| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2016/09/02
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| 6 | // filename: GuiInterface.cpp
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| 7 | //
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| 8 | // authors: Thomas Fuhrmann
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Create the GUI and give an abstract interface to it
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "GuiInterface.h"
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| 19 |
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| 20 | #include <cvmatrix.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <Socket.h>
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| 23 | #include <Thread.h>
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| 24 |
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| 25 | #include <Tab.h>
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| 26 | #include <TabWidget.h>
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| 27 | #include <DoubleSpinBox.h>
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| 28 | #include <PushButton.h>
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| 29 | #include <GroupBox.h>
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| 30 | #include <ListWidget.h>
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| 31 |
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| 32 | #include <string>
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| 33 | #include <sstream>
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| 34 |
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| 35 | using namespace flair::core;
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| 36 | using namespace flair::gui;
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| 37 | using namespace std;
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| 38 |
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| 39 | GuiInterface::GuiInterface(const FrameworkManager *parent, string name)
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| 40 | : Thread(parent, name, 6),
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| 41 | mainTab(new Tab(parent->GetTabWidget(), name)) {
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| 42 |
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| 43 | tabWidget = new TabWidget(mainTab->NewRow(), name);
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| 44 |
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| 45 | // Main tab
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| 46 | Tab* settingsTab = new Tab(tabWidget, "Settings");
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| 47 |
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| 48 | // Controls group
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| 49 | controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");
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| 50 | btnInitialize = new PushButton(controlsGroupBox->LastRowLastCol(), "Initialize");
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| 51 | btnStartMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");
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| 52 | btnStopMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");
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| 53 | btnKill = new PushButton(controlsGroupBox->LastRowLastCol(), "Kill");
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| 54 |
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| 55 | // Add wpt group
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| 56 | addWptGroupBox = new GroupBox(settingsTab->NewRow(), "Add waypoint");
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| 57 | latField = new DoubleSpinBox(addWptGroupBox->NewRow(), "Latitude",
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| 58 | -90, 90, 0.001, 3, 3);
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| 59 | lonField = new DoubleSpinBox(addWptGroupBox->LastRowLastCol(), "Longitude",
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| 60 | -180, 180, 0.001, 3, 3);
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| 61 | btnAddMissionWpt = new PushButton(addWptGroupBox->NewRow(), "Add mission wpt");
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| 62 | btnAddEntranceWpt = new PushButton(addWptGroupBox->LastRowLastCol(), "Add entrance wpt");
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| 63 | btnAddExitWpt = new PushButton(addWptGroupBox->LastRowLastCol(), "Add exit wpt");
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| 64 |
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| 65 | // Show wpt group
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| 66 | showWptGroupBox = new GroupBox(settingsTab->NewRow(), "Show waypoints");
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| 67 | listMissionWpt = new ListWidget(showWptGroupBox->NewRow(), "Mission wpt");
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| 68 | listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");
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| 69 | listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");
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| 70 | btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");
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| 71 | btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");
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| 72 | btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");
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| 73 |
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| 74 | // Action wpt group
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| 75 | actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
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| 76 | btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");
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| 77 | btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");
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| 78 | btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");
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| 79 |
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| 80 | //TODO IP & PORT from config.h file
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| 81 | sendSocket = new Socket((Thread *)this, "send socket", "127.0.0.1:5000");
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| 82 | }
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| 83 |
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| 84 | GuiInterface::~GuiInterface() {
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| 85 | }
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| 86 |
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| 87 | void GuiInterface::Run() {
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| 88 | Thread::Info("Debug: enter MavPlanner acquisition loop\n");
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| 89 |
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| 90 | if (getFrameworkManager()->ErrorOccured()) {
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| 91 | SafeStop();
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| 92 | Thread::Err("An error occurred, we don't launch the Run loop.\n");
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| 93 | }
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| 94 |
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| 95 | while (!ToBeStopped()) {
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| 96 | // TODO : time from config.h
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| 97 | Thread::SleepMS(500);
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| 98 | // Buttons to control GUI
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| 99 | if (btnAddMissionWpt->Clicked()) {
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| 100 | listMissionWpt->AddItem(GetWptLatLon());
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| 101 | }
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| 102 | if (btnAddEntranceWpt->Clicked()) {
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| 103 | listEntranceWpt->AddItem(GetWptLatLon());
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| 104 | }
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| 105 | if (btnAddExitWpt->Clicked()) {
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| 106 | listExitWpt->AddItem(GetWptLatLon());
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| 107 | }
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| 108 | if (btnRemoveMissionWpt->Clicked()) {
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| 109 | listMissionWpt->RemoveItem();
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| 110 | }
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| 111 | if (btnRemoveEntranceWpt->Clicked()) {
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| 112 | listEntranceWpt->RemoveItem();
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| 113 | }
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| 114 | if (btnRemoveExitWpt->Clicked()) {
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| 115 | listExitWpt->RemoveItem();
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| 116 | }
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| 117 | // Buttons to send commands
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| 118 | if (btnInitialize->Clicked()) {
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| 119 | MissionInitialize();
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| 120 | }
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| 121 | if (btnStartMission->Clicked()) {
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| 122 | MissionStart();
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| 123 | }
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| 124 | if (btnStopMission->Clicked()) {
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| 125 | MissionStop();
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| 126 | }
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| 127 | if (btnKill->Clicked()) {
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| 128 | MissionKill();
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| 129 | }
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| 130 | if (btnSendWpt->Clicked()) {
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| 131 | WptSend();
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| 132 | }
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| 133 | if (btnClearWpt->Clicked()) {
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| 134 | WptClear();
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| 135 | }
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| 136 | if (btnLoop->Clicked()) {
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| 137 | WptLoopSend();
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| 138 | }
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| 139 | }
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| 140 | }
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| 141 |
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| 142 | std::string GuiInterface::GetWptLatLon() {
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| 143 | std::ostringstream stringStream;
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| 144 | stringStream.precision(3);
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| 145 | stringStream << fixed;
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| 146 | stringStream << latField->Value() << " - " << lonField->Value();
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| 147 | return stringStream.str();
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| 148 | }
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| 149 |
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