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added blinking squares

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This commit is contained in:
yikestone 2019-12-06 18:08:16 +05:30
parent cb6daed95b
commit 0203f78a65
13 changed files with 462 additions and 35 deletions
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48
qt_pi/CMakeLists.txt
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@ -3,7 +3,25 @@ project(qt_pi)
set(CMAKE_CXX_FLAGS "-fpermissive -std=c++0x")
find_package(catkin REQUIRED)
find_package(catkin REQUIRED COMPONENTS
qt_build
roscpp
roslib
)
find_package(Qt5 REQUIRED COMPONENTS Core Gui OpenGL)
#set(FORMS ui/speller.ui)
set(MOC include/mapview/mapview.h)
set(HPP include/speller/speller.h include/mapview/vertex.h)
set(SRCS src/speller.cpp src/mapview.cpp )
set(CMAKE_INCLUDE_CURRENT_DIR ON)
#qt5_wrap_ui(FORMS_HPP ${FORMS})
qt5_wrap_cpp(MOC_HPP ${MOC})
qt5_add_resources(RCC resources/resources.qrc)
catkin_python_setup()
catkin_package(DEPENDS)
@ -17,18 +35,8 @@ find_path(Mcrypt_INCLUDE_DIR mcrypt.h PATHS
set(Mcrypt_LIB_PATHS /usr/lib)
find_library(Mcrypt_LIBS NAMES mcrypt rtfilter PATHS ${Mcrypt_LIB_PATHS})
include_directories(include)
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY nodes
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
include_directories(include
${catkin_INCLUDE_DIRS}
)
pkg_search_module(GATTLIB REQUIRED gattlib)
@ -38,9 +46,17 @@ include_directories(${GLIB_INCLUDE_DIRS})
include_directories(${Mcrypt_INCLUDE_DIRS})
link_directories(${Mcrypt_LIBS})
add_library(ble_connect_lib include/ble_connect/ble_connect.h src/ble_connect.c)
add_library(ble_connect include/ble_connect/ble_connect.h src/ble_connect.c)
target_link_libraries(ble_connect_lib ${GATTLIB_LIBRARIES} ${GATTLIB_LDFLAGS} ${GLIB_LDFLAGS} pthread ${Mcrypt_LIBS})
target_link_libraries(ble_connect ${GATTLIB_LIBRARIES} ${GATTLIB_LDFLAGS} ${GLIB_LDFLAGS} pthread ${Mcrypt_LIBS})
add_executable(ble_connect_test tests/ble_test.cpp)
target_link_libraries(ble_connect_test ble_connect_lib)
target_link_libraries(ble_connect_test ble_connect)
add_library(speller ${SRCS} ${FORMS_HPP} ${MOC_HPP} ${RCC} ${HPP})
target_link_libraries(speller Qt5::Widgets Qt5::Core Qt5::OpenGL Qt5::Gui ${catkin_LIBRARIES})
add_executable(speller_ui src/main.cpp)
target_link_libraries(speller_ui speller)

60
qt_pi/include/mapview/mapview.h Normal file
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@ -0,0 +1,60 @@
#ifndef MAPVIEW
#define MAPVIEW
#include "vertex.h"
#include <QDebug>
#include <QOpenGLBuffer>
#include <QOpenGLFunctions_3_1>
#include <QOpenGLShaderProgram>
#include <QOpenGLVertexArrayObject>
#include <QOpenGLWindow>
#include <QString>
#include <chrono>
#include <thread>
#include <unistd.h>
class QOpenGLShaderProgram;
class MapView : public QOpenGLWindow, protected QOpenGLFunctions_3_1 {
Q_OBJECT
public:
explicit MapView(QWidget *parent = 0);
~MapView();
void start_blinking();
void stop_blinking();
volatile int sleep_control = 1;
protected:
GLsizei count;
GLint startingElements[4] = {0, 4, 8, 12};
GLsizei counts[4] = {4, 4, 4, 4};
void initializeGL() override;
void paintGL() override;
void resizeGL(int, int) override;
void teardownGL();
void printContextInformation();
signals:
void update_GUI();
private:
QOpenGLBuffer m_vertex;
QOpenGLVertexArrayObject m_object;
QOpenGLShaderProgram *m_program;
void run();
std::thread *t;
int blinking;
// QTimer *t1;
// QTimer *t2;
// QTimer *t3;
// QTimer *t4;
// int blinking = 0;
// int state = 0;
// private slots:
// void t1Slot();
// void t2Slot();
// void t3Slot();
// void t4Slot();
};
#endif

67
qt_pi/include/mapview/vertex.h Normal file
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@ -0,0 +1,67 @@
#ifndef VERTEX_H
#define VERTEX_H
#include <QVector3D>
class Vertex {
public:
// Constructors
Q_DECL_CONSTEXPR Vertex();
Q_DECL_CONSTEXPR explicit Vertex(const QVector3D &position);
Q_DECL_CONSTEXPR Vertex(const QVector3D &position, const QVector3D &color);
// Accessors / Mutators
Q_DECL_CONSTEXPR const QVector3D &position() const;
Q_DECL_CONSTEXPR const QVector3D &color() const;
void setPosition(const QVector3D &position);
void setColor(const QVector3D &color);
// OpenGL Helpers
static const int PositionTupleSize = 3;
static const int ColorTupleSize = 3;
static Q_DECL_CONSTEXPR int positionOffset();
static Q_DECL_CONSTEXPR int colorOffset();
static Q_DECL_CONSTEXPR int stride();
private:
QVector3D m_position;
QVector3D m_color;
};
/*******************************************************************************
* Inline Implementation
******************************************************************************/
// Note: Q_MOVABLE_TYPE means it can be memcpy'd.
Q_DECLARE_TYPEINFO(Vertex, Q_MOVABLE_TYPE);
// Constructors
Q_DECL_CONSTEXPR inline Vertex::Vertex() {}
Q_DECL_CONSTEXPR inline Vertex::Vertex(const QVector3D &position)
: m_position(position) {}
Q_DECL_CONSTEXPR inline Vertex::Vertex(const QVector3D &position,
const QVector3D &color)
: m_position(position), m_color(color) {}
// Accessors / Mutators
Q_DECL_CONSTEXPR inline const QVector3D &Vertex::position() const {
return m_position;
}
Q_DECL_CONSTEXPR inline const QVector3D &Vertex::color() const {
return m_color;
}
void inline Vertex::setPosition(const QVector3D &position) {
m_position = position;
}
void inline Vertex::setColor(const QVector3D &color) { m_color = color; }
// OpenGL Helpers
Q_DECL_CONSTEXPR inline int Vertex::positionOffset() {
return offsetof(Vertex, m_position);
}
Q_DECL_CONSTEXPR inline int Vertex::colorOffset() {
return offsetof(Vertex, m_color);
}
Q_DECL_CONSTEXPR inline int Vertex::stride() { return sizeof(Vertex); }
#endif // VERTEX_H

18
qt_pi/include/speller/speller.h Normal file
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@ -0,0 +1,18 @@
#ifndef SPELLER
#define SPELLER
#include <mapview/mapview.h>
#include <ros/ros.h>
class Speller {
public:
explicit Speller(ros::NodeHandle _nh);
~Speller();
MapView *window;
private:
ros::NodeHandle nh;
};
#endif

32
qt_pi/package.xml
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@ -1,17 +1,19 @@
<package format="2">
<name>qt_pi</name>
<version>0.0.0</version>
<description>The qt_pi package</description>
<maintainer email="rishabhkundu13@gmail.com">Rishabh Kundu</maintainer>
<license>MIT</license>
<buildtool_depend>catkin</buildtool_depend>
<name>qt_pi</name>
<version>0.0.0</version>
<description>The qt_pi package</description>
<maintainer email="rishabhkundu13@gmail.com">Rishabh Kundu</maintainer>
<license>MIT</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>qt_build</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>roslib</build_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>tf</exec_depend>
<exec_depend>python-serial</exec_depend>
<export>
</export>
</package>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>tf</exec_depend>
<exec_depend>python-serial</exec_depend>
<export></export>
</package>

6
qt_pi/resources/resources.qrc Normal file
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@ -0,0 +1,6 @@
<RCC>
<qresource prefix="/">
<file>shaders/simple.frag</file>
<file>shaders/simple.vert</file>
</qresource>
</RCC>

8
qt_pi/resources/shaders/simple.frag Normal file
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@ -0,0 +1,8 @@
#version 330
in vec4 vColor;
out vec4 fColor;
void main()
{
fColor = vColor;
}

10
qt_pi/resources/shaders/simple.vert Normal file
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@ -0,0 +1,10 @@
#version 330
layout(location = 0) in vec3 position;
layout(location = 1) in vec3 color;
out vec4 vColor;
void main()
{
gl_Position = vec4(position, 1.0);
vColor = vec4(color, 1.0);
}

2
qt_pi/src/ble_connect.c
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@ -21,7 +21,7 @@ int data_buffer_length;
int data_index;
int status = 0;
int write_to_buffer = 0;
volatile int write_to_buffer = 0;
pthread_t thread;

23
qt_pi/src/main.cpp Normal file
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@ -0,0 +1,23 @@
#include "speller/speller.h"
#include <QGuiApplication>
#include <QSurfaceFormat>
int main(int argc, char *argv[]) {
QGuiApplication app(argc, argv);
ros::init(argc, argv, "speller");
ros::NodeHandle nh;
QSurfaceFormat format;
format.setSwapInterval(1);
format.setRenderableType(QSurfaceFormat::OpenGL);
format.setProfile(QSurfaceFormat::CoreProfile);
format.setVersion(3, 3);
// Set the window up
Speller spell(nh);
spell.window->setFormat(format);
// spell.window->resize(QSize(800, 600));
spell.window->show();
return app.exec();
}

210
qt_pi/src/mapview.cpp Normal file
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@ -0,0 +1,210 @@
#include "mapview/mapview.h"
MapView::MapView(QWidget *parent) {
connect(this, SIGNAL(update_GUI()), this, SLOT(update()));
blinking = 0;
count = 4;
}
MapView::~MapView() {
stop_blinking();
makeCurrent();
teardownGL();
}
void MapView::stop_blinking() {
if (!blinking)
return;
blinking = 0;
t->join();
free(t);
}
void MapView::start_blinking() {
if (blinking)
return;
blinking = 1;
t = new std::thread(&MapView::run, this);
sleep(0);
}
void MapView::run() {
usleep(500000);
uint fps = 0;
uint sq_state = 0;
while (blinking) {
auto time = std::chrono::high_resolution_clock::now();
if (!(fps % 4))
sq_state = sq_state ^ (0b00000001);
if (!(fps % 5))
sq_state = sq_state ^ (0b00000010);
if (!(fps % 6))
sq_state = sq_state ^ (0b00000100);
if (!(fps % 7))
sq_state = sq_state ^ (0b00001000);
count = 0;
for (GLint i = 0; i < 4; i++) {
if ((sq_state >> i) & 0b1) {
startingElements[count] = i * 4;
count++;
}
}
fps++;
emit(update_GUI());
while (!sleep_control)
sleep(0);
sleep_control = 0;
usleep(16665 - std::chrono::duration_cast<std::chrono::microseconds>(
std::chrono::high_resolution_clock::now() - time)
.count());
}
// while (blinking) {
// emit(update_GUI());
// printf("WOah\n");
//
// count = 4;
// sleep(1);
// emit(update_GUI());
// count = 0;
// sleep(1);
// }
}
static const Vertex sg_vertexes[] = {
Vertex(QVector3D(-0.55f, 0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(-0.45f, 0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(-0.45f, 0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(-0.55f, 0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(-0.55f, -0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(-0.45f, -0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(-0.45f, -0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(-0.55f, -0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.55f, 0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.45f, 0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.45f, 0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.55f, 0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.55f, -0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.45f, -0.55f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.45f, -0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
Vertex(QVector3D(0.55f, -0.45f, 1.0f), QVector3D(0.75f, 0.75f, 0.75f)),
// Vertex(QVector3D(-0.75f, 0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(-0.25f, 0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(-0.25f, 0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(-0.75f, 0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
//
// Vertex(QVector3D(-0.75f, -0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(-0.25f, -0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(-0.25f, -0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(-0.75f, -0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
//
// Vertex(QVector3D(0.75f, 0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(0.25f, 0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(0.25f, 0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(0.75f, 0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
//
// Vertex(QVector3D(0.75f, -0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(0.25f, -0.75f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(0.25f, -0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f)),
// Vertex(QVector3D(0.75f, -0.25f, 1.0f), QVector3D(0.0f, 0.0f, 0.0f))
};
void MapView::initializeGL() {
initializeOpenGLFunctions();
printContextInformation();
glClearColor(0, 0, 0, 1);
{
// Create Shader (Do not release until VAO is created)
m_program = new QOpenGLShaderProgram();
m_program->addShaderFromSourceFile(QOpenGLShader::Vertex,
":/shaders/simple.vert");
m_program->addShaderFromSourceFile(QOpenGLShader::Fragment,
":/shaders/simple.frag");
m_program->link();
m_program->bind();
// Create Buffer (Do not release until VAO is created)
m_vertex.create();
m_vertex.bind();
m_vertex.setUsagePattern(QOpenGLBuffer::StaticDraw);
m_vertex.allocate(sg_vertexes, sizeof(sg_vertexes));
// Create Vertex Array Object
m_object.create();
m_object.bind();
m_program->enableAttributeArray(0);
m_program->enableAttributeArray(1);
m_program->setAttributeBuffer(0, GL_FLOAT, Vertex::positionOffset(),
Vertex::PositionTupleSize, Vertex::stride());
m_program->setAttributeBuffer(1, GL_FLOAT, Vertex::colorOffset(),
Vertex::ColorTupleSize, Vertex::stride());
// Release (unbind) all
m_object.release();
m_vertex.release();
m_program->release();
}
}
void MapView::paintGL() {
glClear(GL_COLOR_BUFFER_BIT);
m_program->bind();
{
m_object.bind();
glMultiDrawArrays(GL_TRIANGLE_FAN, startingElements, counts, count);
m_object.release();
}
m_program->release();
sleep_control = 1;
}
void MapView::resizeGL(int w, int h) {
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
void MapView::printContextInformation() {
QString glType;
QString glVersion;
QString glProfile;
// Get Version Information
glType = (context()->isOpenGLES()) ? "OpenGL ES" : "OpenGL";
glVersion = reinterpret_cast<const char *>(glGetString(GL_VERSION));
// Get Profile Information
#define CASE(c) \
case QSurfaceFormat::c: \
glProfile = #c; \
break
switch (format().profile()) {
CASE(NoProfile);
CASE(CoreProfile);
CASE(CompatibilityProfile);
}
#undef CASE
// qPrintable() will print our QString w/o quotes around it.
qDebug() << qPrintable(glType) << qPrintable(glVersion) << "("
<< qPrintable(glProfile) << ")";
}
void MapView::teardownGL() {
m_object.destroy();
m_vertex.destroy();
delete m_program;
}

5
qt_pi/src/speller.cpp Normal file
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@ -0,0 +1,5 @@
#include "speller/speller.h"
Speller::Speller(ros::NodeHandle _nh) : nh(_nh) { window = new MapView(); }
Speller::~Speller() {}

8
qt_pi/tests/ble_test.cpp
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@ -8,9 +8,9 @@ int main() {
insight_start_notif();
struct insight_data *buf =
(struct insight_data *)malloc(sizeof(struct insight_data) * 10);
(struct insight_data *)malloc(sizeof(struct insight_data) * 1000);
int len = 10;
int len = 1000;
insight_write_to_buffer(len, buf);
@ -22,7 +22,9 @@ int main() {
printf("Stopping notif %d \n", insight_stop_notif());
for (int i = 0; i < len; i++) {
printf("%f\n", buf[i].uV[0]);
for (int j = 0; j < 5; j++)
printf("%f ", buf[i].uV[j]);
printf("\n");
}
printf("Destroy called %d\n", insight_destroy());