source: flair-src/trunk/tools/Controller/Mavlink/src/GuiInterface.cpp

Last change on this file was 318, checked in by Sanahuja Guillaume, 2 years ago
File size: 5.5 KB
Line 
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 <FrameworkManager.h>
21#include <Thread.h>
22
23#include <Tab.h>
24#include <TabWidget.h>
25#include <DoubleSpinBox.h>
26#include <PushButton.h>
27#include <GroupBox.h>
28#include <ListWidget.h>
29#include <Label.h>
30#include <ComboBox.h>
31
32#include <string>
33#include <sstream>
34
35using namespace flair::core;
36using namespace flair::gui;
37using namespace std;
38
39GuiInterface::GuiInterface(string name)
40                  : Thread(getFrameworkManager(), name, 6),
41                  mainTab(new Tab(getFrameworkManager()->GetTabWidget(), name)) {
42
43  tabWidget = new TabWidget(mainTab->NewRow(), name);
44
45  // Main tab
46  Tab* settingsTab = new Tab(tabWidget, "Settings");
47 
48  // Controls group
49  controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");
50  btnStartMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");
51  btnStopMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");
52  btnPauseMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Pause mission");
53
54  // Add cmd group
55  addCmdGroupBox = new GroupBox(settingsTab->NewRow(), "Add mission command");
56  // commandLabel = new Label(addCmdGroupBox->NewRow(), "Command label");
57  // commandLabel->SetText("Command");
58  // param1Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param1 label");
59  // commandLabel->SetText("Param1");
60  // param2Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param2 label");
61  // commandLabel->SetText("Param2");
62  // param3Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param3 label");
63  // commandLabel->SetText("Param3");
64  comboCmd = new ComboBox(addCmdGroupBox->NewRow(), "Select command");
65  // Fill the ComboBox
66  for (auto &command : commandsAvailable) {
67    comboCmd->AddItem(command);   
68  }
69  // comboCmd->AddItem("WAYPOINT");
70  // comboCmd->AddItem("TAKEOFF");
71  // comboCmd->AddItem("LAND");
72  // comboCmd->AddItem("RETURN");
73  // comboCmd->AddItem("JUMP");
74  param1Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param1", -90, 90, 0.5, 1, 0);
75  latitudeField = new DoubleSpinBox(addCmdGroupBox->LastRowLastCol(), "Longitude", -90, 90, 0.5, 1, 1.5);
76  param2Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param2", -90, 90, 0.5, 1, 0);
77  longitudeField = new DoubleSpinBox(addCmdGroupBox->LastRowLastCol(), "Latitude", -90, 90, 0.5, 1, -1.5);
78  param3Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param3", -90, 90, 0.5, 1, 0);
79  altitudeField = new DoubleSpinBox(addCmdGroupBox->LastRowLastCol(), "Altitude", -90, 90, 0.5, 1, 2);
80  btnAddMissionCmd = new PushButton(addCmdGroupBox->NewRow(), "Add mission cmd");
81  btnDelMissionCmd = new PushButton(addCmdGroupBox->LastRowLastCol(), "Del mission cmd");
82  btnSendMission = new PushButton(addCmdGroupBox->LastRowLastCol(), "Send mission");
83
84  // Show wpt group
85  showItemsGroupBox = new GroupBox(settingsTab->NewRow(), "Show mission items");
86  listMissionItems = new ListWidget(showItemsGroupBox->NewRow(), "Mission cmd list");
87
88  // listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");
89  // listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");
90  // btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");
91  // btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");
92  // btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");
93
94  // // Action wpt group
95  // actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
96  // btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");
97  // btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");
98  // btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");
99
100  //TODO IP & PORT from config.h file
101  // sendSocket = new Socket((Thread *)this, "send socket", "127.0.0.1:5000");
102}
103
104GuiInterface::~GuiInterface() {
105}
106
107void GuiInterface::Run() {
108  Thread::Info("Debug: enter MavPlanner acquisition loop\n");
109
110  if (getFrameworkManager()->ErrorOccured()) {
111    SafeStop();
112    Thread::Err("An error occurred, we don't launch the Run loop.\n");
113  }
114
115  while (!ToBeStopped()) {
116    // TODO : time from config.h
117    Thread::SleepMS(500);
118    // Buttons to control GUI
119        if (btnAddMissionCmd->Clicked()) {
120      listMissionItems->AddItem(MissionCmdGet());
121    }
122    if (btnDelMissionCmd->Clicked()) {
123      listMissionItems->RemoveItem();
124    }
125    // Buttons to send commands
126        if (btnStartMission->Clicked()) {
127                MissionStart();
128    }
129        if (btnStopMission->Clicked()) {
130                MissionStop();
131    }
132        if (btnPauseMission->Clicked()) {
133                MissionPause();
134    }
135    if (btnSendMission->Clicked()) {
136                MissionSend();
137    }
138  }
139}
140
141std::string GuiInterface::MissionCmdGet() {
142  std::ostringstream stringStream;
143  stringStream.precision(1);
144  stringStream << fixed;
145  stringStream << commandsAvailable[comboCmd->CurrentIndex()] << "|" << param1Field->Value() << "|" << param2Field->Value() \
146               << "|" << param3Field->Value() << "|" << latitudeField->Value() << "|" << longitudeField->Value() << "|" << altitudeField->Value();
147  return stringStream.str();
148}
Note: See TracBrowser for help on using the repository browser.