ↑
|
||||||
|
connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
// 2 -> Back: ↓
|
||||||
|
connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
// 4 -> Left: ←
|
||||||
|
connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
// 6 -> Right: →
|
||||||
|
connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
// 7 -> Left_Forward: ↖
|
||||||
|
connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
// 9 -> Right_Forward: ↗
|
||||||
|
connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
// 1 -> Left_Back: ↙
|
||||||
|
connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
// 3 -> Right_Back: ↘
|
||||||
|
connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
|
||||||
|
|
||||||
|
connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
|
||||||
|
SLOT(slot_rockKeyChange(int)));
|
||||||
|
|
||||||
|
//绑定slider的函数
|
||||||
|
connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
|
||||||
|
SLOT(Slider_raw_valueChanged(int)));
|
||||||
|
connect(ui->horizontalSlider_linear, SIGNAL(valueChanged(int)), this,
|
||||||
|
SLOT(Slider_linear_valueChanged(int)));
|
||||||
|
}
|
||||||
|
|
||||||
|
//滑动条处理槽函数
|
||||||
|
void MainWindow::Slider_raw_valueChanged(int v) {
|
||||||
|
ui->label_raw->setText(QString::number(v));
|
||||||
|
}
|
||||||
|
//滑动条处理槽函数
|
||||||
|
void MainWindow::Slider_linear_valueChanged(int v) {
|
||||||
|
ui->label_linear->setText(QString::number(v));
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,64 @@
|
|||||||
|
#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() {
|
||||||
|
|
||||||
|
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;
|
||||||
|
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();
|
||||||
|
}
|
||||||
|
|
||||||
@ -0,0 +1,20 @@
|
|||||||
|
<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>
|
||||||
|
After Width: | Height: | Size: 1.4 KiB |
|
After Width: | Height: | Size: 910 B |
|
After Width: | Height: | Size: 1.9 KiB |
|
After Width: | Height: | Size: 1.9 KiB |
|
After Width: | Height: | Size: 1.9 KiB |
|
After Width: | Height: | Size: 1.9 KiB |
|
After Width: | Height: | Size: 719 B |
|
After Width: | Height: | Size: 2.0 KiB |
|
After Width: | Height: | Size: 764 B |
|
After Width: | Height: | Size: 723 B |
|
After Width: | Height: | Size: 1.2 KiB |
|
After Width: | Height: | Size: 2.5 KiB |
|
After Width: | Height: | Size: 1.9 KiB |
|
After Width: | Height: | Size: 2.6 KiB |
|
After Width: | Height: | Size: 1.9 KiB |
|
After Width: | Height: | Size: 2.8 KiB |
@ -0,0 +1,73 @@
|
|||||||
|
# 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
|
||||||
|
|
||||||
@ -0,0 +1,38 @@
|
|||||||
|
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
|
||||||
@ -0,0 +1,11 @@
|
|||||||
|
#include "mainwindow.h"
|
||||||
|
|
||||||
|
#include <QApplication>
|
||||||
|
|
||||||
|
int main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
QApplication a(argc, argv);
|
||||||
|
MainWindow w;
|
||||||
|
w.show();
|
||||||
|
return a.exec();
|
||||||
|
}
|
||||||
@ -0,0 +1,45 @@
|
|||||||
|
#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();
|
||||||
|
}
|
||||||
@ -0,0 +1,47 @@
|
|||||||
|
#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
|
||||||
@ -0,0 +1,71 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<ui version="4.0">
|
||||||
|
<class>MainWindow</class>
|
||||||
|
<widget class="QMainWindow" name="MainWindow">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>0</y>
|
||||||
|
<width>1280</width>
|
||||||
|
<height>768</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="windowTitle">
|
||||||
|
<string>MainWindow</string>
|
||||||
|
</property>
|
||||||
|
<widget class="QWidget" name="centralwidget">
|
||||||
|
<widget class="QPushButton" name="CLOSE">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>1100</x>
|
||||||
|
<y>440</y>
|
||||||
|
<width>80</width>
|
||||||
|
<height>25</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string>CLOSE</string>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QPushButton" name="PLAY">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>1100</x>
|
||||||
|
<y>250</y>
|
||||||
|
<width>80</width>
|
||||||
|
<height>25</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string>PLAY</string>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QLabel" name="label">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>50</x>
|
||||||
|
<y>30</y>
|
||||||
|
<width>731</width>
|
||||||
|
<height>461</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string/>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
</widget>
|
||||||
|
<widget class="QMenuBar" name="menubar">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>0</y>
|
||||||
|
<width>1280</width>
|
||||||
|
<height>22</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QStatusBar" name="statusbar"/>
|
||||||
|
</widget>
|
||||||
|
<resources/>
|
||||||
|
<connections/>
|
||||||
|
</ui>
|
||||||
@ -0,0 +1,59 @@
|
|||||||
|
#ifndef MAINWINDOW_H
|
||||||
|
#define MAINWINDOW_H
|
||||||
|
|
||||||
|
#include <QMainWindow>
|
||||||
|
#include <QImage>
|
||||||
|
#include <QMutex>
|
||||||
|
|
||||||
|
#include "ui_mainwindow.h"
|
||||||
|
#include "../include/joystick.h"
|
||||||
|
#include "../include/qnode.hpp"
|
||||||
|
|
||||||
|
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 Slider_raw_valueChanged(int v);
|
||||||
|
void Slider_linear_valueChanged(int v);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
private:
|
||||||
|
Ui::MainWindow *ui;
|
||||||
|
QNode qnode;
|
||||||
|
JoyStick *rock_widget;
|
||||||
|
|
||||||
|
void initUis();
|
||||||
|
void setBtnStyles();
|
||||||
|
void connections();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // MAINWINDOW_H
|
||||||
Loading…
Reference in new issue