CMakeLists.txt

@@ -16,10 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 ## 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
+
 )
 
 ###########

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/Air_Ground_CEC/loginui.h

@@ -0,0 +1,40 @@
+#ifndef LOGINUI_H
+#define LOGINUI_H
+
+#include <QMainWindow>
+#include "ui_loginui.h"
+#include <iostream>
+#include <cstring>
+
+using namespace std;
+
+namespace Ui {
+class LoginUi;
+}
+
+class LoginUi : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit LoginUi(QWidget *parent = nullptr);
+    ~LoginUi();
+
+private:
+    Ui::LoginUi *ui;
+    bool isPressedWidget;
+    QPoint m_lastPos;
+
+    void initWindow();
+    void mousePressEvent(QMouseEvent *event);
+    void mouseMoveEvent(QMouseEvent *event);
+    void mouseReleaseEvent(QMouseEvent *event);
+    void setWindowState();
+    void setBtnAndLabelState();
+
+    bool verifyAccount(string usr, string pwd);
+    void changetoMainwindow();
+
+};
+
+#endif // LOGINUI_H

src/main/Djitellowhite.cpp

@@ -1,6 +1,6 @@
-#include"Djitellowhite.h"
-#include<iostream>
-#include<opencv2/opencv.hpp>
+#include "../include/Djitellowhite.h"
+#include <iostream>
+#include <opencv2/opencv.hpp>
 
 
 #include<stdio.h>

src/main/Triplet.cpp

@@ -1,6 +1,7 @@
-#include"Djitellowhite.h"
-#include"Hardwarelistener.h"
-#include<iostream>
+#include "../include/Djitellowhite.h"
+#include "../include/Hardwarelistener.h"
+#include <iostream>
+/*
 using namespace std;
 int main(void){
 	Tello T("192.168.10.1");
@@ -43,3 +44,4 @@ int main(void){
 	listenkeyboard(T,serveraddr);
 	return 0;
 }
+*/

src/main/keyboard.cpp

@@ -1,6 +1,6 @@
 #include <termio.h>
 #include <stdio.h>
-#include "Hardwarelistener.h"
+#include "../include/Hardwarelistener.h"
 #include <iostream>
 
 using namespace std;

src/main/loginui.cpp

@@ -1,35 +1,36 @@
-#include "../include/Air_Ground_CEC/login.h"
+#include "../include/Air_Ground_CEC/loginui.h"
+#include "../include/Air_Ground_CEC/mainwindow.hpp"
 #include <QMovie>
 #include <QWidget>
 #include <QMouseEvent>
 
-Login::Login(QWidget *parent) :
+LoginUi::LoginUi(QWidget *parent) :
     QMainWindow(parent),
-    ui(new Ui::Login)
+    ui(new Ui::LoginUi)
 {
     ui->setupUi(this);
     initWindow();
 
 }
 
-Login::~Login()
+LoginUi::~LoginUi()
 {
     delete ui;
 }
 
-void Login::initWindow(){
+void LoginUi::initWindow(){
     setWindowState();
     setBtnAndLabelState();
 }
 
-void Login::setWindowState(){
+void LoginUi::setWindowState(){
     this->setAttribute(Qt::WA_TranslucentBackground);
     this->setWindowFlags(Qt::FramelessWindowHint);//隐藏边框
 }
 
 
 
-void Login::setBtnAndLabelState(){
+void LoginUi::setBtnAndLabelState(){
     QMovie* movie = new QMovie("://images/background.gif");
     ui->label_video->setMovie(movie);
     movie->start();
@@ -47,14 +48,18 @@ void Login::setBtnAndLabelState(){
     connect(ui->btnWinClose, &QPushButton::clicked, this, [=]() { this->close(); });
     connect(ui->btnWinClose_2, &QPushButton::clicked, this, [=]() { this->close(); });
 
+    connect(ui->btnLogin, &QPushButton::clicked, this, [=]() {
+        changetoMainwindow();}
+    );
+
 }
 
-void Login::mousePressEvent(QMouseEvent *event) {
+void LoginUi::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) {
+void LoginUi::mouseMoveEvent(QMouseEvent *event) {
   if (isPressedWidget) {
     this->move(this->x() + (event->globalX() - m_lastPos.x()),
                this->y() + (event->globalY() - m_lastPos.y()));
@@ -62,8 +67,30 @@ void Login::mouseMoveEvent(QMouseEvent *event) {
   }
 }
 
-void Login::mouseReleaseEvent(QMouseEvent *event) {
+void LoginUi::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
 }
+
+bool LoginUi::verifyAccount(string usr, string pwd){
+    if (usr == "admin" && pwd == "admin"){
+        return true;
+    }
+    return false;
+}
+
+void LoginUi::changetoMainwindow(){
+    this->close();
+    MainWindow CEC(0,0,0);
+    CEC.show();
+}
+
+
+
+
+
+
+
+
+

src/main/main.cpp

@@ -1,5 +1,5 @@
 #include "../include/Air_Ground_CEC/mainwindow.hpp"
-#include "../include/Air_Ground_CEC/login.h"
+#include "../include/Air_Ground_CEC/loginui.h"
 
 #include <QApplication>
 
@@ -13,10 +13,10 @@ int main(int argc, char** argv)
 
     QApplication app(argc, argv);
 
-    //MainWindow CEC(0,0,0);
-    //CEC.show();
-    Login a(0);
-    a.show();
+    MainWindow CEC(0,0,0);
+    CEC.show();
+    //LoginUi a(0);
+    //a.show();
     return app.exec();
 
     return(0);
@@ -26,6 +26,7 @@ int main(int argc, char** argv)
 
 /*
  * find . "(" -name "*.cpp" -or -name "*.h" -or -name "*.hpp" -or -name "*.qrc" ")" -print | xargs wc -l
+ * git fame --incl '\.[cht]' -twMC
  * rosrun rqt_graph rqt_graph
  * git fame
  */

src/main/qnode.cpp

@@ -1,6 +1,8 @@
 #include "../include/Air_Ground_CEC/qnode.hpp"
 
 #include "sensor_msgs/image_encodings.h"
+#include "sensor_msgs/CompressedImage.h"
+
 #include <QtConcurrent/QtConcurrent>
 
 QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
@@ -47,7 +49,8 @@ void QNode::SubAndPubTopic(){
                               &QNode::batteryCallback, this);
 
     image_transport::ImageTransport it(n);
-    image_sub = it.subscribe("camera/rgb/image_raw", 100, &QNode::imageCallback, this);
+    //camera/rgb/image_raw
+    image_sub = it.subscribe("raspicam_node/image", 10, &QNode::imageCallback, this);
 
     //image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this)
 
@@ -172,12 +175,12 @@ void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
 {
     emit speed_x(msg->twist.twist.linear.x);
     emit speed_th(msg->twist.twist.angular.z);
-
 }
 
 
 void QNode::imageCallback(const sensor_msgs::ImageConstPtr &msg)
 {
+    ROS_INFO("i am ok");
     try
       {
         cv_bridge::CvImageConstPtr cv_ptr =

src/main/server.cpp

@@ -40,7 +40,7 @@ void udp_server(int sockfd)
 
     close(sockfd);
 }
-
+/*
 int main(int argc, char **argv)
 {
     int sockfd;
@@ -54,5 +54,6 @@ int main(int argc, char **argv)
 
     exit(0);
 }
+*/
 
 

src/ui/loginui.ui

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>Login</class>
- <widget class="QWidget" name="Login">
+ <class>LoginUi</class>
+ <widget class="QWidget" name="LoginUi">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -841,8 +841,8 @@ background-color:none</string>
              <rect>
               <x>0</x>
               <y>0</y>
-              <width>579</width>
-              <height>196</height>
+              <width>205</width>
+              <height>104</height>
              </rect>
             </property>
             <attribute name="label">
@@ -902,8 +902,8 @@ background-color:none</string>
              <rect>
               <x>0</x>
               <y>0</y>
-              <width>579</width>
-              <height>196</height>
+              <width>88</width>
+              <height>88</height>
              </rect>
             </property>
             <attribute name="label">
@@ -926,7 +926,7 @@ background-color:none</string>
              <rect>
               <x>0</x>
               <y>0</y>
-              <width>565</width>
+              <width>267</width>
               <height>312</height>
              </rect>
             </property>
@@ -1251,8 +1251,8 @@ background-color:none</string>
              <rect>
               <x>0</x>
               <y>0</y>
-              <width>579</width>
-              <height>196</height>
+              <width>313</width>
+              <height>133</height>
              </rect>
             </property>
             <attribute name="label">