Owrs 346 wheel visualise pull

.gitignore

@@ -1,7 +1,6 @@
+
 build/
 devel/
-qt-gui.workspace.user
-qt-gui.workspace.user.*
-.autosave
+src/.idea
 
 .vscode/

images.qrc

@@ -0,0 +1,3 @@
+<RCC>
+    <qresource prefix="/new/image"/>
+</RCC>

owr-qtgui.config

@@ -0,0 +1,2 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42

owr-qtgui.creator

@@ -0,0 +1 @@
+[General]

owr-qtgui.workspace

@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<Workspace>
+    <Distribution name="kinetic"/>
+    <DefaultBuildSystem value="0"/>
+    <WatchDirectories>
+        <Directory>src</Directory>
+    </WatchDirectories>
+</Workspace>

qt-gui.workspace

@@ -4,17 +4,29 @@
         <Directory>src</Directory>
     </WatchDirectories>
     <IncludePaths>
-        <Directory>/home/ros/qt-gui/src/gui/include</Directory>
-        <Directory>/home/ros/qt-gui/build/gui/include</Directory>
-        <Directory>/home/ros/qt-gui/build/gui/CMakeFiles/gui.dir/include</Directory>
+        <Directory>/home/hjed/Bluesat/owr-qtgui/src/owr_arduino_joystick/include</Directory>
+        <Directory>/home/hjed/Bluesat/owr-qtgui/src/ros_video_components/include</Directory>
+        <Directory>/home/hjed/Bluesat/owr-qtgui/src/gui/include</Directory>
+        <Directory>/home/hjed/Bluesat/owr-qtgui/build/gui/include</Directory>
+        <Directory>/home/hjed/Bluesat/owr-qtgui/build/gui/CMakeFiles/gui.dir/include</Directory>
+        <Directory>/home/hjed/Bluesat/owr-qtgui/build/ros_video_components/include</Directory>
+        <Directory>/home/hjed/Bluesat/owr-qtgui/build/ros_video_components/CMakeFiles/RosVideoComponents.dir/include</Directory>
+        <Directory>/usr/include</Directory>
+        <Directory>/usr/include/c++/5</Directory>
+        <Directory>/usr/include/c++/5/backward</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu/c++/5</Directory>
+        <Directory>/usr/lib/gcc/x86_64-linux-gnu/5/include</Directory>
+        <Directory>/usr/lib/gcc/x86_64-linux-gnu/5/include-fixed</Directory>
+        <Directory>/usr/local/include</Directory>
         <Directory>/usr/src/gtest</Directory>
-        <Directory>/opt/qt57/./mkspecs/linux-g++</Directory>
-        <Directory>/opt/qt57/include</Directory>
-        <Directory>/opt/qt57/include/QtCore</Directory>
-        <Directory>/opt/qt57/include/QtGui</Directory>
-        <Directory>/opt/qt57/include/QtNetwork</Directory>
-        <Directory>/opt/qt57/include/QtQml</Directory>
-        <Directory>/opt/qt57/include/QtQuick</Directory>
         <Directory>/opt/ros/kinetic/include</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu/qt5</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu/qt5/QtCore</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu/qt5/QtGui</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu/qt5/QtNetwork</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu/qt5/QtQml</Directory>
+        <Directory>/usr/include/x86_64-linux-gnu/qt5/QtQuick</Directory>
+        <Directory>/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++-64</Directory>
     </IncludePaths>
 </Workspace>

qt-gui.workspace.user

@@ -1,10 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
+
 <!-- Written by QtCreator 4.2.1, 2018-08-28T22:56:34. -->
+
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
-  <value type="QByteArray">{87d6e2af-d768-4e25-a852-033ba8fb5a4a}</value>
+  <value type="QByteArray">{643a6988-023e-4bb1-a89b-37908ebfa0dc}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -63,7 +65,7 @@
   <valuemap type="QVariantMap">
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{f4cc9e8d-34cc-4663-9466-ea6b16c693b9}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{4b75cd94-3d61-4d5d-bd67-39d953f1f3be}</value>
    <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
    <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
@@ -94,19 +96,22 @@
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges">
+
      <value type="QString">CMAKE_PREFIX_PATH=/home/ros/owr-qtgui/devel:/home/ros/owr_software/rover/devel:/home/ros/ros_deps/devel:/opt/ros/kinetic</value>
      <value type="QString">LD_LIBRARY_PATH=/home/ros/owr-qtgui/devel/lib:/home/ros/owr_software/rover/devel/lib:/home/ros/ros_deps/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/opt/qt57/lib/x86_64-linux-gnu:/opt/qt57/lib</value>
      <value type="QString">PATH=/opt/ros/kinetic/bin:/opt/qt57/bin:/home/ros/bin:/home/ros/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin</value>
      <value type="QString">PKG_CONFIG_PATH=/home/ros/owr-qtgui/devel/lib/pkgconfig:/home/ros/owr_software/rover/devel/lib/pkgconfig:/home/ros/ros_deps/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig:/opt/qt57/lib/pkgconfig</value>
+
      <value type="QString">PWD=/home/ros/owr-qtgui</value>
-     <value type="QString">PYTHONPATH=/home/ros/owr-qtgui/devel/lib/python2.7/dist-packages:/home/ros/owr_software/rover/devel/lib/python2.7/dist-packages:/home/ros/ros_deps/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages</value>
-     <value type="QString">ROSLISP_PACKAGE_DIRECTORIES=/home/ros/owr-qtgui/devel/share/common-lisp:/home/ros/owr_software/rover/devel/share/common-lisp:/home/ros/ros_deps/devel/share/common-lisp</value>
+     <value type="QString">PYTHONPATH=/home/ros/owr_software/gui/devel/lib/python2.7/dist-packages:/home/ros/owr-qtgui/devel/lib/python2.7/dist-packages:/home/ros/owr_software/rover/devel/lib/python2.7/dist-packages:/home/ros/ros_deps/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages</value>
+     <value type="QString">ROSLISP_PACKAGE_DIRECTORIES=/home/ros/owr_software/gui/devel/share/common-lisp:/home/ros/owr-qtgui/devel/share/common-lisp:/home/ros/owr_software/rover/devel/share/common-lisp:/home/ros/ros_deps/devel/share/common-lisp</value>
      <value type="QString">ROS_DISTRO=kinetic</value>
      <value type="QString">ROS_ETC_DIR=/opt/ros/kinetic/etc/ros</value>
      <value type="QString">ROS_MASTER_URI=http://localhost:11311</value>
-     <value type="QString">ROS_PACKAGE_PATH=/home/ros/owr-qtgui/src:/home/ros/owr_software/rover/src:/home/ros/ros_deps/src:/opt/ros/kinetic/share</value>
+     <value type="QString">ROS_PACKAGE_PATH=/home/ros/owr_software/gui/src:/home/ros/owr-qtgui/src:/home/ros/owr_software/rover/src:/home/ros/ros_deps/src:/opt/ros/kinetic/share</value>
      <value type="QString">ROS_ROOT=/opt/ros/kinetic/share/ros</value>
      <value type="QString">ROS_VERSION=1</value>
+
      <value type="QString">SHLVL=3</value>
      <value type="QString">TERM=xterm</value>
      <value type="QString">_=/usr/bin/env</value>
@@ -137,7 +142,7 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Release</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Release</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSBuildConfiguration</value>
-    <value type="int" key="ROSProjectManager.ROSBuildConfiguration.BuildSystem">48753808</value>
+    <value type="int" key="ROSProjectManager.ROSBuildConfiguration.BuildSystem">34435152</value>
     <value type="int" key="ROSProjectManager.ROSBuildConfiguration.CMakeBuildType">1</value>
    </valuemap>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.2">
@@ -160,7 +165,7 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Release with Debug Information</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Release with Debug Information</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSBuildConfiguration</value>
-    <value type="int" key="ROSProjectManager.ROSBuildConfiguration.BuildSystem">48753808</value>
+    <value type="int" key="ROSProjectManager.ROSBuildConfiguration.BuildSystem">34435152</value>
     <value type="int" key="ROSProjectManager.ROSBuildConfiguration.CMakeBuildType">2</value>
    </valuemap>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.3">
@@ -183,7 +188,7 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Minimum Size Release</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Minimum Size Release</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ROSProjectManager.ROSBuildConfiguration</value>
-    <value type="int" key="ROSProjectManager.ROSBuildConfiguration.BuildSystem">48753808</value>
+    <value type="int" key="ROSProjectManager.ROSBuildConfiguration.BuildSystem">34435152</value>
     <value type="int" key="ROSProjectManager.ROSBuildConfiguration.CMakeBuildType">3</value>
    </valuemap>
    <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">4</value>

src/gui/package.xml

@@ -54,6 +54,7 @@
     <run_depend>roscpp</run_depend>
     <run_depend>libqt4-dev</run_depend>
 
+
     <!-- The export tag contains other, unspecified, tags -->
     <export>
     <!-- Other tools can request additional information be placed here -->

src/gui/resources/Arm_Acutator_Display.qml

@@ -0,0 +1,66 @@
+import QtQuick 2.0
+import QtQuick.Window 2.2
+import bluesat.owr 1.0
+//import bluesat.owr.singleton 1.0
+
+Item {
+    id: arm_acutator_display
+    property string extension_state: qsTr("Stop")
+    property string name_text: qsTr("Actuator")
+    width: 600
+    height: 200
+
+    Rectangle {
+        id: arm_border
+        border.color: "#0025df"
+        anchors.fill: parent
+        border.width: 3
+    }
+
+    Image {
+        id: actuator_image
+        width: 224
+        height: 86
+        anchors.top: name_text_label.bottom
+        anchors.topMargin: 10
+        sourceSize.height: 172
+        sourceSize.width: 448
+        anchors.left: parent.left
+        anchors.leftMargin: 10
+        anchors.bottom: parent.bottom
+        anchors.bottomMargin: 10
+        fillMode: Image.PreserveAspectFit
+        source: "qrc:/images/actuator.JPG"
+    }
+
+    Text {
+        id: extension_state_text
+        text: parent.extension_state
+        anchors.right: parent.right
+        anchors.rightMargin: 10
+        verticalAlignment: Text.AlignVCenter
+        anchors.bottom: actuator_image.bottom
+        anchors.bottomMargin: 0
+        anchors.top: actuator_image.top
+        anchors.topMargin: 0
+        anchors.left: actuator_image.right
+        anchors.leftMargin: 20
+        font.pixelSize: 14
+    }
+
+    Text {
+        id: name_text_label
+        text: parent.name_text
+        font.underline: true
+        anchors.top: parent.top
+        anchors.topMargin: 10
+        anchors.bottom: parent.verticalCenter
+        anchors.bottomMargin: 40
+        anchors.right: parent.right
+        anchors.rightMargin: 10
+        anchors.left: actuator_image.left
+        anchors.leftMargin: 0
+        font.pixelSize: 14
+    }
+
+}

src/gui/resources/Cmd_Vel_Display.qml

@@ -0,0 +1,66 @@
+import QtQuick 2.0
+import QtQuick.Window 2.2
+import bluesat.owr 1.0
+//import bluesat.owr.singleton 1.0
+
+Item {
+    id: cmd_vel_display
+
+    Rectangle {
+        id: cmd_vel_border
+        border.color: "#0025df"
+        anchors.fill: parent
+        border.width: 3
+    }
+
+    Canvas {
+        id: pos
+
+        property double inputX: RoverCmdState.drive_x
+        property double inputY: RoverCmdState.drive_y
+        property double scale: 50
+        clip: true
+        anchors.topMargin: 29
+        anchors.fill: parent
+
+        Component.onCompleted: {
+            RoverCmdState.onCmd_vel_changed.connect(requestPaint)
+        }
+
+        onPaint: {
+            console.log(RoverCmdState.drive_x);
+            var context = getContext("2d");
+
+            //clear the canvas
+            context.beginPath();
+            context.clearRect(0,0,width,height);
+            context.fill();
+
+            //draw the circle
+            context.beginPath();
+            context.strokeStyle = "black";
+            context.moveTo(width/2+scale, height/2);
+            context.arc(width/2, height/2, scale, 0, 2*Math.PI, true);
+            context.stroke();
+
+            //draw the line
+            context.beginPath();
+            context.lineWidth = 2;
+            context.moveTo(width/2, height/2);
+            context.strokeStyle = "red";
+            context.lineTo((width/2) - (inputX * scale), (height/2) - (inputY * scale));
+            context.stroke();
+        }
+
+    }
+
+    Text {
+        id: text1
+        x: 8
+        y: 9
+        text: qsTr("Rover Driver Direction/Velocity")
+        font.underline: true
+        font.pixelSize: 14
+    }
+
+}

src/gui/resources/images.qrc

@@ -1,5 +1,6 @@
 <RCC>
     <qresource prefix="/images">
         <file>bluesatLogo.png</file>
+        <file>actuator.JPG</file>
     </qresource>
 </RCC>

src/gui/resources/main_window.qml

@@ -71,6 +71,35 @@ Window {
 
     }
 
+    Item {
+        id: wheel_visualize_container
+        anchors.right: parent.right
+        anchors.rightMargin: 22
+        anchors.top: parent.top
+        anchors.topMargin: 199
+        anchors.left: logo.right
+        anchors.leftMargin: 20
+        anchors.bottom: video_pane.top
+        anchors.bottomMargin: -222
+        ROSWheelVisualize {
+            // @disable-check M16
+            objectName: "wheel_visualize"
+            id: wheel_visualize
+            // @disable-check M16`
+            anchors.bottom: parent.bottom
+            // @disable-check M16
+            anchors.bottomMargin: 0
+            // @disable-check M16
+            anchors.top: parent.top
+            // @disable-check M16
+            anchors.left: parent.left
+            // @disable-check M16
+            anchors.right: parent.right
+            // @disable-check M16
+            topic: qsTr("/rover/wheel")
+        }
+    }
+
     Item {
         id: signal_strength_container
         z: 4
@@ -233,4 +262,5 @@ Window {
         height: 80
 
     }
+
 }

src/gui/resources/qml.qrc

@@ -1,5 +1,7 @@
 <RCC>
     <qresource prefix="/">
         <file>main_window.qml</file>
+        <file>Cmd_Vel_Display.qml</file>
+        <file>Arm_Acutator_Display.qml</file>
     </qresource>
 </RCC>

src/gui/src/main_application.cpp

@@ -1,6 +1,7 @@
 #include <QTimer>
 #include <QDebug>
 #include "ros_video_components/ros_video_component.hpp"
+#include "ros_video_components/ros_wheel_visualize.hpp"
 #include "ros_video_components/ros_signal_strength.hpp"
 #include "ros_video_components/ros_voltage_meter.hpp"
 #include "ros_video_components/ros_camera_switching.hpp"
@@ -13,6 +14,7 @@ Main_Application::Main_Application() {}
 
 void Main_Application::run() {
     qmlRegisterType<ROS_Video_Component>("bluesat.owr", 1, 0, "ROSVideoComponent");
+    qmlRegisterType<ROS_Wheel_Visualize>("bluesat.owr", 1, 0, "ROSWheelVisualize");
     qmlRegisterType<ROS_Signal_Strength>("bluesat.owr", 1, 0, "ROSSignalStrength");
     qmlRegisterType<ROS_Voltage_Meter>("bluesat.owr", 1, 0, "ROSVoltageMeter");
     qmlRegisterType<ROS_Camera_Switching>("bluesat.owr", 1, 0, "ROSCameraSwitching");
@@ -29,10 +31,13 @@ void Main_Application::run() {
     timer_idle->start(0);
 
     // setup the video component
-
     ROS_Video_Component * video = this->rootObjects()[0]->findChild<ROS_Video_Component*>(QString("videoStream"));
     video->setup(&nh);
 
+    ROS_Wheel_Visualize * wheel_visualize = this->rootObjects()[0]->findChild<ROS_Wheel_Visualize*>(QString("wheel_visualize"));
+    wheel_visualize->setup(&nh);
+    if(!wheel_visualize) printf("wheel visualize is null\n");
+    //merge into
     ROS_Signal_Strength * signal_strength = this->rootObjects()[0]->findChild<ROS_Signal_Strength*>(QString("signal_strength"));
     signal_strength->setup(&nh);
 

src/owr_messages/CMakeLists.txt

@@ -52,6 +52,8 @@ find_package(catkin REQUIRED COMPONENTS
    FILES
    activeCameras.msg
    stream.msg
+   pwm.msg
+   board.msg
  )
 
 ## Generate services in the 'srv' folder

src/owr_messages/msg/board.msg

@@ -0,0 +1,2 @@
+pwm[] joints
+Header header

src/owr_messages/msg/pwm.msg

@@ -0,0 +1,6 @@
+string joint
+int32 pwm
+float64 targetVel
+float64 currentVel
+float64 currentPos
+float64 targetPos