CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
   cv_bridge
+  sensor_msgs
   image_transport
 )
 
@@ -122,16 +123,19 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 set(SOURCES
     src/include/qnode.hpp
-    src/include/roskeyboardteleopnode.h
+    src/include/joystick.h
 
     src/main/main.cpp
     src/main/mainwindow.cpp
     src/main/qnode.cpp
-    src/main/roskeyboardteleopnode.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(
@@ -140,7 +144,7 @@ include_directories(
     ${OpenCV_INCLUDE_DIRS}
 )
 
-add_executable(Air_Ground_CEC ${SOURCES})
+add_executable(Air_Ground_CEC ${SOURCES} ${qrc_Files})
 target_link_libraries(Air_Ground_CEC
     Qt5::Widgets
     ${catkin_LIBRARIES}

src/include/joystick.h

@@ -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

src/include/qnode.hpp

@@ -4,6 +4,8 @@
 #ifndef Q_MOC_RUN
 #include <ros/ros.h>
 #endif
+#include <iostream>
+
 #include <QImage>
 
 #include <opencv2/core/core.hpp>
@@ -17,6 +19,8 @@
 #include <geometry_msgs/Twist.h>
 #include <QThread>
 
+using namespace std;
+
 class QNode : public QThread{
     Q_OBJECT
 
@@ -25,13 +29,8 @@ public:
     virtual ~QNode();
     bool init();
     void SubAndPubTopic();
-    void KeyboardMove(char key);
-    //void myCallback_img(const sensor_msgs::ImageConstPtr& msg);//camera callback function
-    //QImage image;
-
+    void KeyboardMove(char key, float speed_linear, float speed_trun);
 
-//Q_SIGNALS:
-    //void loggingCamera();//发出设置相机图片信号
 
 private:
     int init_argc;
@@ -39,11 +38,7 @@ private:
 
     ros::Subscriber cmdVel_sub;
     ros::Publisher cmd_pub;
-    //ros::Publisher chatter_publisher;
-    //QStringList logging_model;
-    //image_transport::Subscriber image_sub;
 
-//cv::Mat img;
 };
 
 #endif

src/main/joystick.cpp

@@ -0,0 +1,105 @@
+#include "../include/joystick.h"
+
+#include <QDebug>
+JoyStick::JoyStick(QWidget* parent) : QWidget(parent) {
+  setPalette(QPalette(Qt::white));
+  resize(parent->width(), parent->height());
+  setMinimumSize(100, 100);
+  mouseX = width() / 2;
+  mouseY = height() / 2;
+  tim = new QTimer(this);
+  connect(tim, &QTimer::timeout, this,
+          [=] { emit keyNumchanged(getKeyNum()); });
+  //    connect(this,&JoyStick::keyNumchanged,this,[=](int num){
+  //        qDebug()<<num<<endl;
+  //    });
+}
+
+JoyStick::~JoyStick() {}
+void JoyStick::paintEvent(QPaintEvent*) {
+  QPainter painter(this);
+
+  int side = qMin(width(), height());
+
+  padR = side / 2;       //底盘半径
+  padX = padR;           //底盘圆心
+  padY = padR;           //底盘圆心
+  JoyStickR = padR / 4;  //摇杆圆半径
+  int JoyStickMaxR = padR - JoyStickR;
+  QColor JoyStickColor;
+  JoyStickColor.setRgb(85, 87, 83);
+  //加载底盘图像
+  //    painter.save();
+
+  //    painter.scale(side / 400.0, side / 400.0);//坐标会随窗口缩放
+  //    painter.drawPixmap(0, 0, QPixmap(":/image/pad.png"));
+  //    painter.restore();
+  //自绘底盘
+  painter.save();
+  QRadialGradient RadialGradient(padR, padR, padR * 3, padR,
+                                 padR);  //圆心2，半径1，焦点2
+  RadialGradient.setColorAt(0, QColor(255, 253, 253, 255));  //渐变
+  RadialGradient.setColorAt(1, QColor(255, 240, 245, 190));  //渐变
+  painter.setBrush(RadialGradient);
+  painter.setPen(Qt::NoPen);
+  painter.drawEllipse(QPoint(padR, padR), side / 2, side / 2);  //大圆盘
+  painter.restore();
+
+  // painter.drawText(20,20,tr("%1,%2,%3").arg(mouseX).arg(mouseY).arg(handPadDis));
+
+  if (!mousePressed) {  //鼠标没按下则摇杆恢复到底盘中心
+    mouseX = padX;
+    mouseY = padY;
+  }
+  handPadDis = Pointdis(padR, padR, mouseX, mouseY);
+  if (handPadDis <= JoyStickMaxR) {
+    JoyStickX = mouseX;
+    JoyStickY = mouseY;
+  } else {
+    JoyStickX = (int)(JoyStickMaxR * (mouseX - padX) / handPadDis + padX);
+    JoyStickY = (int)(JoyStickMaxR * (mouseY - padY) / handPadDis + padY);
+  }
+  // painter.drawText(200,200,tr("%1,%2,%3").arg(JoyStickX).arg(JoyStickY).arg(handPaddis));
+  painter.setPen(Qt::NoPen);
+  painter.setBrush(JoyStickColor);
+  painter.drawEllipse(QPoint(JoyStickX, JoyStickY), JoyStickR,
+                      JoyStickR);  //摇杆
+}
+void JoyStick::mouseMoveEvent(QMouseEvent* event) {
+  static bool r = false;
+  mouseX = event->pos().x();
+  mouseY = event->pos().y();
+  if (r == true) {
+    update();
+    r = false;
+  } else {
+    r = true;
+  }
+}
+void JoyStick::mouseReleaseEvent(QMouseEvent* event) {
+  mouseX = width() / 2;
+  mouseY = height() / 2;
+  tim->stop();
+  mousePressed = false;
+  emit keyNumchanged(JoyStick::stop);
+  update();
+}
+void JoyStick::mousePressEvent(QMouseEvent* event) {
+  mouseX = event->pos().x();
+  mouseY = event->pos().y();
+  tim->start(100);
+  mousePressed = true;
+  update();
+}
+
+double JoyStick::Pointdis(int a, int b, int x, int y) {
+  return sqrt((double)((x - a) * (x - a) + (y - b) * (y - b)));
+}
+int JoyStick::getKeyNum() {
+  int x, y;
+  int keynum;
+  x = (int)(JoyStickX * 3.0 / (padR * 2));
+  y = (int)(JoyStickY * 3.0 / (padR * 2));
+  keynum = 3 * y + x;
+  return keynum;
+}

src/main/main.cpp

@@ -22,3 +22,6 @@ int main(int argc, char** argv)
 
 
 
+/*
+ * find . "(" -name "*.cpp" -or -name "*.h" -or -name "*.hpp" -or -name "*.qrc" ")" -print | xargs wc -l
+ */

src/main/mainwindow.cpp

@@ -9,6 +9,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
 {
     qnode.init();
     ui->setupUi(this);
+    initUis();
     connections();
 }
 
@@ -18,63 +19,255 @@ MainWindow::~MainWindow()
 }
 
 
+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 == "左"){
-        key = 'a';
-    }
-    else if (btn_name == "右") {
-        key = 'd';
-    }
-    else if (btn_name == "前") {
-        key = 'w';
-    }
-    else if (btn_name == "后") {
-        key = 's';
-    }
-    /*
-    else if (btn_name == "加速") {
-        key = 'f';
-    }
-    */
 
+    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';
 
-    qnode.KeyboardMove(key);
+    //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::connections(){
-    //绑定速度控制按钮
-    ui->pushButton_W->setShortcut(Qt::Key_W);
-    connect(ui->pushButton_W, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    ui->pushButton_S->setShortcut(Qt::Key_S);
-    connect(ui->pushButton_S, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    ui->pushButton_A->setShortcut(Qt::Key_A);
-    connect(ui->pushButton_A, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    ui->pushButton_D->setShortcut(Qt::Key_D);
-    connect(ui->pushButton_D, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    connect(ui->pushButton_shift, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    //
-    //QObject::connect(&qnode, SIGNAL(loggingCamera()), this, SLOT(slot_updateCamera()));
+
+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)));
 
-/*
-void MainWindow::slot_dispalyCamera(const QImage &image){
-    qimage_mutex.lock();
-    qimage = image.copy();
-    ui->UGV_Vedio->setPixmap(QPixmap::fromImage(qimage));
-    ui->UGV_Vedio->resize(ui->UGV_Vedio->pixmap()->size());
-    qimage_mutex.unlock();
+    //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)));
 }
 
-void MainWindow::slot_updateCamera()
-{
-  slot_dispalyCamera(qnode.image);
+//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));
 }
-*/
 
 

src/main/qnode.cpp

@@ -30,37 +30,35 @@ void QNode::SubAndPubTopic(){
     cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
 }
 
-void QNode::KeyboardMove(char key){
+void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
     std::map<char, std::vector<float>> moveBindings {
-        // {'key', {speed, turn}}
-        {'w', {1, 0}}, {'s', {-1, 0}}, {'a', {0, 1}}, {'d', {0, -1}},
-        {'W', {1, 0}}, {'S', {-1, 0}}, {'A', {0, 1}}, {'D', {0, -1}}
+        // {'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 z = moveBindings[key][1];
+    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;
-    twist.angular.z = z;
+    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();
 }
 
-/*
-void QNode::myCallback_img(const sensor_msgs::ImageConstPtr &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!");
-    Q_EMIT loggingCamera();
-  }
-catch (cv_bridge::Exception& e)
-  {
-    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
-  }
-}
-*/

src/resources/images.qrc

@@ -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>

src/ui/Triplet/1.txt

@@ -0,0 +1 @@
+test

src/ui/mainwindow.hpp

@@ -6,6 +6,7 @@
 #include <QMutex>
 
 #include "ui_mainwindow.h"
+#include "../include/joystick.h"
 #include "../include/qnode.hpp"
 
 namespace Ui {
@@ -19,18 +20,39 @@ class MainWindow : public QMainWindow
 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_updateCamera();
-    //void slot_dispalyCamera(const QImage& image);
+    //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;
-    void connections();
     QNode qnode;
-    //QImage qimage;
-    //mutable QMutex qimage_mutex;
+    JoyStick *rock_widget;
+
+    void initUis();
+    void setBtnStyles();
+    void connections();
+
+
 
 };