Sv 4 battery indicator #9
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| Original file line number | Diff line number | Diff line change |
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| #ifndef ROS_BATTERY_INDICATOR_HPP | ||
| #define ROS_BATTERY_INDICATOR_HPP | ||
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| //QT | ||
| #include <QQuickPaintedItem> | ||
| #include <QPainter> | ||
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| //ROS | ||
| #include <ros/ros.h> | ||
| #include <std_msgs/Float32.h> | ||
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| class ROS_Battery_Indicator: public QQuickPaintedItem { | ||
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There was a problem hiding this comment. This can probably just extend |
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| //make this a Qt Widget | ||
| Q_OBJECT | ||
| // defines a qml value for the topic | ||
| Q_PROPERTY(QString topic READ get_topic WRITE set_topic NOTIFY topic_changed) | ||
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| public: | ||
| // Constructor, takes parent widget, which defaults to null | ||
| ROS_Battery_Indicator(QQuickItem * parent = 0); | ||
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| void paint(QPainter *painter); | ||
| void setup(ros::NodeHandle * nh); | ||
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| //getters and setters | ||
| void set_topic(const QString &new_value); | ||
| QString get_topic() const; | ||
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| signals: | ||
| void topic_changed(); | ||
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| private: | ||
| void receive_signal(const std_msgs::Float32::ConstPtr & msg); | ||
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| // ROS | ||
| ros::NodeHandle * nh; | ||
| ros::Subscriber signal_sub; | ||
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| QString topic_value; | ||
| bool ros_ready; | ||
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| float charge; //the battery charge | ||
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| }; | ||
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| #endif // BATTERY_INDICATOR_HPP | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,100 @@ | ||
| #include "ros_video_components/ros_battery_indicator.hpp" | ||
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| #define RECT_X 10 | ||
| #define RECT_Y 10 | ||
| #define FULL_CHARGE 33 | ||
| #define GREEN (FULL_CHARGE / 3) * 2 | ||
| #define YELLOW FULL_CHARGE / 3 | ||
| #define INDICATOR_HEIGHT 15 | ||
| #define NOB_X RECT_X + FULL_CHARGE | ||
| #define NOB_Y RECT_Y + (RECT_Y / 2) | ||
| #define NOB_WIDTH 4 | ||
| #define NOB_HEIGHT 5 | ||
| #define TEXT_X RECT_X + FULL_CHARGE + ((RECT_X/2) + 1) | ||
| #define TEXT_Y RECT_Y + 12 | ||
| #define BAR_WIDTH 1 | ||
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| ROS_Battery_Indicator::ROS_Battery_Indicator(QQuickItem * parent) : | ||
| QQuickPaintedItem(parent), | ||
| topic_value("/rover/batttery"), | ||
| ros_ready(false), | ||
| charge(33) { | ||
| } | ||
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| void ROS_Battery_Indicator::setup(ros::NodeHandle * nh) { | ||
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| signal_sub = nh->subscribe( | ||
| "/rover/battery", //TODO | ||
| 1, | ||
| &ROS_Battery_Indicator::receive_signal, | ||
| this | ||
| ); | ||
| ros_ready = true; | ||
| } | ||
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| void ROS_Battery_Indicator::paint(QPainter * painter) { | ||
| painter->setPen(Qt::white); | ||
| painter->drawRect(RECT_X, RECT_Y, FULL_CHARGE, INDICATOR_HEIGHT); //Draws outer rectangle | ||
| QLinearGradient linearGradient(0, 0, 100, 100); | ||
| linearGradient.setColorAt(0.0, Qt::black); | ||
| painter->setBrush(linearGradient); | ||
| painter->drawRect(NOB_X, NOB_Y, NOB_WIDTH, NOB_HEIGHT); //Draws it at the end of the rectangle | ||
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| float charge_p = charge; //Done to easily be able to adjust values of charge from subscriber | ||
| float bat = 0; //Used to limit how far the battery meter can if there is too much charge | ||
| if (charge_p > FULL_CHARGE) { | ||
| linearGradient.setColorAt(0.0, Qt::red); | ||
| bat = FULL_CHARGE; | ||
| } else if (charge_p > GREEN) { | ||
| linearGradient.setColorAt(0.0, Qt::green); | ||
| bat = charge_p; | ||
| } else if (charge_p > YELLOW) { | ||
| linearGradient.setColorAt(0.0, Qt::yellow); | ||
| bat = charge_p; | ||
| } else { | ||
| linearGradient.setColorAt(0.0, Qt::red); | ||
| bat = charge_p; | ||
| } | ||
| painter->setBrush(linearGradient); //Setting the right color | ||
| painter->drawRect(RECT_X, RECT_Y, bat, INDICATOR_HEIGHT); //Draws bar showing charge | ||
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| linearGradient.setColorAt(0.0, Qt::black); | ||
| painter->setBrush(linearGradient); | ||
| painter->drawRect(RECT_X + YELLOW, RECT_Y, 1, INDICATOR_HEIGHT); //Draws a bar on the indicator | ||
| painter->drawRect(RECT_X + GREEN, RECT_Y, 1, INDICATOR_HEIGHT); //Draws a bar on the indicator | ||
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| char percentage[6]; | ||
| charge_p = (charge_p / 33) * 100; | ||
| sprintf(percentage, "%d%%", (int) charge_p); | ||
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There was a problem hiding this comment. charge is already a percentage, no need for another variable |
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| percentage[5] = '\0'; | ||
| painter->drawText(TEXT_X, TEXT_Y, percentage); //Draws battery percentage | ||
| } | ||
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| void ROS_Battery_Indicator::set_topic(const QString & new_value) { | ||
| ROS_INFO("set_topic"); | ||
| if(topic_value != new_value) { | ||
| topic_value = new_value; | ||
| if(ros_ready) { | ||
| signal_sub.shutdown(); | ||
| signal_sub = nh->subscribe( | ||
| topic_value.toStdString(), //TODO | ||
| 1, | ||
| &ROS_Battery_Indicator::receive_signal, | ||
| this | ||
| ); | ||
| } | ||
| emit topic_changed(); | ||
| } | ||
| } | ||
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| QString ROS_Battery_Indicator::get_topic() const { | ||
| return topic_value; | ||
| } | ||
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| void ROS_Battery_Indicator:: | ||
| receive_signal(const std_msgs::Float32::ConstPtr & msg) { | ||
| charge = msg->data; | ||
| ROS_INFO("Received battery message"); | ||
| update(); | ||
| } | ||
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You don't need the comment
//added😛