synchronized and blinking recording

.gitignore

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

gazebo_sim/package.xml

@@ -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>

qt_pi/CMakeLists.txt

@@ -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
+#Gattlib includes
-${catkin_INCLUDE_DIRS}
-)
-
 pkg_search_module(GATTLIB REQUIRED gattlib)
 pkg_search_module(GLIB REQUIRED glib-2.0)
 include_directories(${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)

qt_pi/include/ble_connect/ble_connect.h

@@ -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

qt_pi/include/mapview/mapview.h

@@ -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;

qt_pi/include/speller/speller.h

@@ -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

qt_pi/package.xml

@@ -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>

qt_pi/src/main.cpp

@@ -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();
 }

qt_pi/src/mapview.cpp

@@ -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)); }

qt_pi/src/speller.cpp

@@ -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;
+  }
+}