on progress

src/display.cpp

@@ -1,46 +1,70 @@
 #include <ncurses.h>
+#include <string>
 #include "display.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;
+const int Curses::cmd_kbd_lines = 12;
+const int Curses::cmd_kbd_columns = 50;
+const int Curses::cmd_speed_lines = 4;
+const int Curses::cmd_speed_columns = 50;
 
 Curses::Curses() {
   initscr();
   cbreak();
   //noecho();
-  kbd = newwin(kbd_lines, kbd_columns, 0, 0);
-  speed = newwin(speed_lines, speed_columns, kbd_lines+1, 0);
-  get = newwin(1,1,kbd_lines+speed_lines+1,2);
-  print_kbd();
+  cmd_kbd = newwin(cmd_kbd_lines, cmd_kbd_columns, 0, 0);
+  cmd_speed = newwin(cmd_speed_lines,
+                    cmd_speed_columns, cmd_kbd_lines+1, 0);
+  get = newwin(1,1,cmd_kbd_lines + cmd_speed_lines + 1,2);
+  //log_sent_w = newwin(///
+  //nav_data = newwin(//
+  print_cmd_kbd();
+  print_cmd_speed();
   wmove(get, 0, 0);
   wrefresh(get);
 }
 
 Curses::~Curses() {
-  delwin(kbd);
-  delwin(speed);
+  delwin(cmd_kbd);
+  delwin(cmd_speed);
+  delwin(log_sent_w);
+  delwin(nav_data);
   delwin(get);
   endwin();
 }
 
-char Curses::getchar()
-{
+char Curses::getchar() {
   return wgetch(get);
 }
 
-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);
+void Curses::print_cmd_kbd() {
+  wmove(cmd_kbd, 0, 0); waddstr(cmd_kbd, "        ---------------------");
+  wmove(cmd_kbd, 1, 0); waddstr(cmd_kbd, "takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|");
+  wmove(cmd_kbd, 2, 0); waddstr(cmd_kbd, "        |---|---|---|---|---|----");
+  wmove(cmd_kbd, 3, 0); waddstr(cmd_kbd, "  reset>|  g|⇐ h|← j|  k|→ l|⇒ m|");
+  wmove(cmd_kbd, 4, 0); waddstr(cmd_kbd, "        |---|---|---|---|---|----");
+  wmove(cmd_kbd, 5, 0); waddstr(cmd_kbd, "   land>|  b|⇓ n|↙ ,|↓ ;|↘ :|");
+  wmove(cmd_kbd, 6, 0); waddstr(cmd_kbd, "        ---------------------");
+  wmove(cmd_kbd, 8, 0); waddstr(cmd_kbd, "a/w : increase/decrease linear `x` speeds by 10%");
+  wmove(cmd_kbd, 9, 0); waddstr(cmd_kbd, "z/x : increase/decrease linear `y` speed by 10%");
+  wmove(cmd_kbd, 10, 0); waddstr(cmd_kbd, "e/c : increase/decrease linear `z` speed by 10%");
+  wmove(cmd_kbd, 11, 0); waddstr(cmd_kbd, "r/v : increase/decrease rotation speed by 10%");
+  wrefresh(cmd_kbd);
+}
+
+void Curses::print_cmd_speed() {
+
+}
+
+void Curses::update_cmd_speed(const char& coord, const float& v) {
+
+}
+
+void Curses::log_sent(const std::string& str) {
+
+}
+
+void Curses::update_navdata(const float& batteryPercent,
+                            const int& state,
+                            const float& time) {
+
 }

src/display.h

@@ -2,17 +2,19 @@
 #define CURSES_DISPLAY
 
 #include <ncurses.h>
+#include <string>
 
 class Curses
 {
   private:
-    static const int kbd_lines;
-    static const int kbd_columns;
-    WINDOW* kbd;
-    static const int speed_lines;
-    static const int speed_columns;
-    WINDOW* speed;
-    void print_kbd();
+    static const int cmd_kbd_lines;
+    static const int cmd_kbd_columns;
+    WINDOW* cmd_kbd;
+    static const int cmd_speed_lines;
+    static const int cmd_speed_columns;
+    WINDOW* cmd_speed;
+    void print_cmd_kbd();
+    void print_cmd_speed();
     WINDOW* get;
 
     // TODO (avec scroll)
@@ -25,9 +27,11 @@ class Curses
     char getchar();
 
     // TODO
-    void update_speed(const char&, const float&);
-    // void update_navdata(...
-    void log_sent(char*);
+    void update_cmd_speed(const char& coord, const float& v);
+    void update_navdata(const float& batteryPercent,
+                        const int& state,
+                        const float& time);
+    void log_sent(const std::string& str);
 };
 
 #endif

src/keyboard_cmd.cpp

@@ -6,6 +6,21 @@
 
 #include <std_msgs/Empty.h>
 #include <geometry_msgs/Twist.h>
+#include <ardrone_autonomy/Navdata.h>
+
+class Callback
+{
+  private:
+    boost::shared_ptr<Curses> term;
+
+  public:
+    Callback(const boost::shared_ptr<Curses>& terminal) :
+      term(terminal) {}
+
+    void operator()(const ardrone_autonomy::Navdata::ConstPtr msg) {
+      term->update_navdata(msg->batteryPercent, msg->state, msg->tm);
+    }
+}; // class Callback
 
 class Run
 {
@@ -14,17 +29,17 @@ class Run
     ros::NodeHandle n;
     ros::Rate loop_rate;
     ros::Publisher cmd, pub_takeoff, pub_land, pub_reset;
-    void land()
-      { pub_land.publish(empty); };
-    void takeoff()
-      { pub_takeoff.publish(empty); };
-    void reset()
-      { pub_reset.publish(empty); };
+    ros::Subscriber data_subscriber;
+    void land() { pub_land.publish(empty); };
+    void takeoff() { pub_takeoff.publish(empty); };
+    void reset() { pub_reset.publish(empty); };
     float x_speed, y_speed, z_speed, turn;
     boost::shared_ptr<Curses> term;
+    Callback data_callback;
 
   public:
-    Run(boost::shared_ptr<Curses> terminal) :
+    Run(const boost::shared_ptr<Curses>& terminal) :
+      data_callback(terminal),
       term(terminal),
       loop_rate(30),
       x_speed(0.2),
@@ -35,6 +50,7 @@ class Run
         pub_takeoff =  n.advertise<std_msgs::Empty>("/ardrone/takeoff", 1);
         pub_land = n.advertise<std_msgs::Empty>("/ardrone/land", 1);
         pub_reset = n.advertise<std_msgs::Empty>("/ardrone/reset", 1);
+        data_subscriber = n.subscribe<ardrone_autonomy::Navdata>("/ardrone/navdata", 1, data_callback);
       }
 
     void operator()()
@@ -166,49 +182,49 @@ class Run
           case 'a' :
             {// + x_speed
               x_speed *= 1.1;
-              term->update_speed('x', x_speed);
+              term->update_cmd_speed('x', x_speed);
               break;
             }
           case 'w' :
             {// - x_speed
               x_speed *= 0.9;
-              term->update_speed('x', x_speed);
+              term->update_cmd_speed('x', x_speed);
               break;
             }
           case 'z' :
             {// + y_speed
               y_speed *= 1.1;
-              term->update_speed('y', y_speed);
+              term->update_cmd_speed('y', y_speed);
               break;
             }
           case 'x' :
             {// - y_speed
               y_speed *= 0.9;
-              term->update_speed('y', y_speed);
+              term->update_cmd_speed('y', y_speed);
               break;
             }
           case 'e' :
             {// + z_speed
               z_speed *= 1.1;
-              term->update_speed('z', z_speed);
+              term->update_cmd_speed('z', z_speed);
               break;
             }
           case 'c' :
             {// - z_speed
               z_speed *= 0.9;
-              term->update_speed('z', z_speed);
+              term->update_cmd_speed('z', z_speed);
               break;
             }
           case 'r' :
             {// + turn speed
               turn *= 1.1;
-              term->update_speed('t', turn);
+              term->update_cmd_speed('t', turn);
               break;
             }
           case 'v' :
             {// - turn speed
               turn *= 0.9;
-              term->update_speed('t', turn);
+              term->update_cmd_speed('t', turn);
               break;
             }
           default :
@@ -220,12 +236,6 @@ class Run
 
 }; // class Run
 
-class Callback
-{
-  //TODO
- // receives nav_data and display them in the term
-}; // class Callback
-
 int main(int argc, char** argv)
 {
   setlocale(LC_ALL, "");