MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
t = new QTimer(this);
time = -1;
ui->setupUi(this);
connect(ui->pushButtonStart, SIGNAL(clicked()),
this, SLOT(startExperiment()));
connect(ui->okPushButton, SIGNAL(clicked()),
this, SLOT(proceedToRusults()));
connect(ui->ok2PushButton, SIGNAL(clicked()),
this, SLOT(startOver()));
}
void KeyboardTeleoperation::keyboardLoop() {
char c;
bool dirty=false;
// get the console in raw mode
tcgetattr(kfd, &cooked);
memcpy(&raw, &cooked, sizeof(struct termios));
raw.c_lflag &=~ (ICANON | ECHO);
// Setting a new line, then end of file
raw.c_cc[VEOL] = 1;
raw.c_cc[VEOF] = 2;
tcsetattr(kfd, TCSANOW, &raw);
puts("Reading from keyboard");
puts("---------------------------");
puts("Use 'WASD' to translate");
puts("Use 'QE' to yaw");
puts("Press 'U' or 'J' to increase or decrease translational speed");
puts("Press 'I' or 'K' to increase or decrease translational speed");
while(true) {
// get the next event from the keyboard
if(read(kfd, &c, 1) < 0) {
perror("read():");
exit(-1);
}
baseCommand.linear.x = 0;
baseCommand.linear.y = 0;
baseCommand.angular.z = 0;
switch(c) {
/* Move commands */
case KEYCODE_W:
baseCommand.linear.x = translationalSpeed;
dirty = true;
startExperiment();
break;
case KEYCODE_S:
baseCommand.linear.x = - translationalSpeed;
dirty = true;
startExperiment();
break;
case KEYCODE_A:
baseCommand.linear.y = translationalSpeed;
dirty = true;
startExperiment();
break;
case KEYCODE_D:
baseCommand.linear.y = - translationalSpeed;
dirty = true;
startExperiment();
break;
case KEYCODE_Q:
baseCommand.angular.z = rotationalSpeed;
dirty = true;
startExperiment();
break;
case KEYCODE_E:
baseCommand.angular.z = - rotationalSpeed;
dirty = true;
startExperiment();
break;
/* Configuration commands */
case KEYCODE_U:
translationalSpeed += incrementRate;
ROS_INFO("New translational velocity = %f", translationalSpeed);
break;
case KEYCODE_J:
translationalSpeed -= incrementRate;
ROS_INFO("New translational velocity = %f", translationalSpeed);
break;
case KEYCODE_I:
rotationalSpeed += incrementRate;
ROS_INFO("New rotational velocity = %f", rotationalSpeed);
break;
case KEYCODE_K:
rotationalSpeed -= incrementRate;
ROS_INFO("New rotational velocity = %f", rotationalSpeed);
break;
default:
stopExperiment();
}
if (dirty == true) {
baseCommandPublisher.publish(baseCommand);
}
}
}
