/* Copyright © 2015 CentraleSupélec
*
* This file is part of Hand Control.
*
* Hand Control is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Hand Control is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Hand Control. If not, see .
*/
// library used by "keyboard_cmd.cpp"
#include
#include
#include
#include "display.h"
const int Curses::cmd_kbd_lines = 8;
const int Curses::cmd_kbd_columns = 55;
const int Curses::cmd_speed_lines = 4;
const int Curses::cmd_speed_columns = 55;
const int Curses::get_lines = 1;
const int Curses::get_columns = 1;
const int Curses::nav_data_lines = 3;
const int Curses::nav_data_columns = 25;
const int Curses::log_sent_w_lines = 12;
const int Curses::log_sent_w_columns = 22;
const int Curses::topic_lines = 8;
const int Curses::topic_columns = 22;
Curses::Curses() {
initscr();
cbreak();
start_color();
//noecho();
cmd_kbd = newwin(cmd_kbd_lines, cmd_kbd_columns, 0, 0);
get = newwin(get_lines, get_columns,
cmd_kbd_lines, cmd_kbd_columns/2);
cmd_speed = newwin(cmd_speed_lines, cmd_speed_columns,
cmd_kbd_lines + get_lines, 0);
log_sent_title = newwin(1, log_sent_w_columns,
0, cmd_kbd_columns + 1);
waddstr(log_sent_title, "SENT COMMANDS");
wrefresh(log_sent_title);
log_sent_w = newwin(log_sent_w_lines - 1, log_sent_w_columns,
1, cmd_kbd_columns + 1);
log_line_number = log_sent_w_lines - 2;
wattron(log_sent_w, A_BOLD);
init_pair(1, COLOR_GREEN, COLOR_BLACK);
wattron(log_sent_w, COLOR_PAIR(1));
scrollok(log_sent_w, TRUE);
nav_data = newwin(nav_data_lines, nav_data_columns,
cmd_kbd_lines + get_lines + cmd_speed_lines + 1, 0);
init_pair(2, COLOR_RED, COLOR_BLACK);
wattron(nav_data, COLOR_PAIR(2));
wattron(nav_data, A_BOLD);
topic = newwin(topic_lines, topic_columns,
cmd_kbd_lines + get_lines + cmd_speed_lines + 1,
nav_data_columns + 1);
init_pair(3, COLOR_BLUE, COLOR_BLACK);
wattron(topic, COLOR_PAIR(3));
wattron(topic, A_BOLD);
print_nav_data();
print_cmd_kbd();
print_cmd_speed();
print_topic();
wmove(get, 0, 0);
wrefresh(get);
}
Curses::~Curses() {
delwin(cmd_kbd);
delwin(cmd_speed);
delwin(log_sent_w);
delwin(log_sent_title);
delwin(nav_data);
delwin(get);
delwin(topic);
endwin();
}
char Curses::getchar() {
return wgetch(get);
}
void Curses::print_cmd_kbd() {
wmove(cmd_kbd, 0, 0);
waddstr(cmd_kbd, " ---------------------\n");
waddstr(cmd_kbd, " takeoff>| t|⇑ y|↖ u|↑ i|↗ o|\n");
waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
waddstr(cmd_kbd, " reset>| g|⇐ h|← j| k|→ l|⇒ m|\n");
waddstr(cmd_kbd, " |---|---|---|---|---|----\n");
waddstr(cmd_kbd, " land>| b|⇓ n|↙ ,|↓ ;|↘ :|\n");
waddstr(cmd_kbd, " ---------------------\n");
waddstr(cmd_kbd, " Press ctrl + C to quit");
wrefresh(cmd_kbd);
}
void Curses::print_cmd_speed() {
wmove(cmd_speed, 0, 0);
waddstr(cmd_speed, " `x` cmd speed : (a/w : increase/decrease)\n");
waddstr(cmd_speed, " `y` cmd speed : (z/x : increase/decrease)\n");
waddstr(cmd_speed, " `z` cmd speed : (e/c : increase/decrease)\n");
waddstr(cmd_speed, "rotation speed : (r/v : increase/decrease)\n");
wrefresh(cmd_speed);
}
void Curses::update_cmd_speed(const char& coord, const float& v) {
switch(coord) {
case 'x':
wmove(cmd_speed, 0, 16);
wprintw(cmd_speed, "%f", v);
break;
case 'y':
wmove(cmd_speed, 1, 16);
wprintw(cmd_speed, "%f", v);
break;
case 'z':
wmove(cmd_speed, 2, 16);
wprintw(cmd_speed, "%f", v);
break;
case 't':
wmove(cmd_speed, 3, 16);
wprintw(cmd_speed, "%f", v);
break;
default:
;
}
wrefresh(cmd_speed);
}
void Curses::log_sent(const std::string& str) {
wmove(log_sent_w, log_line_number++, 0);
waddstr(log_sent_w, (str + "\n").c_str() );
wrefresh(log_sent_w);
}
void Curses::print_nav_data() {
wmove(nav_data, 0, 0);
waddstr(nav_data, "Battery :\n State :\n Time :");
wrefresh(nav_data);
}
void Curses::update_nav_data(const float& batteryPercent,
const int& state,
const float& time) {
wmove(nav_data, 0, 10);
wprintw(nav_data, "%f %%", batteryPercent);
wmove(nav_data, 2, 10);
wprintw(nav_data, "%f %", time);
wmove(nav_data, 1, 10);
switch(state) {
case 0:
waddstr(nav_data, "unknown ");
break;
case 1:
waddstr(nav_data, "inited ");
break;
case 2:
waddstr(nav_data, "landed ");
break;
case 3:
waddstr(nav_data, "flying ");
break;
case 4:
waddstr(nav_data, "hovering ");
break;
case 5:
waddstr(nav_data, "test ");
break;
case 6:
waddstr(nav_data, "taking off ");
break;
case 7:
waddstr(nav_data, "flying ");
break;
case 8:
waddstr(nav_data, "landing ");
break;
case 9:
waddstr(nav_data, "looping ");
break;
default:
;
}
wrefresh(nav_data);
}
void Curses::print_topic() {
wmove(topic, 0, 0);
waddstr(topic, "Linear :\n x : \n y : \n z : \n");
waddstr(topic, "Angular :\n x : \n y : \n z : ");
wrefresh(topic);
}
void Curses::update_topic(const geometry_msgs::Twist::ConstPtr& twist) {
wmove(topic, 1, 5); wprintw(topic, "%f ", twist->linear.x);
wmove(topic, 2, 5); wprintw(topic, "%f ", twist->linear.y);
wmove(topic, 3, 5); wprintw(topic, "%f ", twist->linear.z);
wmove(topic, 5, 5); wprintw(topic, "%f ", twist->angular.x);
wmove(topic, 6, 5); wprintw(topic, "%f ", twist->angular.y);
wmove(topic, 7, 5); wprintw(topic, "%f ", twist->angular.z);
wrefresh(topic);
}