source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/GuiInterface.cpp @ 79

Last change on this file since 79 was 79, checked in by Thomas Fuhrmann, 5 years ago

MissionSend? is working

File size: 5.2 KB
RevLine 
[71]1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2016/09/02
6//  filename:   GuiInterface.cpp
7//
8//  authors:    Thomas Fuhrmann
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Create the GUI and give an abstract interface to it
14//
15//
16/*********************************************************************/
17
18#include "GuiInterface.h"
19
20#include <cvmatrix.h>
21#include <FrameworkManager.h>
22#include <Socket.h>
23#include <Thread.h>
24
25#include <Tab.h>
26#include <TabWidget.h>
27#include <DoubleSpinBox.h>
28#include <PushButton.h>
29#include <GroupBox.h>
30#include <ListWidget.h>
[77]31#include <Label.h>
32#include <ComboBox.h>
[71]33
34#include <string>
35#include <sstream>
36
37using namespace flair::core;
38using namespace flair::gui;
39using namespace std;
40
41GuiInterface::GuiInterface(const FrameworkManager *parent, string name)
42                  : Thread(parent, name, 6),
43                  mainTab(new Tab(parent->GetTabWidget(), name)) {
44
45  tabWidget = new TabWidget(mainTab->NewRow(), name);
46
47  // Main tab
48  Tab* settingsTab = new Tab(tabWidget, "Settings");
49 
50  // Controls group
51  controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");
52  btnStartMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");
53  btnStopMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");
[77]54  btnResumeMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Resume mission");
[71]55
[77]56  // Add cmd group
57  addCmdGroupBox = new GroupBox(settingsTab->NewRow(), "Add mission command");
58  // commandLabel = new Label(addCmdGroupBox->NewRow(), "Command label");
59  // commandLabel->SetText("Command");
60  // param1Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param1 label");
61  // commandLabel->SetText("Param1");
62  // param2Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param2 label");
63  // commandLabel->SetText("Param2");
64  // param3Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param3 label");
65  // commandLabel->SetText("Param3");
66  comboCmd = new ComboBox(addCmdGroupBox->NewRow(), "Select command");
67  // Fill the ComboBox
68  for (auto &command : commandsAvailable) {
69    comboCmd->AddItem(command);   
70  }
71  // comboCmd->AddItem("WAYPOINT");
72  // comboCmd->AddItem("TAKEOFF");
73  // comboCmd->AddItem("LAND");
74  // comboCmd->AddItem("RETURN");
75  // comboCmd->AddItem("JUMP");
76  param1Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param1",
77                                -90, 90, 0.5, 1, 3);
78  param2Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param2",
79                                -90, 90, 0.5, 1, 3);
80  param3Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param3",
81                                -90, 90, 0.5, 1, 3);
82  btnAddMissionCmd = new PushButton(addCmdGroupBox->NewRow(), "Add mission cmd");
83  btnDelMissionCmd = new PushButton(addCmdGroupBox->LastRowLastCol(), "Del mission cmd");
84  btnSendMission = new PushButton(addCmdGroupBox->LastRowLastCol(), "Send mission");
[71]85
86  // Show wpt group
[77]87  showItemsGroupBox = new GroupBox(settingsTab->NewRow(), "Show mission items");
88  listMissionItems = new ListWidget(showItemsGroupBox->NewRow(), "Mission cmd list");
[71]89
[77]90  // listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");
91  // listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");
92  // btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");
93  // btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");
94  // btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");
[71]95
[77]96  // // Action wpt group
97  // actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
98  // btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");
99  // btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");
100  // btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");
101
[71]102  //TODO IP & PORT from config.h file
103  sendSocket = new Socket((Thread *)this, "send socket", "127.0.0.1:5000");
104}
105
106GuiInterface::~GuiInterface() {
107}
108
109void GuiInterface::Run() {
110  Thread::Info("Debug: enter MavPlanner acquisition loop\n");
111
112  if (getFrameworkManager()->ErrorOccured()) {
113    SafeStop();
114    Thread::Err("An error occurred, we don't launch the Run loop.\n");
115  }
116
117  while (!ToBeStopped()) {
118    // TODO : time from config.h
119    Thread::SleepMS(500);
120    // Buttons to control GUI
[77]121        if (btnAddMissionCmd->Clicked()) {
122      listMissionItems->AddItem(MissionCmdGet());
[71]123    }
[77]124    if (btnDelMissionCmd->Clicked()) {
125      listMissionItems->RemoveItem();
[71]126    }
127    // Buttons to send commands
128        if (btnStartMission->Clicked()) {
129                MissionStart();
130    }
131        if (btnStopMission->Clicked()) {
132                MissionStop();
133    }
[77]134        if (btnResumeMission->Clicked()) {
135                MissionResume();
[71]136    }
[77]137    if (btnSendMission->Clicked()) {
138                MissionSend();
[71]139    }
140  }
141}
142
[77]143std::string GuiInterface::MissionCmdGet() {
[71]144  std::ostringstream stringStream;
[77]145  stringStream.precision(1);
[71]146  stringStream << fixed;
[77]147  stringStream << commandsAvailable[comboCmd->CurrentIndex()] << "|" << param1Field->Value() << "|" << param2Field->Value() << "|" << param3Field->Value();
[71]148  return stringStream.str();
149}
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