source: flair-src/trunk/tools/Controller/Mavlink/src/GuiInterface.cpp @ 300

Last change on this file since 300 was 300, checked in by Sanahuja Guillaume, 3 years ago

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File size: 5.5 KB
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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 <Thread.h>
23
24#include <Tab.h>
25#include <TabWidget.h>
26#include <DoubleSpinBox.h>
27#include <PushButton.h>
28#include <GroupBox.h>
29#include <ListWidget.h>
30#include <Label.h>
31#include <ComboBox.h>
32
33#include <string>
34#include <sstream>
35
36using namespace flair::core;
37using namespace flair::gui;
38using namespace std;
39
40GuiInterface::GuiInterface(string name)
41                  : Thread(getFrameworkManager(), name, 6),
42                  mainTab(new Tab(getFrameworkManager()->GetTabWidget(), name)) {
43
44  tabWidget = new TabWidget(mainTab->NewRow(), name);
45
46  // Main tab
47  Tab* settingsTab = new Tab(tabWidget, "Settings");
48 
49  // Controls group
50  controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");
51  btnStartMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");
52  btnStopMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");
53  btnPauseMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Pause mission");
54
55  // Add cmd group
56  addCmdGroupBox = new GroupBox(settingsTab->NewRow(), "Add mission command");
57  // commandLabel = new Label(addCmdGroupBox->NewRow(), "Command label");
58  // commandLabel->SetText("Command");
59  // param1Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param1 label");
60  // commandLabel->SetText("Param1");
61  // param2Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param2 label");
62  // commandLabel->SetText("Param2");
63  // param3Label = new Label(addCmdGroupBox->LastRowLastCol(), "Param3 label");
64  // commandLabel->SetText("Param3");
65  comboCmd = new ComboBox(addCmdGroupBox->NewRow(), "Select command");
66  // Fill the ComboBox
67  for (auto &command : commandsAvailable) {
68    comboCmd->AddItem(command);   
69  }
70  // comboCmd->AddItem("WAYPOINT");
71  // comboCmd->AddItem("TAKEOFF");
72  // comboCmd->AddItem("LAND");
73  // comboCmd->AddItem("RETURN");
74  // comboCmd->AddItem("JUMP");
75  param1Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param1", -90, 90, 0.5, 1, 0);
76  latitudeField = new DoubleSpinBox(addCmdGroupBox->LastRowLastCol(), "Longitude", -90, 90, 0.5, 1, 1.5);
77  param2Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param2", -90, 90, 0.5, 1, 0);
78  longitudeField = new DoubleSpinBox(addCmdGroupBox->LastRowLastCol(), "Latitude", -90, 90, 0.5, 1, -1.5);
79  param3Field = new DoubleSpinBox(addCmdGroupBox->NewRow(), "Param3", -90, 90, 0.5, 1, 0);
80  altitudeField = new DoubleSpinBox(addCmdGroupBox->LastRowLastCol(), "Altitude", -90, 90, 0.5, 1, 2);
81  btnAddMissionCmd = new PushButton(addCmdGroupBox->NewRow(), "Add mission cmd");
82  btnDelMissionCmd = new PushButton(addCmdGroupBox->LastRowLastCol(), "Del mission cmd");
83  btnSendMission = new PushButton(addCmdGroupBox->LastRowLastCol(), "Send mission");
84
85  // Show wpt group
86  showItemsGroupBox = new GroupBox(settingsTab->NewRow(), "Show mission items");
87  listMissionItems = new ListWidget(showItemsGroupBox->NewRow(), "Mission cmd list");
88
89  // listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");
90  // listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");
91  // btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");
92  // btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");
93  // btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");
94
95  // // Action wpt group
96  // actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
97  // btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");
98  // btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");
99  // btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");
100
101  //TODO IP & PORT from config.h file
102  // sendSocket = new Socket((Thread *)this, "send socket", "127.0.0.1:5000");
103}
104
105GuiInterface::~GuiInterface() {
106}
107
108void GuiInterface::Run() {
109  Thread::Info("Debug: enter MavPlanner acquisition loop\n");
110
111  if (getFrameworkManager()->ErrorOccured()) {
112    SafeStop();
113    Thread::Err("An error occurred, we don't launch the Run loop.\n");
114  }
115
116  while (!ToBeStopped()) {
117    // TODO : time from config.h
118    Thread::SleepMS(500);
119    // Buttons to control GUI
120        if (btnAddMissionCmd->Clicked()) {
121      listMissionItems->AddItem(MissionCmdGet());
122    }
123    if (btnDelMissionCmd->Clicked()) {
124      listMissionItems->RemoveItem();
125    }
126    // Buttons to send commands
127        if (btnStartMission->Clicked()) {
128                MissionStart();
129    }
130        if (btnStopMission->Clicked()) {
131                MissionStop();
132    }
133        if (btnPauseMission->Clicked()) {
134                MissionPause();
135    }
136    if (btnSendMission->Clicked()) {
137                MissionSend();
138    }
139  }
140}
141
142std::string GuiInterface::MissionCmdGet() {
143  std::ostringstream stringStream;
144  stringStream.precision(1);
145  stringStream << fixed;
146  stringStream << commandsAvailable[comboCmd->CurrentIndex()] << "|" << param1Field->Value() << "|" << param2Field->Value() \
147               << "|" << param3Field->Value() << "|" << latitudeField->Value() << "|" << longitudeField->Value() << "|" << altitudeField->Value();
148  return stringStream.str();
149}
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