source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/GuiInterface.cpp@ 77

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2016/09/02

//  filename:   GuiInterface.cpp

//

//  authors:    Thomas Fuhrmann

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Create the GUI and give an abstract interface to it

//

//

/*********************************************************************/



#include "GuiInterface.h"



#include <cvmatrix.h>

#include <FrameworkManager.h>

#include <Socket.h>

#include <Thread.h>



#include <Tab.h>

#include <TabWidget.h>

#include <DoubleSpinBox.h>

#include <PushButton.h>

#include <GroupBox.h>

#include <ListWidget.h>

#include <Label.h>

#include <ComboBox.h>



#include <string>

#include <sstream>



using namespace flair::core;

using namespace flair::gui;

using namespace std;



GuiInterface::GuiInterface(const FrameworkManager *parent, string name)

                  : Thread(parent, name, 6),

                  mainTab(new Tab(parent->GetTabWidget(), name)) {



  tabWidget = new TabWidget(mainTab->NewRow(), name);



  // Main tab

  Tab* settingsTab = new Tab(tabWidget, "Settings");

  

  // Controls group

  controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");

  btnStartMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");

  btnStopMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");

  btnResumeMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Resume mission");



  // Add cmd group

  addCmdGroupBox = new GroupBox(settingsTab->NewRow(), "Add mission command");

  // commandLabel = new Label(addCmdGroupBox->NewRow(), "Command label");

  // commandLabel->SetText("Command");

  // param1Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param1 label");

  // commandLabel->SetText("Param1");

  // param2Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param2 label");

  // commandLabel->SetText("Param2");

  // param3Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param3 label");

  // commandLabel->SetText("Param3");

  comboCmd = new ComboBox(addCmdGroupBox->NewRow(), "Select command");

  // Fill the ComboBox

  for (auto &command : commandsAvailable) {

    comboCmd->AddItem(command);    

  }

  // comboCmd->AddItem("WAYPOINT");

  // comboCmd->AddItem("TAKEOFF");

  // comboCmd->AddItem("LAND");

  // comboCmd->AddItem("RETURN");

  // comboCmd->AddItem("JUMP");

  param1Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param1",

                                -90, 90, 0.5, 1, 3);

  param2Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param2",

                                -90, 90, 0.5, 1, 3);

  param3Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param3",

                                -90, 90, 0.5, 1, 3);

  btnAddMissionCmd = new PushButton(addCmdGroupBox->NewRow(), "Add mission cmd");

  btnDelMissionCmd = new PushButton(addCmdGroupBox->LastRowLastCol(), "Del mission cmd");

  btnSendMission = new PushButton(addCmdGroupBox->LastRowLastCol(), "Send mission");



  // Show wpt group

  showItemsGroupBox = new GroupBox(settingsTab->NewRow(), "Show mission items");

  listMissionItems = new ListWidget(showItemsGroupBox->NewRow(), "Mission cmd list");



  // listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");

  // listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");

  // btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");

  // btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");

  // btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");



  // // Action wpt group

  // actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");

  // btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");

  // btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");

  // btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");



  //TODO IP & PORT from config.h file

  sendSocket = new Socket((Thread *)this, "send socket", "127.0.0.1:5000");

}



GuiInterface::~GuiInterface() {

}



void GuiInterface::Run() {

  Thread::Info("Debug: enter MavPlanner acquisition loop\n");



  if (getFrameworkManager()->ErrorOccured()) {

    SafeStop();

    Thread::Err("An error occurred, we don't launch the Run loop.\n");

  }



  while (!ToBeStopped()) {

    // TODO : time from config.h

    Thread::SleepMS(500);

    // Buttons to control GUI

        if (btnAddMissionCmd->Clicked()) {

                //TODO

      listMissionItems->AddItem(MissionCmdGet());

    }

    if (btnDelMissionCmd->Clicked()) {

      listMissionItems->RemoveItem();

    }

    // Buttons to send commands

        if (btnStartMission->Clicked()) {

                MissionStart();

    }

        if (btnStopMission->Clicked()) {

                MissionStop();

    }

        if (btnResumeMission->Clicked()) {

                MissionResume();

    }

    if (btnSendMission->Clicked()) {

                MissionSend();

    }

  }

}



std::string GuiInterface::MissionCmdGet() {

  std::ostringstream stringStream;

  stringStream.precision(1);

  stringStream << fixed;

  stringStream << commandsAvailable[comboCmd->CurrentIndex()] << "|" << param1Field->Value() << "|" << param2Field->Value() << "|" << param3Field->Value();

  return stringStream.str();

}