//--------------------------------------------------------------------
// getKeyboardOrder
//--------------------------------------------------------------------
bool getKeyboardOrder(Order &order)
{
order.reset();
char rep;
read(0,&rep,1);
// printf("read=%d\n", rep);
switch (rep) {
// motor
case 27 :
read(0,&rep,1);
read(0,&rep,1);
switch (rep) {
case 'A' : handleForward(order); break;
case 'B' : handleBackward(order); break;
case 'D' : handleLeft(order); break;
case 'C' : handleRight(order); break;
}
break;
case '8' : handleForward(order); break;
case '2' : handleBackward(order); break;
case '4' : handleLeft(order); break;
case '6' : handleRight(order); break;
// emergency stop
case '5' :
case ' ' :
setEmergencyStopOrder(order);
break;
case 'r' :
case 'R' :
order.resetRobotPos=true;
order.motorReset=1;
order.speedLeft=0;
order.speedRight=0;
break;
case 'h' :
case 'H' :
showUsage();
break;
case 'q':
case 'Q':
case '-':
quitApplication = true;
break;
default:
break;
}
checkMotorOrder(order);
return true;
}
void SubBarPlayer::xSetup()
{
//DAVID Setup Background;
pixBackground.load("/root/kde_application/hdass08/skin/SubBarBackground.png");
setBackgroundPixmap(pixBackground);
//DAVID Load BtnGraphic
BtnGraphic[0]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Previous.png");
BtnGraphic[1]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Previous-Active.png");
BtnGraphic[2]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Play.png");
BtnGraphic[3]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Play-Active.png");
BtnGraphic[4]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Pause.png");
BtnGraphic[5]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Pause-Active.png");
BtnGraphic[6]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Next.png");
BtnGraphic[7]=new QPixmap("/root/kde_application/hdass08/skin/Bar-Player-Btn-Next-Active.png");
SubBtnPlayer_PlayNPause =new SkinButton(this);
SubBtnPlayer_Backword =new SkinButton(this);
SubBtn_Forward =new SkinButton(this);
SubBtnPlayer_Backword->setPixmaps(BtnGraphic[0],BtnGraphic[1]);
SubBtnPlayer_Backword->setGeometry(336,0,60,80);
SubBtnPlayer_Backword->show();
SubBtnPlayer_PlayNPause->setPixmaps(BtnGraphic[2],BtnGraphic[3]);
SubBtnPlayer_PlayNPause->setGeometry(403,0,80,80);
SubBtnPlayer_PlayNPause->show();
SubBtn_Forward->setPixmaps(BtnGraphic[6],BtnGraphic[7]);
SubBtn_Forward->setGeometry(484,0,60,80);
SubBtn_Forward->show();
//DAVID Pos Slider
playerPosition = new QSlider(0,100,1,0,Qt::Horizontal,this);
playerPosition->setGeometry( QRect(10,39,300,15) );
//playerPosition->show();
QObject::connect(SubBtnPlayer_PlayNPause, SIGNAL(clicked()), m_player, SLOT(play()));
QObject::connect(SubBtnPlayer_PlayNPause,SIGNAL(clicked()),this,SLOT(ChangeBtnPlayPauseGraphic()));
QObject::connect(SubBtn_Forward, SIGNAL(clicked()), m_player, SLOT(next()));
QObject::connect(SubBtnPlayer_Backword, SIGNAL(clicked()), m_player, SLOT(previous()));
state=SubBarPlayer::GO;
connect(m_player, SIGNAL(positionMessage(int)), this, SLOT(handlePosition(int )));
connect(m_player,SIGNAL(trackMessage(int, int, QString, QString, QString )),this,SLOT(handleMessage(int, int, QString, QString, QString )));
connect(playerPosition, SIGNAL(sliderPressed()), this, SLOT(handleSliderPressed()));
connect(playerPosition, SIGNAL(sliderReleased()), this, SLOT(handleSliderReleased()));
forwardTimer = new QTimer( this ); // create internal timer
connect( forwardTimer, SIGNAL(timeout()),this, SLOT(handleForward()) );
backwardTimer = new QTimer( this );
connect( backwardTimer, SIGNAL(timeout()), this, SLOT(handleBackward()) );
slotReadList();
}
Event * Platform::handleEvent(Event * event) {
switch (event->getType()) {
case ChassisForwardEvent:
handleForward(event->getData());
break;
case ChassisStopEvent:
handleStop();
break;
case SpeedLeftEvent:
handleSpeed(&leftMotor, event->getData());
break;
case SpeedRightEvent:
handleSpeed(&rightMotor, event->getData());
break;
default:
;
}
adjustMotorSpeedIfNeeded();
return &Event::NO_EVENT;
}
