re

CMakeLists.txt

@@ -33,21 +33,17 @@ 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
+file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} src/ui/*.ui)
+file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} src/resources/*.qrc)
+file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+    FOLLOW_SYMLINKS src/include/Air_Ground_CEC/*.hpp *.h)
+file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+    FOLLOW_SYMLINKS src/*.cpp)
 
-)
+QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
+QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
+QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
 
-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(
@@ -56,7 +52,9 @@ include_directories(
     ${OpenCV_INCLUDE_DIRS}
 )
 
-add_executable(Air_Ground_CEC ${SOURCES} ${qrc_Files})
+add_executable(Air_Ground_CEC ${QRC_FILES} ${QT_SOURCES}
+    ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
+
 target_link_libraries(Air_Ground_CEC
     Qt5::Widgets
     ${catkin_LIBRARIES}

src/Djitellowhite/makefile

@@ -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)
-	
-	
-

src/include/Air_Ground_CEC/login.h

@@ -0,0 +1,32 @@
+#ifndef LOGIN_H
+#define LOGIN_H
+
+#include <QMainWindow>
+#include "ui_login.h"
+
+namespace Ui {
+class Login;
+}
+
+class Login : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit Login(QWidget *parent = nullptr);
+    ~Login();
+
+private:
+    Ui::Login *ui;
+    bool isPressedWidget;
+    QPoint m_lastPos;
+
+    void initWindow();
+    void mousePressEvent(QMouseEvent *event);
+    void mouseMoveEvent(QMouseEvent *event);
+    void mouseReleaseEvent(QMouseEvent *event);
+    void setWindowState();
+    void setBtnAndLabelState();
+};
+
+#endif // LOGIN_H

src/include/Air_Ground_CEC/mainwindow.hpp

@@ -6,9 +6,10 @@
 #include <QMutex>
 #include <QTimer>
 #include "ui_mainwindow.h"
-#include "../include/joystick.h"
-#include "../include/qnode.hpp"
-#include "../include/dashboard.h"
+
+#include "joystick.h"
+#include "qnode.hpp"
+#include "dashboard.h"
 #include <sensor_msgs/BatteryState.h>
 
 using namespace cv;
@@ -47,7 +48,7 @@ public slots:
     void Slider_raw_valueChanged(int v);
     void Slider_linear_valueChanged(int v);
     void importFrame();//read video
-    void slot_show_image(QImage image);//added
+    void slot_show_image(const QImage& image);//added
 
 
 private slots:

src/include/Air_Ground_CEC/qnode.hpp

@@ -75,7 +75,7 @@ private:
     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 imageCallback(const sensor_msgs::ImageConstPtr &msg);//camera callback function
 
     QImage  Mat2QImage(cv::Mat const &src);
     cv::Mat QImage2Mat(QImage &image);

src/include/automove.cpp

@@ -1,6 +0,0 @@
-#include "automove.h"
-
-AutoMove::AutoMove()
-{
-
-}

src/main/automove.cpp

@@ -0,0 +1,6 @@
+#include "../include/Air_Ground_CEC/automove.h"
+
+AutoMove::AutoMove()
+{
+
+}

src/main/dashboard.cpp

@@ -1,4 +1,4 @@
-#include "../include/dashboard.h"
+#include "../include/Air_Ground_CEC/dashboard.h"
 
 #include <qapplication.h>
 #include <qpainter.h>

src/main/joystick.cpp

@@ -1,4 +1,4 @@
-#include "../include/joystick.h"
+#include "../include/Air_Ground_CEC/joystick.h"
 
 #include <QDebug>
 JoyStick::JoyStick(QWidget* parent) : QWidget(parent) {

src/main/login.cpp

@@ -0,0 +1,69 @@
+#include "../include/Air_Ground_CEC/login.h"
+#include <QMovie>
+#include <QWidget>
+#include <QMouseEvent>
+
+Login::Login(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::Login)
+{
+    ui->setupUi(this);
+    initWindow();
+
+}
+
+Login::~Login()
+{
+    delete ui;
+}
+
+void Login::initWindow(){
+    setWindowState();
+    setBtnAndLabelState();
+}
+
+void Login::setWindowState(){
+    this->setAttribute(Qt::WA_TranslucentBackground);
+    this->setWindowFlags(Qt::FramelessWindowHint);//隐藏边框
+}
+
+
+
+void Login::setBtnAndLabelState(){
+    QMovie* movie = new QMovie("://images/background.gif");
+    ui->label_video->setMovie(movie);
+    movie->start();
+
+    ui->btnWinMin->setIcon(QIcon("://images/min.png"));
+    ui->btnWinMin_2->setIcon(QIcon("://images/min.png"));
+    ui->btnWinClose->setIcon(QIcon("://images/close.png"));
+    ui->btnWinClose_2->setIcon(QIcon("://images/close.png"));
+
+    connect(ui->btnWinMin, &QPushButton::clicked, this,
+            [=]() { this->showMinimized(); });
+    connect(ui->btnWinMin_2, &QPushButton::clicked, this,
+            [=]() { this->showMinimized(); });
+
+    connect(ui->btnWinClose, &QPushButton::clicked, this, [=]() { this->close(); });
+    connect(ui->btnWinClose_2, &QPushButton::clicked, this, [=]() { this->close(); });
+
+}
+
+void Login::mousePressEvent(QMouseEvent *event) {
+  m_lastPos = event->globalPos();
+  isPressedWidget = true;  // 当前鼠标按下的即是QWidget而非界面上布局的其它控件
+}
+
+void Login::mouseMoveEvent(QMouseEvent *event) {
+  if (isPressedWidget) {
+    this->move(this->x() + (event->globalX() - m_lastPos.x()),
+               this->y() + (event->globalY() - m_lastPos.y()));
+    m_lastPos = event->globalPos();
+  }
+}
+
+void Login::mouseReleaseEvent(QMouseEvent *event) {
+  // 其实这里的mouseReleaseEvent函数可以不用重写
+  m_lastPos = event->globalPos();
+  isPressedWidget = false;  // 鼠标松开时，置为false
+}

src/main/main.cpp

@@ -1,5 +1,5 @@
-
-#include "../ui/mainwindow.hpp"
+#include "../include/Air_Ground_CEC/mainwindow.hpp"
+#include "../include/Air_Ground_CEC/login.h"
 
 #include <QApplication>
 
@@ -12,9 +12,11 @@ int main(int argc, char** argv)
 
 
     QApplication app(argc, argv);
-    MainWindow CEC(0,0,0);
 
-    CEC.show();
+    //MainWindow CEC(0,0,0);
+    //CEC.show();
+    Login a(0);
+    a.show();
     return app.exec();
 
     return(0);
@@ -25,5 +27,5 @@ 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
- *
+ * git fame
  */

src/main/mainwindow.cpp

@@ -1,5 +1,5 @@
-#include "../ui/mainwindow.hpp"
-
+#include "../include/Air_Ground_CEC/mainwindow.hpp"
+#include <QtConcurrent/QtConcurrent>
 
 
 MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
@@ -7,7 +7,11 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     ui(new Ui::MainWindow)
 
 {
-    qnode.init();
+    QtConcurrent::run([=](){
+        qnode.init();
+    });
+
+
     ui->setupUi(this);
     initUis();
     timer = new QTimer(this);
@@ -241,13 +245,13 @@ void MainWindow::Slider_linear_valueChanged(int v) {
   ui->label_linear->setText(QString::number(v));
 }
 
-void MainWindow::slot_show_image(QImage image)
+void MainWindow::slot_show_image(const QImage& image)
 {
-    qimage_mutex_.lock();
-    qimage_ = image.copy();
-    ui->label_camera->setPixmap(QPixmap::fromImage(qimage_));
+    //qimage_mutex_.lock();
+    //qimage_ = image.copy();
+    ui->label_camera->setPixmap(QPixmap::fromImage(image));
     ui->label_camera->resize(ui->label_camera->pixmap()->size());
-    qimage_mutex_.unlock();
+    //qimage_mutex_.unlock();
 }
 
 

src/main/qnode.cpp

@@ -1,11 +1,11 @@
-#include "../include/qnode.hpp"
+#include "../include/Air_Ground_CEC/qnode.hpp"
 
 #include "sensor_msgs/image_encodings.h"
+#include <QtConcurrent/QtConcurrent>
 
 QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
 
 
-
 }
 
 
@@ -25,8 +25,11 @@ bool QNode::init() {
     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();
-    //start();
+    QtConcurrent::run([=](){
+        SubAndPubTopic();
+    });
+
+
     return true;
 }
 
@@ -44,12 +47,13 @@ void QNode::SubAndPubTopic(){
                               &QNode::batteryCallback, this);
 
     image_transport::ImageTransport it(n);
-    image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this);
-
+    image_sub = it.subscribe("camera/rgb/image_raw", 100, &QNode::imageCallback, 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);
+    ros::spin();
 }
 
 void QNode::batteryCallback(const sensor_msgs::BatteryState& message) {
@@ -86,7 +90,7 @@ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
 
     cmd_pub.publish(twist);
 
-    ros::spinOnce();
+    //ros::spinOnce();
 }
 
 void QNode::AutoMove(float speed_linear, float speed_turn,
@@ -161,35 +165,34 @@ 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::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg)
+void QNode::imageCallback(const sensor_msgs::ImageConstPtr &msg)
 {
-    ROS_INFO("I'm setting picture in mul_t callback function!");
-    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();
+    try
+      {
+        cv_bridge::CvImageConstPtr cv_ptr =
+            cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
+        cv::Mat img = cv_ptr->image;
+        QImage 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!");
+        //image.save("/home/jackyma/test.jpg");
+        emit show_image(image);
+      }
+    catch (cv_bridge::Exception& e)
+      {
+        ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
+      }
+
 }
 
 

src/resources/images.qrc

@@ -16,5 +16,10 @@
         <file>images/up_left_2.png</file>
         <file>images/up_right.png</file>
         <file>images/up_right_2.png</file>
+        <file>images/close.png</file>
+        <file>images/min.png</file>
+        <file>images/power.png</file>
+        <file>images/power-v.png</file>
+        <file>images/background.gif</file>
     </qresource>
 </RCC>

src/ui/Triplet/.gitignore

@@ -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
-

src/ui/Triplet/Triplet.pro

@@ -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

src/ui/Triplet/main.cpp

@@ -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();
-}

src/ui/Triplet/mainwindow.cpp

@@ -1,51 +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();
-}
-
-
-
-
-
-

src/ui/Triplet/mainwindow.h

@@ -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

src/ui/Triplet/mainwindow.ui

@@ -1,71 +0,0 @@
-<?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>

src/ui/mainwindow.ui

@@ -203,7 +203,7 @@ margin:0px 0px 0px 0px;
     <item row="0" column="0">
      <widget class="QStackedWidget" name="stackedWidget_main">
       <property name="currentIndex">
-       <number>1</number>
+       <number>2</number>
       </property>
       <widget class="QWidget" name="mainWidget">
        <widget class="QLabel" name="label_2">