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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