essai ncurses

CMakeLists.txt

@@ -9,6 +9,11 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   message_generation
 )
+find_package(
+  PkgConfig REQUIRED
+)
+
+pkg_check_modules ( ncurses REQUIRED ncurses )
 
 add_message_files(
   FILES
@@ -25,6 +30,7 @@ catkin_package()
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
+  ${CURSES_INCLUDE_DIRS}
 )
 
 add_executable(filtre src/filtre.cpp)
@@ -36,6 +42,11 @@ target_link_libraries(random_pcl_publisher ${catkin_LIBRARIES})
 add_executable(pcl_displayer src/pcl_displayer.cpp)
 target_link_libraries(pcl_displayer ${catkin_LIBRARIES})
 
+add_library(curses src/curses.cpp src/curses.h)
+
+add_executable(keyboard_cmd src/keyboard_cmd.cpp)
+target_link_libraries(keyboard_cmd ${catkin_LIBRARIES} ${ncurses_LIBRARIES} curses)
+
 add_executable(normal_estimator src/normal_estimator.cpp)
 target_link_libraries(normal_estimator ${catkin_LIBRARIES})
 add_dependencies(normal_estimator hand_control_generate_messages_cpp)

src/curses.cpp

@@ -0,0 +1,37 @@
+#include "curses.h"
+#include <ncurses.h>
+
+const int Curses::kbd_lines = 12;
+const int Curses::kbd_columns = 50;
+const int Curses::speed_lines = 4;
+const int Curses::speed_columns = 50;
+
+Curses::Curses() {
+  initscr();
+  cbreak();
+  noecho();
+  kbd = newwin(kbd_lines, kbd_columns, 0, 0);
+  kbd = newwin(speed_lines, speed_columns,
+               kbd_lines+1, 0);
+}
+
+Curses::~Curses() {
+  delwin(kbd);
+  delwin(speed);
+  endwin();
+}
+
+void Curses::print_kbd() {
+  wmove(kbd, 0, 0); waddstr(kbd, "        ---------------------");
+  wmove(kbd, 1, 0); waddstr(kbd, "takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|");
+  wmove(kbd, 2, 0); waddstr(kbd, "        |---|---|---|---|---|----");
+  wmove(kbd, 3, 0); waddstr(kbd, "  reset>|  g|⇐ h|← j|  k|→ l|⇒ m|");
+  wmove(kbd, 4, 0); waddstr(kbd, "        |---|---|---|---|---|----");
+  wmove(kbd, 5, 0); waddstr(kbd, "   land>|  b|⇓ n|↙ ,|↓ ;|↘ :|");
+  wmove(kbd, 6, 0); waddstr(kbd, "        ---------------------");
+  wmove(kbd, 8, 0); waddstr(kbd, "a/w : increase/decrease linear `x` speeds by 10%");
+  wmove(kbd, 9, 0); waddstr(kbd, "z/x : increase/decrease linear `y` speed by 10%");
+  wmove(kbd, 10, 0); waddstr(kbd, "e/c : increase/decrease linear `z` speed by 10%");
+  wmove(kbd, 11, 0); waddstr(kbd, "r/v : increase/decrease rotation speed by 10%");
+  wrefresh(kbd);
+}

src/curses.h

@@ -0,0 +1,23 @@
+#ifndef CURSES
+#define CURSES
+
+#include <ncurses.h>
+
+class Curses
+{
+  private:
+    static const int kbd_lines;
+    static const int kbd_columns;
+    WINDOW* kbd;
+    static const char** kbd_descr;
+    static const int speed_lines;
+    static const int speed_columns;
+    WINDOW* speed;
+  
+  public:
+    Curses();
+    ~Curses();
+    void print_kbd();
+};
+
+#endif

src/keyboard_cmd.cpp

@@ -6,7 +6,7 @@
 #include <ros/ros.h>
 #include <ros/time.h>
 
-#include <ncurses.h>
+#include "curses.h"
 
 #include <std_msgs/Empty.h>
 #include <geometry_msgs/Twist.h>
@@ -25,17 +25,14 @@ class Run
     void reset()
       { pub_reset.publish(empty); };
     float x_speed, y_speed, z_speed, turn;
-    void print_speed()
-    {
-      std::cout << "x speed : " << x_speed << ", y speed : " <<
-        y_speed << ", z speed : " << z_speed <<
-        ", rotation speed : " << turn << "\n";
-    };
+    Curses term;
+    void print_speed() { ; };
 
   public:
     Run() :
       n(),
       empty(),
+      term(),
       loop_rate(30),
       x_speed(0.2),
       y_speed(0.3),
@@ -47,11 +44,6 @@ class Run
         pub_reset = n.advertise<std_msgs::Empty>("/ardrone/reset", 1);
       }
 
-    ~Run()
-    {
-      endwin();
-    }
-
     void operator()()
     {
 
@@ -71,10 +63,6 @@ class Run
         <<"r/v : increase/decrease rotation speed by 10%\n";
         */
 
-      initscr();
-      cbreak();
-      noecho();
-
       while (ros::ok())
       {
         geometry_msgs::Twist::Ptr msg(new geometry_msgs::Twist());
@@ -232,12 +220,11 @@ class Run
           default :
             break;
         } // switch
-
         ros::spinOnce();
         loop_rate.sleep();
-
       } // while
     } // run
+
 }; // class
 
 int main(int argc, char** argv)

src/test.cpp

@@ -0,0 +1,8 @@
+#include "curses.h"
+int main()
+{
+Curses term;
+term.print_kbd();
+for(;;) ;
+}
+