uga_tum_ardrone_gui.h

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#pragma once

#ifndef __TUMARDRONEGUI_H
#define __TUMARDRONEGUI_H




#include <QtGui/QWidget>
#include "ui_uga_tum_ardrone_gui.h"
#include "geometry_msgs/Twist.h"
#include <dynamic_reconfigure/server.h>
#include "uga_tum_ardrone/GUIParamsConfig.h"

class RosThread;
class PingThread;
struct ControlCommand;

enum ControlSource {CONTROL_KB = 0, CONTROL_JOY = 1, CONTROL_AUTO = 2, CONTROL_NONE = 3};

class uga_tum_ardrone_gui : public QWidget
{
    Q_OBJECT

public slots:
        void LandClicked();
        void TakeoffClicked();
        void ToggleCamClicked();
        void EmergencyClicked();

        void ClearClicked();
        void SendClicked();
        void ClearSendClicked();
        void ResetClicked();
        void FlatTrimClicked();

        void LoadFileChanged(QString val);
        void ToggledUseHovering(int val);
        void ToggledPingDrone(int val);

        void ControlSourceChanged();

private slots:
    void setCountsSlot(unsigned int nav,unsigned int control,unsigned int pose,unsigned int joy);
    void setPingsSlot(int p500, int p20000);
    void setControlSourceSlot(int cont);

    void addLogLineSlot(QString);
    void setAutopilotInfoSlot(QString);
    void setStateestimationInfoSlot(QString);
    void setMotorSpeedsSlot(QString);

    void closeWindowSlot();


signals:
        void setCountsSignal(unsigned int nav,unsigned int control,unsigned int pose,unsigned int joy);
    void setPingsSignal(int p500, int p20000);
        void setControlSourceSignal(int cont);

        void addLogLineSignal(QString);
        void setAutopilotInfoSignal(QString);
        void setStateestimationInfoSignal(QString);
    void setMotorSpeedsSignal(QString);

        void closeWindowSignal();


public:
    uga_tum_ardrone_gui(QWidget *parent = 0);
    ~uga_tum_ardrone_gui();
    RosThread* rosThread;
    PingThread* pingThread;

    void setCounts(unsigned int nav,unsigned int control,unsigned int pose,unsigned int joy);
    void setPings(int p500, int p20000);
    void setControlSource(ControlSource cont);
    void addLogLine(std::string s);
    void setAutopilotInfo(std::string s);
    void setStateestimationInfo(std::string s);
    void setMotorSpeeds(std::string s);
    void closeWindow();
    void dynConfCb(uga_tum_ardrone::GUIParamsConfig &config, uint32_t level);


    // calculates KB command, based on currently pressed keys.
    ControlCommand calcKBControl();
    ControlSource currentControlSource;
    double sensGaz, sensYaw, sensRP;
    bool useHovering;

protected:

    // keyboard control.... this is the only way i managed to do this...
    void keyPressEvent( QKeyEvent * key);
    void keyReleaseEvent( QKeyEvent * key);
    int mapKey(int k);
    bool isPressed[8];  //{j k l i u o q a}
    unsigned int lastRepeat[8];


private:
    Ui::uga_tum_ardrone_guiClass ui;
};

#endif /* __TUMARDRONEGUI_H */