/**
* This is the callback for PTZ control in single user mode. The driver needs to press
* the left bumper button to control the camera.
*/
void joyCallback(const sensor_msgs::Joy::ConstPtr& msg){
//If the Left Button is Pressed
if (msg->buttons[LEFT_BUTTON] >.1) {
//If the start and select buttons are pressed, enable boom control
if(msg->buttons[SELECT_BUTTON]>0 && msg->buttons[START_BUTTON]>0){
if (msg->axes[D_PAD_UP_DOWN] > 0)
sendVelocityMessage(boomMotor,3000);
else if (msg->axes[D_PAD_UP_DOWN] < 0)
sendVelocityMessage(boomMotor,-3000);
else sendVelocityMessage(boomMotor,0);
}
//Joystick DPAD will control stepping of motors
else if(msg->axes[D_PAD_UP_DOWN] != 0 || msg->axes[D_PAD_LEFT_RIGHT] !=0){
if (msg->axes[D_PAD_UP_DOWN] > 0)
sendPositionMessage(tiltMotor, -upDownStep, false);
else if (msg->axes[D_PAD_UP_DOWN] < 0)
sendPositionMessage(tiltMotor, upDownStep, false);
if (msg->axes[D_PAD_LEFT_RIGHT] > 0)
sendPositionMessage(panMotor, -leftRightStep, false);
else if (msg->axes[D_PAD_LEFT_RIGHT] < 0)
sendPositionMessage(panMotor, leftRightStep, false);
}
//Control velocities with joysticks
else{
if (msg->axes[LEFT_VERTICAL_AXIS] < 0){
if(abs(tiltMotor.currentPosition - tiltMotor.maxValue)
< abs(tiltMotor.homePos-tiltMotor.maxValue)*.1)
sendVelocityMessage(tiltMotor,0);
else sendVelocityMessage(tiltMotor,(int)(msg->axes[LEFT_VERTICAL_AXIS]*-topSpeed));
}
else if (msg->axes[LEFT_VERTICAL_AXIS] >= 0){
if(abs(tiltMotor.currentPosition - tiltMotor.minValue) <
abs(tiltMotor.homePos-tiltMotor.minValue)*.1)
sendVelocityMessage(tiltMotor,0);
else sendVelocityMessage(tiltMotor,(int)(msg->axes[LEFT_VERTICAL_AXIS]*-topSpeed));
}
if (msg->axes[LEFT_HORIZONTAL_AXIS] < 0){
if(abs(panMotor.currentPosition - panMotor.maxValue) <
abs(panMotor.homePos-panMotor.maxValue)*.1)
sendVelocityMessage(panMotor,0);
else sendVelocityMessage(panMotor,(int)(msg->axes[LEFT_HORIZONTAL_AXIS]*-topSpeed));
}
else if (msg->axes[LEFT_HORIZONTAL_AXIS] >= 0){
if(abs(panMotor.currentPosition - panMotor.minValue) <
abs(panMotor.homePos-panMotor.minValue)*.1)
sendVelocityMessage(panMotor,0);
else sendVelocityMessage(panMotor,(int)(msg->axes[LEFT_HORIZONTAL_AXIS]*-topSpeed));
}
}
}
//Tell pan-tilt to stop if joystick message not meant for them
else{
if(panMotor.isHoming || tiltMotor.isHoming) return;
sendVelocityMessage(panMotor,0);
sendVelocityMessage(tiltMotor,0);
}
}
MapController::MapController(Map* inputMap, QObject* parent) :
QObject(parent),
map(inputMap),
buddiesLayerVisible(true),
observationsLayerVisible(true),
udpSocket(NULL),
broadcastPort(45678),
broadcastInterval(3000),
simulator(),
positionReportTimer(NULL),
acceptPositionReports(true),
acceptSpotReports(true),
appConfigDialog(NULL),
showOwnship(false),
followOwnship(false),
isMapReady(false),
drawingOverlay(0),
lastHeading(0.0),
mouseState(MouseStateNone)
{
if (QFile::exists("./route.gpx"))
simulator.setGpxFile("./route.gpx");
else
simulator.setGpxFile(GPS_SIMULATION_FILE);
simulator.setTimerInterval(40); // Warning: jumpy at some intervals (ex. 100)
simulator.setPlaybackMultiplier(25);
connect(&simulator, SIGNAL(positionUpdateAvailable(QPointF, double)), this, SLOT(handlePositionAvailable(QPointF, double)));
readAppConfig();
// create the messaging socket connection and hook up message receiving
udpSocket = new QUdpSocket(this);
udpSocket->bind(broadcastPort, QUdpSocket::DontShareAddress | QUdpSocket::ReuseAddressHint);
connect(udpSocket, SIGNAL(readyRead()), this, SLOT(processPendingDatagrams()));
//Timer to send the position report
positionReportTimer = new QTimer(this);
positionReportTimer->setInterval(1000);
connect(positionReportTimer, SIGNAL(timeout()), this, SLOT(sendPositionMessage()));
handleToggleBroadcastPosition(true);
handleToggleShowMe(true);
handleToggleFollowMe(true);
chemLightColorStr = "None";
}
static void processMotion(WMDraggingInfo * info, WMPoint * mousePos)
{
Window newDestination = findDestination(info, mousePos);
W_DragSourceStopTimer();
if (newDestination != XDND_DEST_WIN(info)) {
recolorCursor(info, False);
if (XDND_DEST_WIN(info) != None) {
/* leaving a xdnd window */
sendLeaveMessage(info);
}
XDND_DEST_WIN(info) = newDestination;
XDND_DEST_ACTION(info) = None;
XDND_NO_POS_ZONE(info).size.width = 0;
XDND_NO_POS_ZONE(info).size.height = 0;
if (newDestination != None) {
/* entering a xdnd window */
XDND_SOURCE_STATE(info) = idleState;
storeDestinationProtocolVersion(info);
if (!sendEnterMessage(info)) {
XDND_DEST_WIN(info) = None;
return;
}
W_DragSourceStartTimer(info);
} else {
XDND_SOURCE_STATE(info) = NULL;
}
} else {
if (XDND_DEST_WIN(info) != None) {
if (!sendPositionMessage(info, mousePos)) {
XDND_DEST_WIN(info) = None;
return;
}
W_DragSourceStartTimer(info);
}
}
}
