From 7e640165dad58d273496588866542ff59f0e17f5 Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Mon, 14 May 2018 14:46:54 +0200
Subject: [PATCH] Message gui
---
.../MessageLib/include/MessageLib/Client.h | 57 ++++-
.../catkin_ws/src/MessageLib/src/Client.cpp | 72 +++++--
.../src/MessageLib/test/ServerClientTest.cpp | 30 +--
modules/catkin_ws/src/PCGui/.gitignore | 3 +-
.../catkin_ws/src/PCGui/PCGui/CMakeLists.txt | 49 +++--
.../PCGui/PCGui/{main.qml => CommandGui.qml} | 2 +-
.../catkin_ws/src/PCGui/PCGui/MessageGui.qml | 142 +++++++++++++
.../src/PCGui/PCGui/include/Logger.h | 69 ------
.../src/PCGui/PCGui/include/MessageList.h | 32 +++
.../src/PCGui/PCGui/include/MessageModel.h | 38 ++++
.../src/PCGui/PCGui/include/MessageProducer.h | 23 ++
.../include/QtQuickControlsApplication.h | 24 +++
.../PCGui/include/SortFilterProxyModel.h | 121 +++++++++++
modules/catkin_ws/src/PCGui/PCGui/qml.qrc | 3 +-
.../PCGui/src/{main.cpp => CommandGui.cpp} | 2 +-
.../catkin_ws/src/PCGui/PCGui/src/Logger.cpp | 48 -----
.../src/PCGui/PCGui/src/MessageGui.cpp | 54 +++++
.../src/PCGui/PCGui/src/MessageList.cpp | 21 ++
.../src/PCGui/PCGui/src/MessageModel.cpp | 78 +++++++
.../PCGui/PCGui/src/SortFilterProxyModel.cpp | 199 ++++++++++++++++++
.../{noUss.launch => noHardware.launch} | 1 -
.../catkin_ws/src/car/src/mavLink/MavLink.cpp | 6 +-
22 files changed, 886 insertions(+), 188 deletions(-)
rename modules/catkin_ws/src/PCGui/PCGui/{main.qml => CommandGui.qml} (77%)
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/MessageGui.qml
delete mode 100644 modules/catkin_ws/src/PCGui/PCGui/include/Logger.h
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/include/MessageList.h
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/include/MessageModel.h
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/include/MessageProducer.h
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/include/QtQuickControlsApplication.h
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/include/SortFilterProxyModel.h
rename modules/catkin_ws/src/PCGui/PCGui/src/{main.cpp => CommandGui.cpp} (80%)
delete mode 100644 modules/catkin_ws/src/PCGui/PCGui/src/Logger.cpp
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/src/MessageGui.cpp
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/src/MessageList.cpp
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/src/MessageModel.cpp
create mode 100644 modules/catkin_ws/src/PCGui/PCGui/src/SortFilterProxyModel.cpp
rename modules/catkin_ws/src/car/launch/{noUss.launch => noHardware.launch} (88%)
diff --git a/modules/catkin_ws/src/MessageLib/include/MessageLib/Client.h b/modules/catkin_ws/src/MessageLib/include/MessageLib/Client.h
index 18365c3a..201d8055 100644
--- a/modules/catkin_ws/src/MessageLib/include/MessageLib/Client.h
+++ b/modules/catkin_ws/src/MessageLib/include/MessageLib/Client.h
@@ -30,18 +30,22 @@ public:
using OnMessageProcessedCallback = std::function<void(const Message & message)>;
using OnRequestFinishedCallback = std::function<void(const networking::error::ErrorCode & error)>;
- static constexpr std::size_t MAX_MESSAGE_SIZE{1024};
+ static Ptr create(networking::Networking & net, std::uint16_t port, std::size_t maxBufferSize=1024)
+ { return std::make_shared<Client>(PrivateTag{}, net, port, maxBufferSize); }
- static Ptr create(networking::Networking & net, std::uint16_t port)
- { return std::make_shared<Client>(PrivateTag{}, net, port); }
-
- Client(PrivateTag, networking::Networking & net, std::uint16_t port);
+ Client(PrivateTag, networking::Networking & net, std::uint16_t port, std::size_t maxBufferSize);
void requestMessages(const std::string & host,
const networking::time::Duration & timeout,
- const Client::OnMessageProcessedCallback & onMessageProcessedCallback,
- const Client::OnRequestFinishedCallback & onRequestFinishedCallback =
- [](const auto & error) {});
+ const OnMessageProcessedCallback & onMessageProcessedCallback,
+ const OnRequestFinishedCallback & onRequestFinishedCallback = [](const auto & error) {});
+
+ void requestMessagesPeriodically(const std::string & host,
+ const networking::time::Duration & requestInterval,
+ const networking::time::Duration & retryInterval,
+ const OnMessageProcessedCallback & onMessageProcessedCallback,
+ const OnRequestFinishedCallback & onRequestFinishedCallback =
+ [](const auto & error) {});
void stop();
@@ -65,10 +69,47 @@ private:
OnRequestFinishedCallback onRequestFinishedCallback;
};
+ struct PeriodicAsyncState
+ {
+ using Ptr = std::shared_ptr<PeriodicAsyncState>;
+
+ PeriodicAsyncState(Client::Ptr self,
+ const std::string & host,
+ const networking::time::Duration & requestInterval,
+ const networking::time::Duration & retryInterval,
+ const OnMessageProcessedCallback & onMessageProcessedCallback,
+ const OnRequestFinishedCallback & onRequestFinishedCallback)
+ : lock(*self)
+ , self(self)
+ , host(host)
+ , requestInterval(requestInterval)
+ , retryInterval(retryInterval)
+ , onMessageProcessedCallback(onMessageProcessedCallback)
+ , onRequestFinishedCallback(onRequestFinishedCallback)
+ {}
+
+ networking::BusyLock lock;
+ Client::Ptr self;
+ std::string host;
+ networking::time::Duration requestInterval;
+ networking::time::Duration retryInterval;
+ OnMessageProcessedCallback onMessageProcessedCallback;
+ OnRequestFinishedCallback onRequestFinishedCallback;
+ };
+
networking::Networking & net;
std::uint16_t port;
ServiceClient::Ptr client;
Parser parser;
+ networking::time::Timer::Ptr timer;
+ std::atomic<bool> requesting{false};
+
+ void processResponse(const std::string & response,
+ const OnMessageProcessedCallback & onMessageProcessedCallback);
+
+ void scheduleNextRequest(PeriodicAsyncState::Ptr state, const networking::time::Duration & waitTime);
+
+ void nextRequest(PeriodicAsyncState::Ptr state);
};
}
diff --git a/modules/catkin_ws/src/MessageLib/src/Client.cpp b/modules/catkin_ws/src/MessageLib/src/Client.cpp
index 2f6e4711..a00ef36c 100644
--- a/modules/catkin_ws/src/MessageLib/src/Client.cpp
+++ b/modules/catkin_ws/src/MessageLib/src/Client.cpp
@@ -8,10 +8,11 @@
namespace message
{
-Client::Client(Client::PrivateTag, networking::Networking & net, std::uint16_t port)
+Client::Client(Client::PrivateTag, networking::Networking & net, std::uint16_t port, std::size_t maxBufferSize)
: net(net), port(port)
{
- client = ServiceClient::create(net, MAX_MESSAGE_SIZE);
+ client = ServiceClient::create(net, maxBufferSize);
+ timer = networking::time::Timer::create(net);
}
void Client::requestMessages(const std::string & host,
@@ -25,30 +26,75 @@ void Client::requestMessages(const std::string & host,
std::string emptyRequest;
client->asyncCall(
emptyRequest, host, port, timeout,
- [state](const auto & error, auto & responseMessage)
+ [state](const auto & error, const auto & responseMessage)
{
if (error)
{
state->onRequestFinishedCallback(error);
return;
}
-
- if (!responseMessage.empty())
- {
- auto & parser = state->self->parser;
- parser << responseMessage;
- Message message;
- while (parser >> message)
- state->onMessageProcessedCallback(message);
- }
-
+ state->self->processResponse(responseMessage, state->onMessageProcessedCallback);
state->onRequestFinishedCallback(error);
});
}
+void Client::requestMessagesPeriodically(const std::string & host,
+ const networking::time::Duration & requestInterval,
+ const networking::time::Duration & retryInterval,
+ const OnMessageProcessedCallback & onMessageProcessedCallback,
+ const OnRequestFinishedCallback & onRequestFinishedCallback)
+{
+ auto self = shared_from_this();
+ auto state = std::make_shared<PeriodicAsyncState>(
+ self, host, requestInterval, retryInterval, onMessageProcessedCallback, onRequestFinishedCallback);
+ requesting = true;
+ nextRequest(std::move(state));
+}
+
void Client::stop()
{
client->stop();
+ timer->stop();
+ requesting = false;
+}
+
+void Client::processResponse(const std::string & response,
+ const OnMessageProcessedCallback & onMessageProcessedCallback)
+{
+ if (!response.empty())
+ {
+ parser << response;
+ Message message;
+ while (parser >> message)
+ onMessageProcessedCallback(message);
+ }
+}
+
+void Client::nextRequest(PeriodicAsyncState::Ptr state)
+{
+ using namespace std::chrono_literals;
+
+ if (!requesting)
+ return;
+
+ std::string emptyRequest;
+ net.waitWhileBusy(*(state->self->client));
+ client->asyncCall(
+ emptyRequest, state->host, state->self->port, state->retryInterval,
+ [state](const auto & error, const auto & responseMessage)
+ {
+ auto & self = state->self;
+ if (error)
+ {
+ state->onRequestFinishedCallback(error);
+ self->net.callLater([state] { state->self->nextRequest(state); });
+ return;
+ }
+ self->processResponse(responseMessage, state->onMessageProcessedCallback);
+ state->onRequestFinishedCallback(error);
+ self->timer->startTimeout(
+ state->requestInterval, [state] { state->self->nextRequest(state); });
+ });
}
}
diff --git a/modules/catkin_ws/src/MessageLib/test/ServerClientTest.cpp b/modules/catkin_ws/src/MessageLib/test/ServerClientTest.cpp
index 7b8f7a9a..969b82ac 100644
--- a/modules/catkin_ws/src/MessageLib/test/ServerClientTest.cpp
+++ b/modules/catkin_ws/src/MessageLib/test/ServerClientTest.cpp
@@ -41,38 +41,16 @@ void fromLocal()
while (running);
}
-void requestNextMessages(networking::Networking & net,
- networking::time::Timer::Ptr timer,
- message::Client::Ptr client,
- const networking::time::Duration & delay)
-{
- using namespace std::chrono_literals;
- timer->startTimeout(delay, [&net, timer, client]
- {
- net.waitWhileBusy(*client);
- client->requestMessages(
- "127.0.0.1", 10s,
- [](const auto & message) { printMessage(message); },
- [&net, timer, client](const auto & error)
- {
- if (error)
- {
- std::cerr << "Could not connect to car!\n";
- requestNextMessages(net, timer, client, 3s);
- }
- else requestNextMessages(net, timer, client, 10ms);
- });
- });
-}
-
void fromCar()
{
using namespace message;
using namespace std::chrono_literals;
networking::Networking net;
auto client = Client::create(net, 10207);
- auto timer = networking::time::Timer::create(net);
- requestNextMessages(net, timer, client, 10ms);
+ client->requestMessagesPeriodically(
+ "127.0.0.1", 10ms, 3s,
+ [](const auto & message) { printMessage(message); },
+ [](const auto & error) { if (error) std::cerr << "Could not connect to car!\n"; });
while (1);
}
diff --git a/modules/catkin_ws/src/PCGui/.gitignore b/modules/catkin_ws/src/PCGui/.gitignore
index 46e00774..9b34f868 100644
--- a/modules/catkin_ws/src/PCGui/.gitignore
+++ b/modules/catkin_ws/src/PCGui/.gitignore
@@ -1,3 +1,4 @@
.vscode/
build-PCGui-Desktop_Qt_5_7_1_GCC_64bit-Default/
-CMakeLists.txt.*
\ No newline at end of file
+CMakeLists.txt.*
+cmake-build-debug/
\ No newline at end of file
diff --git a/modules/catkin_ws/src/PCGui/PCGui/CMakeLists.txt b/modules/catkin_ws/src/PCGui/PCGui/CMakeLists.txt
index b4caae0f..ac4fc842 100644
--- a/modules/catkin_ws/src/PCGui/PCGui/CMakeLists.txt
+++ b/modules/catkin_ws/src/PCGui/PCGui/CMakeLists.txt
@@ -2,12 +2,10 @@ cmake_minimum_required(VERSION 3.5.1)
project(PCGui LANGUAGES CXX)
-set(CMAKE_CXX_STANDARD 14)
-
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(Qt5 COMPONENTS Core Quick REQUIRED)
@@ -20,17 +18,38 @@ find_package(Boost REQUIRED COMPONENTS regex system)
find_package(NetworkingLib REQUIRED)
find_package(PlatoonProtocolLib REQUIRED)
find_package(PC2CarLib REQUIRED)
+find_package(MessageLib REQUIRED)
+
+set(LIBS
+ Qt5::Core Qt5::Quick
+ NetworkingLib
+ PlatoonProtocolLib
+ PC2CarLib
+ MessageLib)
+
+set(INCLUDE_DIRS
+ ${PC2CarLib_INCLUDE_DIRS}
+ ${MessageLib_INCLUDE_DIRS})
set(SOURCE_FILES
- include/Logger.h
- src/Logger.cpp
- src/main.cpp
- qml.qrc)
-
-add_executable(${PROJECT_NAME} ${SOURCE_FILES})
-target_link_libraries(${PROJECT_NAME}
- Qt5::Core Qt5::Quick
- NetworkingLib
- PlatoonProtocolLib
- PC2CarLib)
-target_include_directories(${PROJECT_NAME} PUBLIC ${PC2CarLib_INCLUDE_DIRS})
+ include/QtQuickControlsApplication.h
+ qml.qrc)
+
+add_executable(CommandGui ${SOURCE_FILES}
+ src/CommandGui.cpp)
+
+add_executable(MessageGui ${SOURCE_FILES}
+ include/SortFilterProxyModel.h
+ include/MessageModel.h
+ include/MessageList.h
+ include/MessageProducer.h
+ src/MessageGui.cpp
+ src/MessageModel.cpp
+ src/MessageList.cpp
+ src/SortFilterProxyModel.cpp)
+
+target_link_libraries(CommandGui ${LIBS})
+target_link_libraries(MessageGui ${LIBS})
+
+target_include_directories(CommandGui PUBLIC ${INCLUDE_DIRS})
+target_include_directories(MessageGui PUBLIC ${INCLUDE_DIRS})
diff --git a/modules/catkin_ws/src/PCGui/PCGui/main.qml b/modules/catkin_ws/src/PCGui/PCGui/CommandGui.qml
similarity index 77%
rename from modules/catkin_ws/src/PCGui/PCGui/main.qml
rename to modules/catkin_ws/src/PCGui/PCGui/CommandGui.qml
index e097a0e4..9a40ba2d 100644
--- a/modules/catkin_ws/src/PCGui/PCGui/main.qml
+++ b/modules/catkin_ws/src/PCGui/PCGui/CommandGui.qml
@@ -5,5 +5,5 @@ Window {
visible: true
width: 640
height: 480
- title: qsTr("Hello World")
+ title: qsTr("Command Gui")
}
diff --git a/modules/catkin_ws/src/PCGui/PCGui/MessageGui.qml b/modules/catkin_ws/src/PCGui/PCGui/MessageGui.qml
new file mode 100644
index 00000000..45d0b62e
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/MessageGui.qml
@@ -0,0 +1,142 @@
+import QtQuick 2.2
+import QtQuick.Layouts 1.1
+import QtQuick.Controls 1.2
+import car.pcgui 1.0
+
+ApplicationWindow {
+ id: window
+ visible: true
+ title: "Message Gui"
+
+ toolBar: ToolBar {
+ height: 180
+
+ Label {
+ id: moduleLabel
+ text: "Module: "
+ anchors.left: parent.left
+ anchors.leftMargin: 10
+ anchors.top: parent.top
+ anchors.topMargin: 20
+ }
+
+ TextField {
+ id: moduleSearchBox
+
+ placeholderText: "Search..."
+ inputMethodHints: Qt.ImhNoPredictiveText
+
+ anchors.left: moduleLabel.right
+ anchors.leftMargin: 10
+ anchors.right: parent.right
+ anchors.rightMargin: 10
+ anchors.verticalCenter: moduleLabel.verticalCenter
+ }
+
+ Label {
+ id: keyLabel
+ text: "Key: "
+ anchors.left: moduleLabel.left
+ anchors.top: moduleLabel.bottom
+ anchors.topMargin: 20
+ }
+
+ TextField {
+ id: keySearchBox
+
+ placeholderText: "Search..."
+ inputMethodHints: Qt.ImhNoPredictiveText
+
+ anchors.left: moduleSearchBox.left
+ anchors.right: moduleSearchBox.right
+ anchors.verticalCenter: keyLabel.verticalCenter
+ }
+
+ CheckBox {
+ id: mostRecentCheckBox
+ text: "show only most recent values"
+ checked: false
+
+ anchors.left: moduleLabel.left
+ anchors.top: keyLabel.bottom
+ anchors.topMargin: 20
+ }
+
+ Label {
+ id: statusLabel
+ text: "Status:"
+
+ anchors.left: moduleLabel.left
+ anchors.top: mostRecentCheckBox.bottom
+ anchors.topMargin: 20
+ }
+
+ Label {
+ id: status
+ text: "Disconnected"
+ color: "red"
+
+ anchors.left: moduleSearchBox.left
+ anchors.top: statusLabel.top
+ }
+ }
+
+ TableView {
+ id: tableView
+
+ frameVisible: false
+ sortIndicatorVisible: true
+
+ anchors.fill: parent
+
+ Layout.minimumWidth: 400
+ Layout.minimumHeight: 240
+ Layout.preferredWidth: 600
+ Layout.preferredHeight: 400
+
+ TableViewColumn {
+ id: moduleColumn
+ title: "Module"
+ role: "module"
+ movable: false
+ resizable: true
+ width: tableView.viewport.width / 3
+ }
+
+ TableViewColumn {
+ id: keyColumn
+ title: "Key"
+ role: "key"
+ movable: false
+ resizable: true
+ width: tableView.viewport.width / 3
+ }
+
+ TableViewColumn {
+ id: valueColumn
+ title: "Value"
+ role: "value"
+ movable: false
+ resizable: true
+ width: tableView.viewport.width / 3
+ }
+
+ // model: SortFilterProxyModel {
+ // id: proxyModel
+ // source: sourceModel.count > 0 ? sourceModel : null
+
+ // sortOrder: tableView.sortIndicatorOrder
+ // sortCaseSensitivity: Qt.CaseInsensitive
+ // sortRole: sourceModel.count > 0 ? tableView.getColumn(tableView.sortIndicatorColumn).role : ""
+
+ // filterString: moduleSearchBox.text
+ // filterSyntax: SortFilterProxyModel.FixedString
+ // filterCaseSensitivity: Qt.CaseInsensitive
+ // }
+
+ model: MessageModel {
+ id: messageModel
+ messageList: messages
+ }
+ }
+}
diff --git a/modules/catkin_ws/src/PCGui/PCGui/include/Logger.h b/modules/catkin_ws/src/PCGui/PCGui/include/Logger.h
deleted file mode 100644
index a78e9897..00000000
--- a/modules/catkin_ws/src/PCGui/PCGui/include/Logger.h
+++ /dev/null
@@ -1,69 +0,0 @@
-//
-// Created by philipp on 08.05.18.
-//
-
-#ifndef PC_LOGGER_H
-#define PC_LOGGER_H
-
-#include <memory>
-#include <NetworkingLib/Networking.h>
-#include <NetworkingLib/ServiceClient.h>
-
-namespace pc
-{
-
-class Logger
- : public std::enable_shared_from_this<Logger>
- , private networking::Busyable
-{
-private:
- struct PrivateTag
- {
- };
-
- struct LoggingService
- {
- using RequestMessage = std::string;
- using ResponseMessage = std::string;
- };
-
-public:
- using Ptr = std::shared_ptr<Logger>;
- using LoggingClient = networking::service::Client<LoggingService>;
-
- static constexpr std::size_t PORT{10207};
- static constexpr std::size_t MAX_MESSAGE_SIZE{1024};
-
- static Ptr create(networking::Networking & net, const std::string & host)
- { return std::make_shared<Logger>(PrivateTag{}, net, host); }
-
- Logger(PrivateTag, networking::Networking & net, const std::string & host);
-
- void start();
-
- void stop();
-
-private:
- struct AsyncState
- {
- using Ptr = std::shared_ptr<AsyncState>;
-
- AsyncState(Logger::Ptr self)
- : lock(*self), self(self)
- {}
-
- networking::BusyLock lock;
- Logger::Ptr self;
- };
-
- networking::Networking & net;
- std::string host;
- LoggingClient::Ptr client;
- networking::time::Timer::Ptr timer;
-
- void log(AsyncState::Ptr state);
-};
-
-}
-
-#endif //PC_LOGGER_H
diff --git a/modules/catkin_ws/src/PCGui/PCGui/include/MessageList.h b/modules/catkin_ws/src/PCGui/PCGui/include/MessageList.h
new file mode 100644
index 00000000..06ada7ef
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/include/MessageList.h
@@ -0,0 +1,32 @@
+//
+// Created by philipp on 13.05.18.
+//
+
+#ifndef PCGUI_MESSAGELIST_H
+#define PCGUI_MESSAGELIST_H
+
+#include <QObject>
+#include <MessageLib/Message.h>
+#include <QtCore/QVector>
+
+class MessageList : public QObject
+{
+ Q_OBJECT
+
+public:
+ explicit MessageList(QObject * parent = nullptr);
+
+ const QVector<message::Message> & getItems() const noexcept;
+
+signals:
+ void preMessageAppended();
+ void postMessageAppended();
+
+public slots:
+ void appendMessage(const message::Message & message);
+
+private:
+ QVector<message::Message> items;
+};
+
+#endif //PCGUI_MESSAGELIST_H
diff --git a/modules/catkin_ws/src/PCGui/PCGui/include/MessageModel.h b/modules/catkin_ws/src/PCGui/PCGui/include/MessageModel.h
new file mode 100644
index 00000000..3434974b
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/include/MessageModel.h
@@ -0,0 +1,38 @@
+#ifndef MESSAGEMODEL_H
+#define MESSAGEMODEL_H
+
+#include <QAbstractListModel>
+#include "MessageLib/Message.h"
+#include "MessageList.h"
+
+class MessageModel : public QAbstractListModel
+{
+Q_OBJECT
+
+Q_PROPERTY(MessageList * messageList READ getMessageList WRITE setMessageList)
+
+public:
+ explicit MessageModel(QObject * parent = nullptr);
+
+ enum
+ {
+ ModuleRole = Qt::UserRole,
+ KeyRole,
+ ValueRole
+ };
+
+ int rowCount(const QModelIndex & parent = QModelIndex()) const override;
+
+ QVariant data(const QModelIndex & index, int role = Qt::DisplayRole) const override;
+
+ QHash<int, QByteArray> roleNames() const override;
+
+ MessageList * getMessageList() const noexcept;
+
+ void setMessageList(MessageList * newMessageList);
+
+private:
+ MessageList * messageList;
+};
+
+#endif // MESSAGEMODEL_H
\ No newline at end of file
diff --git a/modules/catkin_ws/src/PCGui/PCGui/include/MessageProducer.h b/modules/catkin_ws/src/PCGui/PCGui/include/MessageProducer.h
new file mode 100644
index 00000000..04d36010
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/include/MessageProducer.h
@@ -0,0 +1,23 @@
+//
+// Created by philipp on 14.05.18.
+//
+
+#ifndef PCGUI_MESSAGEPRODUCER_H
+#define PCGUI_MESSAGEPRODUCER_H
+
+#include <QObject>
+#include "MessageLib/Message.h"
+
+class MessageProducer : public QObject
+{
+Q_OBJECT
+
+public:
+ void produceMessage(const message::Message & message)
+ { emit messageProduced(message); }
+
+signals:
+ void messageProduced(message::Message);
+};
+
+#endif //PCGUI_MESSAGEPRODUCER_H
diff --git a/modules/catkin_ws/src/PCGui/PCGui/include/QtQuickControlsApplication.h b/modules/catkin_ws/src/PCGui/PCGui/include/QtQuickControlsApplication.h
new file mode 100644
index 00000000..a35ca7e5
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/include/QtQuickControlsApplication.h
@@ -0,0 +1,24 @@
+//
+// Created by philipp on 13.05.18.
+//
+
+#ifndef PCGUI_QTQUICKCONTROLSAPPLICATION_H
+#define PCGUI_QTQUICKCONTROLSAPPLICATION_H
+
+#ifdef QT_WIDGETS_LIB
+#include <QtWidgets/QApplication>
+#else
+#include <QtGui/QGuiApplication>
+#endif
+
+QT_BEGIN_NAMESPACE
+
+#ifdef QT_WIDGETS_LIB
+#define QtQuickControlsApplication QApplication
+#else
+#define QtQuickControlsApplication QGuiApplication
+#endif
+
+QT_END_NAMESPACE
+
+#endif //PCGUI_QTQUICKCONTROLSAPPLICATION_H
diff --git a/modules/catkin_ws/src/PCGui/PCGui/include/SortFilterProxyModel.h b/modules/catkin_ws/src/PCGui/PCGui/include/SortFilterProxyModel.h
new file mode 100644
index 00000000..08b81a85
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/include/SortFilterProxyModel.h
@@ -0,0 +1,121 @@
+/****************************************************************************
+**
+** Copyright (C) 2016 The Qt Company Ltd.
+** Contact: https://www.qt.io/licensing/
+**
+** This file is part of the examples of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:BSD$
+** Commercial License Usage
+** Licensees holding valid commercial Qt licenses may use this file in
+** accordance with the commercial license agreement provided with the
+** Software or, alternatively, in accordance with the terms contained in
+** a written agreement between you and The Qt Company. For licensing terms
+** and conditions see https://www.qt.io/terms-conditions. For further
+** information use the contact form at https://www.qt.io/contact-us.
+**
+** BSD License Usage
+** Alternatively, you may use this file under the terms of the BSD license
+** as follows:
+**
+** "Redistribution and use in source and binary forms, with or without
+** modification, are permitted provided that the following conditions are
+** met:
+** * Redistributions of source code must retain the above copyright
+** notice, this list of conditions and the following disclaimer.
+** * Redistributions in binary form must reproduce the above copyright
+** notice, this list of conditions and the following disclaimer in
+** the documentation and/or other materials provided with the
+** distribution.
+** * Neither the name of The Qt Company Ltd nor the names of its
+** contributors may be used to endorse or promote products derived
+** from this software without specific prior written permission.
+**
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#ifndef SORTFILTERPROXYMODEL_H
+#define SORTFILTERPROXYMODEL_H
+
+#include <QtCore/qsortfilterproxymodel.h>
+#include <QtQml/qqmlparserstatus.h>
+#include <QtQml/qjsvalue.h>
+
+class SortFilterProxyModel : public QSortFilterProxyModel, public QQmlParserStatus
+{
+ Q_OBJECT
+ Q_INTERFACES(QQmlParserStatus)
+
+ Q_PROPERTY(int count READ count NOTIFY countChanged)
+ Q_PROPERTY(QObject *source READ source WRITE setSource)
+
+ Q_PROPERTY(QByteArray sortRole READ sortRole WRITE setSortRole)
+ Q_PROPERTY(Qt::SortOrder sortOrder READ sortOrder WRITE setSortOrder)
+
+ Q_PROPERTY(QByteArray filterRole READ filterRole WRITE setFilterRole)
+ Q_PROPERTY(QString filterString READ filterString WRITE setFilterString)
+ Q_PROPERTY(FilterSyntax filterSyntax READ filterSyntax WRITE setFilterSyntax)
+
+ Q_ENUMS(FilterSyntax)
+
+public:
+ explicit SortFilterProxyModel(QObject *parent = 0);
+
+ QObject *source() const;
+ void setSource(QObject *source);
+
+ QByteArray sortRole() const;
+ void setSortRole(const QByteArray &role);
+
+ void setSortOrder(Qt::SortOrder order);
+
+ QByteArray filterRole() const;
+ void setFilterRole(const QByteArray &role);
+
+ QString filterString() const;
+ void setFilterString(const QString &filter);
+
+ enum FilterSyntax {
+ RegExp,
+ Wildcard,
+ FixedString
+ };
+
+ FilterSyntax filterSyntax() const;
+ void setFilterSyntax(FilterSyntax syntax);
+
+ int count() const;
+ Q_INVOKABLE QJSValue get(int index) const;
+
+ void classBegin();
+ void componentComplete();
+
+signals:
+ void countChanged();
+
+protected:
+ int roleKey(const QByteArray &role) const;
+ QHash<int, QByteArray> roleNames() const;
+ bool filterAcceptsRow(int sourceRow, const QModelIndex &sourceParent) const;
+
+private:
+ bool m_complete;
+ QByteArray m_sortRole;
+ QByteArray m_filterRole;
+};
+
+#endif // SORTFILTERPROXYMODEL_H
diff --git a/modules/catkin_ws/src/PCGui/PCGui/qml.qrc b/modules/catkin_ws/src/PCGui/PCGui/qml.qrc
index 5f6483ac..23750ca0 100644
--- a/modules/catkin_ws/src/PCGui/PCGui/qml.qrc
+++ b/modules/catkin_ws/src/PCGui/PCGui/qml.qrc
@@ -1,5 +1,6 @@
<RCC>
<qresource prefix="/">
- <file>main.qml</file>
+ <file>CommandGui.qml</file>
+ <file>MessageGui.qml</file>
</qresource>
</RCC>
diff --git a/modules/catkin_ws/src/PCGui/PCGui/src/main.cpp b/modules/catkin_ws/src/PCGui/PCGui/src/CommandGui.cpp
similarity index 80%
rename from modules/catkin_ws/src/PCGui/PCGui/src/main.cpp
rename to modules/catkin_ws/src/PCGui/PCGui/src/CommandGui.cpp
index f3de8b09..04741d3d 100644
--- a/modules/catkin_ws/src/PCGui/PCGui/src/main.cpp
+++ b/modules/catkin_ws/src/PCGui/PCGui/src/CommandGui.cpp
@@ -6,7 +6,7 @@ int main(int argc, char *argv[])
QGuiApplication app(argc, argv);
QQmlApplicationEngine engine;
- engine.load(QUrl(QStringLiteral("qrc:/main.qml")));
+ engine.load(QUrl(QStringLiteral("qrc:/CommandGui.qml")));
if (engine.rootObjects().isEmpty())
return -1;
diff --git a/modules/catkin_ws/src/PCGui/PCGui/src/Logger.cpp b/modules/catkin_ws/src/PCGui/PCGui/src/Logger.cpp
deleted file mode 100644
index 7d5588cb..00000000
--- a/modules/catkin_ws/src/PCGui/PCGui/src/Logger.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-//
-// Created by philipp on 08.05.18.
-//
-
-#include "../include/Logger.h"
-#include <iostream>
-
-namespace pc
-{
-
-Logger::Logger(Logger::PrivateTag, networking::Networking & net, const std::string & host)
- : net(net), host(host)
-{
- client = LoggingClient::create(net, MAX_MESSAGE_SIZE);
- timer = networking::time::Timer::create(net);
-}
-
-void Logger::start()
-{
- auto self = shared_from_this();
- auto state = std::make_shared<AsyncState>(self);
- log(state);
-}
-
-void Logger::stop()
-{
- timer->stop();
- client->stop();
-}
-
-void Logger::log(AsyncState::Ptr state)
-{
- using namespace std::chrono_literals;
- std::string emptyRequest;
- client->asyncCall(
- emptyRequest, host, PORT, 10s,
- [state](const auto & error, auto & responseMessage)
- {
- if (!responseMessage.empty())
- std::cout << responseMessage;
-
- state->self->timer->startTimeout(1ms, [state]
- { state->self->log(state); });
- });
-}
-
-}
-
diff --git a/modules/catkin_ws/src/PCGui/PCGui/src/MessageGui.cpp b/modules/catkin_ws/src/PCGui/PCGui/src/MessageGui.cpp
new file mode 100644
index 00000000..7dcf04af
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/src/MessageGui.cpp
@@ -0,0 +1,54 @@
+#include "../include/QtQuickControlsApplication.h"
+#include "../include/SortFilterProxyModel.h"
+#include <QtQml/qqmlapplicationengine.h>
+#include <QtGui/qsurfaceformat.h>
+#include <QtQml/qqml.h>
+#include <QtQml/QQmlContext>
+#include <include/MessageModel.h>
+#include "NetworkingLib/Networking.h"
+#include "MessageLib/Client.h"
+#include <chrono>
+#include <iostream>
+#include <include/MessageProducer.h>
+
+Q_DECLARE_METATYPE(message::Message);
+
+int main(int argc, char * argv[])
+{
+ using namespace std::chrono_literals;
+
+ qmlRegisterType<SortFilterProxyModel>("car.pcgui", 1, 0, "SortFilterProxyModel");
+ qmlRegisterType<MessageModel>("car.pcgui", 1, 0, "MessageModel");
+ qRegisterMetaType<message::Message>();
+ qmlRegisterUncreatableType<MessageList>(
+ "car.pcgui", 1, 0, "MessageList", QStringLiteral("MessageList should not be created in QML"));
+
+ networking::Networking net;
+ auto messageClient = message::Client::create(net, 10207);
+ MessageList messages;
+ MessageProducer producer;
+ QObject::connect(&producer, SIGNAL(messageProduced(message::Message)),
+ &messages, SLOT(appendMessage(const message::Message &)));
+
+ QtQuickControlsApplication app(argc, argv);
+ if (QCoreApplication::arguments().contains(QLatin1String("--coreprofile")))
+ {
+ QSurfaceFormat fmt;
+ fmt.setVersion(4, 4);
+ fmt.setProfile(QSurfaceFormat::CoreProfile);
+ QSurfaceFormat::setDefaultFormat(fmt);
+ }
+
+ QQmlApplicationEngine engine{};
+ engine.rootContext()->setContextProperty(QStringLiteral("messages"), &messages);
+ engine.load(QUrl("qrc:/MessageGui.qml"));
+ if (engine.rootObjects().isEmpty())
+ return -1;
+
+ messageClient->requestMessagesPeriodically(
+ "127.0.0.1", 10ms, 3s,
+ [&producer](const auto & message)
+ { producer.produceMessage(message); });
+
+ return app.exec();
+}
diff --git a/modules/catkin_ws/src/PCGui/PCGui/src/MessageList.cpp b/modules/catkin_ws/src/PCGui/PCGui/src/MessageList.cpp
new file mode 100644
index 00000000..9fc693b9
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/src/MessageList.cpp
@@ -0,0 +1,21 @@
+//
+// Created by philipp on 13.05.18.
+//
+
+#include "../include/MessageList.h"
+
+MessageList::MessageList(QObject * parent) : QObject(parent)
+{
+}
+
+const QVector<message::Message> & MessageList::getItems() const noexcept
+{
+ return items;
+}
+
+void MessageList::appendMessage(const message::Message & message)
+{
+ emit preMessageAppended();
+ items.append(message);
+ emit postMessageAppended();
+}
diff --git a/modules/catkin_ws/src/PCGui/PCGui/src/MessageModel.cpp b/modules/catkin_ws/src/PCGui/PCGui/src/MessageModel.cpp
new file mode 100644
index 00000000..b305119a
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/src/MessageModel.cpp
@@ -0,0 +1,78 @@
+#include "../include/MessageModel.h"
+
+MessageModel::MessageModel(QObject * parent)
+ : QAbstractListModel(parent)
+ , messageList(nullptr)
+{
+}
+
+int MessageModel::rowCount(const QModelIndex & parent) const
+{
+ // For list models only the root node (an invalid parent) should return the list's size. For all
+ // other (valid) parents, rowCount() should return 0 so that it does not become a tree model.
+ if (parent.isValid() || !messageList)
+ return 0;
+
+ return messageList->getItems().size();
+}
+
+QVariant MessageModel::data(const QModelIndex & index, int role) const
+{
+ if (!index.isValid() || !messageList)
+ return QVariant{};
+
+ auto message = messageList->getItems().at(index.row());
+ switch (role)
+ {
+ case ModuleRole:
+ return QVariant{QString::fromStdString(message.module)};
+
+ case KeyRole:
+ return QVariant{QString::fromStdString(message.key)};
+
+ case ValueRole:
+ return QVariant{QString::fromStdString(message.value)};
+ }
+
+ return QVariant{};
+}
+
+QHash<int, QByteArray> MessageModel::roleNames() const
+{
+ QHash<int, QByteArray> names;
+ names[ModuleRole] = "module";
+ names[KeyRole] = "key";
+ names[ValueRole] = "value";
+ return names;
+}
+
+MessageList * MessageModel::getMessageList() const noexcept
+{
+ return messageList;
+}
+
+void MessageModel::setMessageList(MessageList * newMessageList)
+{
+ beginResetModel();
+
+ if (messageList)
+ messageList->disconnect(this);
+
+ messageList = newMessageList;
+
+ if (messageList)
+ {
+ connect(messageList, &MessageList::preMessageAppended, this, [this]
+ {
+ int index = messageList->getItems().size();
+ beginInsertRows(QModelIndex{}, index, index);
+ });
+
+ connect(messageList, &MessageList::postMessageAppended, this, [this]
+ {
+ endInsertRows();
+ });
+ }
+
+ endResetModel();
+}
diff --git a/modules/catkin_ws/src/PCGui/PCGui/src/SortFilterProxyModel.cpp b/modules/catkin_ws/src/PCGui/PCGui/src/SortFilterProxyModel.cpp
new file mode 100644
index 00000000..4baa931f
--- /dev/null
+++ b/modules/catkin_ws/src/PCGui/PCGui/src/SortFilterProxyModel.cpp
@@ -0,0 +1,199 @@
+/****************************************************************************
+**
+** Copyright (C) 2016 The Qt Company Ltd.
+** Contact: https://www.qt.io/licensing/
+**
+** This file is part of the examples of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:BSD$
+** Commercial License Usage
+** Licensees holding valid commercial Qt licenses may use this file in
+** accordance with the commercial license agreement provided with the
+** Software or, alternatively, in accordance with the terms contained in
+** a written agreement between you and The Qt Company. For licensing terms
+** and conditions see https://www.qt.io/terms-conditions. For further
+** information use the contact form at https://www.qt.io/contact-us.
+**
+** BSD License Usage
+** Alternatively, you may use this file under the terms of the BSD license
+** as follows:
+**
+** "Redistribution and use in source and binary forms, with or without
+** modification, are permitted provided that the following conditions are
+** met:
+** * Redistributions of source code must retain the above copyright
+** notice, this list of conditions and the following disclaimer.
+** * Redistributions in binary form must reproduce the above copyright
+** notice, this list of conditions and the following disclaimer in
+** the documentation and/or other materials provided with the
+** distribution.
+** * Neither the name of The Qt Company Ltd nor the names of its
+** contributors may be used to endorse or promote products derived
+** from this software without specific prior written permission.
+**
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#include "../include/SortFilterProxyModel.h"
+#include <QtDebug>
+#include <QtQml>
+
+SortFilterProxyModel::SortFilterProxyModel(QObject *parent) : QSortFilterProxyModel(parent), m_complete(false)
+{
+ connect(this, SIGNAL(rowsInserted(QModelIndex,int,int)), this, SIGNAL(countChanged()));
+ connect(this, SIGNAL(rowsRemoved(QModelIndex,int,int)), this, SIGNAL(countChanged()));
+}
+
+int SortFilterProxyModel::count() const
+{
+ return rowCount();
+}
+
+QObject *SortFilterProxyModel::source() const
+{
+ return sourceModel();
+}
+
+void SortFilterProxyModel::setSource(QObject *source)
+{
+ setSourceModel(qobject_cast<QAbstractItemModel *>(source));
+}
+
+QByteArray SortFilterProxyModel::sortRole() const
+{
+ return m_sortRole;
+}
+
+void SortFilterProxyModel::setSortRole(const QByteArray &role)
+{
+ if (m_sortRole != role) {
+ m_sortRole = role;
+ if (m_complete)
+ QSortFilterProxyModel::setSortRole(roleKey(role));
+ }
+}
+
+void SortFilterProxyModel::setSortOrder(Qt::SortOrder order)
+{
+ QSortFilterProxyModel::sort(0, order);
+}
+
+QByteArray SortFilterProxyModel::filterRole() const
+{
+ return m_filterRole;
+}
+
+void SortFilterProxyModel::setFilterRole(const QByteArray &role)
+{
+ if (m_filterRole != role) {
+ m_filterRole = role;
+ if (m_complete)
+ QSortFilterProxyModel::setFilterRole(roleKey(role));
+ }
+}
+
+QString SortFilterProxyModel::filterString() const
+{
+ return filterRegExp().pattern();
+}
+
+void SortFilterProxyModel::setFilterString(const QString &filter)
+{
+ setFilterRegExp(QRegExp(filter, filterCaseSensitivity(), static_cast<QRegExp::PatternSyntax>(filterSyntax())));
+}
+
+SortFilterProxyModel::FilterSyntax SortFilterProxyModel::filterSyntax() const
+{
+ return static_cast<FilterSyntax>(filterRegExp().patternSyntax());
+}
+
+void SortFilterProxyModel::setFilterSyntax(SortFilterProxyModel::FilterSyntax syntax)
+{
+ setFilterRegExp(QRegExp(filterString(), filterCaseSensitivity(), static_cast<QRegExp::PatternSyntax>(syntax)));
+}
+
+QJSValue SortFilterProxyModel::get(int idx) const
+{
+ QJSEngine *engine = qmlEngine(this);
+ QJSValue value = engine->newObject();
+ if (idx >= 0 && idx < count()) {
+ QHash<int, QByteArray> roles = roleNames();
+ QHashIterator<int, QByteArray> it(roles);
+ while (it.hasNext()) {
+ it.next();
+ value.setProperty(QString::fromUtf8(it.value()), data(index(idx, 0), it.key()).toString());
+ }
+ }
+ return value;
+}
+
+void SortFilterProxyModel::classBegin()
+{
+}
+
+void SortFilterProxyModel::componentComplete()
+{
+ m_complete = true;
+ if (!m_sortRole.isEmpty())
+ QSortFilterProxyModel::setSortRole(roleKey(m_sortRole));
+ if (!m_filterRole.isEmpty())
+ QSortFilterProxyModel::setFilterRole(roleKey(m_filterRole));
+}
+
+int SortFilterProxyModel::roleKey(const QByteArray &role) const
+{
+ QHash<int, QByteArray> roles = roleNames();
+ QHashIterator<int, QByteArray> it(roles);
+ while (it.hasNext()) {
+ it.next();
+ if (it.value() == role)
+ return it.key();
+ }
+ return -1;
+}
+
+QHash<int, QByteArray> SortFilterProxyModel::roleNames() const
+{
+ if (QAbstractItemModel *source = sourceModel())
+ return source->roleNames();
+ return QHash<int, QByteArray>();
+}
+
+bool SortFilterProxyModel::filterAcceptsRow(int sourceRow, const QModelIndex &sourceParent) const
+{
+ QRegExp rx = filterRegExp();
+ if (rx.isEmpty())
+ return true;
+ QAbstractItemModel *model = sourceModel();
+ if (filterRole().isEmpty()) {
+ QHash<int, QByteArray> roles = roleNames();
+ QHashIterator<int, QByteArray> it(roles);
+ while (it.hasNext()) {
+ it.next();
+ QModelIndex sourceIndex = model->index(sourceRow, 0, sourceParent);
+ QString key = model->data(sourceIndex, it.key()).toString();
+ if (key.contains(rx))
+ return true;
+ }
+ return false;
+ }
+ QModelIndex sourceIndex = model->index(sourceRow, 0, sourceParent);
+ if (!sourceIndex.isValid())
+ return true;
+ QString key = model->data(sourceIndex, roleKey(filterRole())).toString();
+ return key.contains(rx);
+}
diff --git a/modules/catkin_ws/src/car/launch/noUss.launch b/modules/catkin_ws/src/car/launch/noHardware.launch
similarity index 88%
rename from modules/catkin_ws/src/car/launch/noUss.launch
rename to modules/catkin_ws/src/car/launch/noHardware.launch
index 96aa1a2c..2c09576a 100644
--- a/modules/catkin_ws/src/car/launch/noUss.launch
+++ b/modules/catkin_ws/src/car/launch/noHardware.launch
@@ -8,7 +8,6 @@ dsdf <node pkg="nodelet" type="nodelet" name="Master" args="manager" output="sc
<node pkg="nodelet" type="nodelet" name="nodelet_environment" args="load car/environment Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_camera" args="load car/camera Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_lanekeeping" args="load car/lanekeeping Master"/>
- <node pkg="nodelet" type="nodelet" name="nodelet_mav_link" args="load car/mav_link Master"/>
</launch>
<!--
diff --git a/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp b/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
index 06f846b0..f5ed75cd 100644
--- a/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
+++ b/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
@@ -58,14 +58,12 @@ void MavLink::onStmDataReceived()
float MavLink::convertSpeedToStm(float speed) const
{
- // TODO: convert speed!
- return speed;
+ return speed / 100;
}
float MavLink::convertSpeedFromStm(float speed) const
{
- // TODO: convert speed!
- return speed;
+ return speed * 100;
}
--
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