yikestone/qt_pi
1
0
Fork 0
mirror of https://gitlab.com/yikestone/qt_pi.git synced 2025-08-02 21:24:12 +05:30
Code Issues Projects Releases Wiki Activity

synchronized and blinking recording

Browse Source
This commit is contained in:
yikestone 2019-12-07 16:35:16 +05:30
parent 0203f78a65
commit 68803740dc
10 changed files with 157 additions and 79 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
.gitignore vendored
View File

@ -1,3 +1,3 @@
/scripts/qt_pi/*.pyc
*.pyc
.ccls-cache
compile_commands.json

7
gazebo_sim/package.xml
View File

@ -5,6 +5,13 @@
<maintainer email="rishabh_kundu@rediffmail.com">Rishabh Kundu</maintainer>
<license>MIT</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>gmapping</exec_depend>
<exec_depend>amcl</exec_depend>
<exec_depend>move_base</exec_depend>
<exec_depend>depthimage_to_laserscan</exec_depend>
<exec_depend>map_server</exec_depend>
<exec_depend>static_transform_publisher</exec_depend>
<exec_depend>teleop_twist_keyboard</exec_depend>
<export>
</export>
</package>

60
qt_pi/CMakeLists.txt
View File

@ -1,62 +1,62 @@
cmake_minimum_required(VERSION 2.8.3)
project(qt_pi)
set(CMAKE_CXX_FLAGS "-fpermissive -std=c++0x")
set(CMAKE_CXX_FLAGS "-std=c++0x")
#-fpermissive
#ros setup
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)
#Qt setup and MOC generation
find_package(Qt5 REQUIRED COMPONENTS Core Gui OpenGL)
set(MOC include/speller/speller.h include/mapview/mapview.h)
set(HPP include/mapview/vertex.h)
set(SRCS src/speller.cpp src/mapview.cpp )
set(CMAKE_INCLUDE_CURRENT_DIR ON)
qt5_wrap_cpp(MOC_HPP ${MOC})
qt5_add_resources(RCC resources/resources.qrc)
#Mcrypt library includes
find_package(PkgConfig REQUIRED)
find_path(Mcrypt_INCLUDE_DIR mcrypt.h PATHS
/usr/include
)
find_path(Mcrypt_INCLUDE_DIR mcrypt.h PATHS /usr/include)
set(Mcrypt_LIB_PATHS /usr/lib)
find_library(Mcrypt_LIBS NAMES mcrypt rtfilter PATHS ${Mcrypt_LIB_PATHS})
include_directories(${Mcrypt_INCLUDE_DIRS})
link_directories(${Mcrypt_LIBS})
include_directories(include
${catkin_INCLUDE_DIRS}
)
#Gattlib includes
pkg_search_module(GATTLIB REQUIRED gattlib)
pkg_search_module(GLIB REQUIRED glib-2.0)
include_directories(${GLIB_INCLUDE_DIRS})
include_directories(${Mcrypt_INCLUDE_DIRS})
link_directories(${Mcrypt_LIBS})
include_directories(include
${catkin_INCLUDE_DIRS}
)
#ble_connect library generation
add_library(ble_connect include/ble_connect/ble_connect.h src/ble_connect.c)
target_link_libraries(ble_connect ${GATTLIB_LIBRARIES} ${GATTLIB_LDFLAGS} ${GLIB_LDFLAGS} pthread ${Mcrypt_LIBS})
#ble_connect_test executable generation
add_executable(ble_connect_test tests/ble_test.cpp)
target_link_libraries(ble_connect_test ble_connect)
#speller library generation
add_library(speller ${SRCS} ${FORMS_HPP} ${MOC_HPP} ${RCC} ${HPP})
target_link_libraries(speller Qt5::Widgets Qt5::Core Qt5::OpenGL Qt5::Gui ${catkin_LIBRARIES})
target_link_libraries(speller Qt5::Widgets Qt5::Core Qt5::OpenGL Qt5::Gui ${catkin_LIBRARIES} ble_connect)
#main executable generation
add_executable(speller_ui src/main.cpp)
target_link_libraries(speller_ui speller)

2
qt_pi/include/ble_connect/ble_connect.h
View File

@ -14,7 +14,7 @@ enum Channels { AF3 = 0, T7 = 1, Pz = 2, T8 = 3, AF4 = 4 };
struct insight_data {
double uV[5];
struct timespec ts;
} insight_data;
};
#ifdef __cplusplus
extern "C" {
#endif

15
qt_pi/include/mapview/mapview.h
View File

@ -21,29 +21,38 @@ class MapView : public QOpenGLWindow, protected QOpenGLFunctions_3_1 {
public:
explicit MapView(QWidget *parent = 0);
~MapView();
void start_blinking();
void stop_blinking();
volatile int sleep_control = 1;
void toggle_blinking();
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();
void keyPress(QKeyEvent *key);
private:
QOpenGLBuffer m_vertex;
QOpenGLVertexArrayObject m_object;
QOpenGLShaderProgram *m_program;
void run();
volatile int sleep_control = 1;
volatile int blinking;
std::thread *t;
int blinking;
void run();
void keyPressEvent(QKeyEvent *key) override;
// QTimer *t1;
// QTimer *t2;
// QTimer *t3;

28
qt_pi/include/speller/speller.h
View File

@ -1,18 +1,34 @@
#ifndef SPELLER
#define SPELLER
#include <mapview/mapview.h>
#include "ble_connect/ble_connect.h"
#include "mapview/mapview.h"
#include <QKeyEvent>
#include <QThread>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Quaternion.h>
#include <map>
#include <ros/ros.h>
class Speller {
class Speller : public QThread {
Q_OBJECT
public:
explicit Speller(ros::NodeHandle _nh);
explicit Speller(int argc, char **argv);
~Speller();
const std::map<float, int> frequency = {
{4.286f, 14}, {5.0f, 12}, {6.0f, 10}, {7.5f, 8}};
MapView *window;
private:
ros::NodeHandle nh;
int argc;
char **argv;
void run() override;
private slots:
void keyEvent(QKeyEvent *key);
private:
volatile int spelling;
};
#endif

1
qt_pi/package.xml
View File

@ -10,7 +10,6 @@
<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>

9
qt_pi/src/main.cpp
View File

@ -3,9 +3,9 @@
#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);
@ -13,11 +13,10 @@ int main(int argc, char *argv[]) {
format.setVersion(3, 3);
// Set the window up
Speller spell(nh);
Speller spell(argc, argv);
spell.window->setFormat(format);
// spell.window->resize(QSize(800, 600));
spell.window->show();
// spell.start();
return app.exec();
}

40
qt_pi/src/mapview.cpp
View File

@ -2,6 +2,7 @@
MapView::MapView(QWidget *parent) {
connect(this, SIGNAL(update_GUI()), this, SLOT(update()));
blinking = 0;
count = 4;
}
@ -22,6 +23,13 @@ void MapView::stop_blinking() {
free(t);
}
void MapView::toggle_blinking() {
if (blinking)
stop_blinking();
else
start_blinking();
}
void MapView::start_blinking() {
if (blinking)
return;
@ -64,17 +72,6 @@ void MapView::run() {
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[] = {
@ -98,25 +95,6 @@ static const Vertex sg_vertexes[] = {
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() {
@ -208,3 +186,5 @@ void MapView::teardownGL() {
m_vertex.destroy();
delete m_program;
}
void MapView::keyPressEvent(QKeyEvent *key) { emit(keyPress(key)); }

72
qt_pi/src/speller.cpp
View File

@ -1,5 +1,73 @@
#include "speller/speller.h"
Speller::Speller(ros::NodeHandle _nh) : nh(_nh) { window = new MapView(); }
Speller::Speller(int ar, char **av) {
argc = ar;
argv = av;
spelling = 0;
window = new MapView();
connect(window, SIGNAL(keyPress(QKeyEvent *)), this,
SLOT(keyEvent(QKeyEvent *)));
Speller::~Speller() {}
const char *a = "EF:BD:39:4E:08:49";
const char *b = "81072f41-9f3d-11e3-a9dc-0002a5d5c51b";
insight_init(a, b);
}
Speller::~Speller() {
insight_stop_notif();
insight_destroy();
this->terminate();
}
void Speller::run() {
const std::string node_name = "speller";
ros::init(argc, argv, node_name);
ros::NodeHandle nh;
ros::Publisher pub =
nh.advertise<geometry_msgs::PoseStamped>("/move_base_simple/goal", 1);
geometry_msgs::PoseStamped msg;
geometry_msgs::Pose pose;
geometry_msgs::Point point;
geometry_msgs::Quaternion quat;
pose.position = point;
pose.orientation = quat;
msg.pose = pose;
point.x = 0;
point.y = 0;
point.z = 0;
quat.w = 1;
quat.x = 0;
quat.y = 0;
quat.z = 0;
while (ros::ok()) {
while (spelling) {
int len = 1000;
struct insight_data *buf =
(struct insight_data *)malloc(sizeof(struct insight_data) * len);
window->start_blinking();
insight_write_to_buffer(len, buf);
while (insight_buffer_status() == 1)
sleep(0);
window->stop_blinking();
// TODO-Send data for classification
// int a; if((a = classify(len, buf))) window->zoom(a);
}
}
}
void Speller::keyEvent(QKeyEvent *e) {
if (e->key() == Qt::Key_Space) {
if (!spelling)
insight_start_notif();
else
insight_stop_notif();
spelling = !spelling;
}
}