CMakeLists.txt

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

src/Djitellowhite/makefile

@@ -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)
+	
+	
+

src/include/Air_Ground_CEC/login.h

@@ -1,32 +0,0 @@
-#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/automove.cpp

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

src/include/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::ImageConstPtr &msg);//camera callback function
+    void imageCallback(const sensor_msgs::CompressedImageConstPtr &msg);//camera callback function
 
     QImage  Mat2QImage(cv::Mat const &src);
     cv::Mat QImage2Mat(QImage &image);

src/main/automove.cpp

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

src/main/dashboard.cpp

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

src/main/joystick.cpp

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

src/main/login.cpp

@@ -1,69 +0,0 @@
-#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 "../include/Air_Ground_CEC/mainwindow.hpp"
+
-#include "../include/Air_Ground_CEC/login.h"
+#include "../ui/mainwindow.hpp"
 
 #include <QApplication>
 
@@ -12,11 +12,9 @@ int main(int argc, char** argv)
 
 
     QApplication app(argc, argv);
+    MainWindow CEC(0,0,0);
 
-    //MainWindow CEC(0,0,0);
+    CEC.show();
-    //CEC.show();
-    Login a(0);
-    a.show();
     return app.exec();
 
     return(0);
@@ -27,5 +25,5 @@ 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 "../include/Air_Ground_CEC/mainwindow.hpp"
+#include "../ui/mainwindow.hpp"
-#include <QtConcurrent/QtConcurrent>
+
 
 
 MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
@@ -7,11 +7,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     ui(new Ui::MainWindow)
 
 {
-    QtConcurrent::run([=](){
+    qnode.init();
-        qnode.init();
-    });
-
-
     ui->setupUi(this);
     initUis();
     timer = new QTimer(this);
@@ -245,13 +241,13 @@ void MainWindow::Slider_linear_valueChanged(int v) {
   ui->label_linear->setText(QString::number(v));
 }
 
-void MainWindow::slot_show_image(const QImage& image)
+void MainWindow::slot_show_image(QImage image)
 {
-    //qimage_mutex_.lock();
+    qimage_mutex_.lock();
-    //qimage_ = image.copy();
+    qimage_ = image.copy();
-    ui->label_camera->setPixmap(QPixmap::fromImage(image));
+    ui->label_camera->setPixmap(QPixmap::fromImage(qimage_));
     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/Air_Ground_CEC/qnode.hpp"
+#include "../include/qnode.hpp"
 
 #include "sensor_msgs/image_encodings.h"
-#include <QtConcurrent/QtConcurrent>
 
 QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
 
 
+
 }
 
 
@@ -25,11 +25,8 @@ 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);
-    QtConcurrent::run([=](){
+    SubAndPubTopic();
-        SubAndPubTopic();
+    //start();
-    });
-
-
     return true;
 }
 
@@ -47,13 +44,12 @@ void QNode::SubAndPubTopic(){
                               &QNode::batteryCallback, this);
 
     image_transport::ImageTransport it(n);
-    image_sub = it.subscribe("camera/rgb/image_raw", 100, &QNode::imageCallback, this);
+    image_sub0 = n.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) {
@@ -90,7 +86,7 @@ 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,
@@ -165,34 +161,35 @@ 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::ImageConstPtr &msg)
+void QNode::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg)
 {
-    try
+    ROS_INFO("I'm setting picture in mul_t callback function!");
-      {
+    cv_bridge::CvImagePtr cv_ptr;
-        cv_bridge::CvImageConstPtr cv_ptr =
+
-            cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
+    try {
-        cv::Mat img = cv_ptr->image;
+      //深拷贝转换为opencv类型
-        QImage image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change  to QImage format
+      cv_bridge::CvImagePtr cv_ptr_compressed =
-        //ROS_INFO("I'm setting picture in mul_t callback function!");
+          cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
-        //image.save("/home/jackyma/test.jpg");
+      QImage im = Mat2QImage(cv_ptr_compressed->image);
-        emit show_image(image);
+      emit show_image(im);
-      }
+    } catch (cv_bridge::Exception& e) {
-    catch (cv_bridge::Exception& e)
+      //log(Error, ("video frame0 exception: " + QString(e.what())).toStdString());
-      {
+      return;
-        ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
+    }
-      }
+    ros::spin();
-
 }
 
 

src/resources/images.qrc

@@ -16,10 +16,5 @@
         <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

@@ -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
+

src/ui/Triplet/Triplet.pro

@@ -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

src/ui/Triplet/main.cpp

@@ -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();
+}

src/ui/Triplet/mainwindow.cpp

@@ -0,0 +1,51 @@
+#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

@@ -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

src/ui/Triplet/mainwindow.ui

@@ -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>

src/ui/mainwindow.hpp

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

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>2</number>
+       <number>1</number>
       </property>
       <widget class="QWidget" name="mainWidget">
        <widget class="QLabel" name="label_2">