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OpenCVGUI.cpp
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OpenCVGUI.cpp
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// Prevent Visual Studio Intellisense from defining _WIN32 and _MSC_VER when we use
// Visual Studio to edit Linux or Borland C++ code.
#ifdef __linux__
# undef _WIN32
#endif // __linux__
#if defined(__GNUC__) || defined(__BORLANDC__)
# undef _MSC_VER
#endif // defined(__GNUC__) || defined(__BORLANDC__)
#include "OpenCVGUI.h"
// Need to be undefined at the end of the file...
// min and max might cause incompatibilities...
#ifndef max
#define max(a,b) (((a) > (b)) ? (a) : (b))
#endif // !max
#ifndef min
#define min(a,b) (((a) < (b)) ? (a) : (b))
#endif // !min
THREAD_PROC_RETURN_VALUE OpenCVGUIThread(void* pParam)
{
int guiid = (int)(intptr_t)pParam;
int videoid = -1;
int ballid = -1;
int c = 0, i = 0, offset = 0;
double angle = 0, d0 = 0, d1 = 0, d2 = 0;
int days = 0, hours = 0, minutes = 0, seconds = 0;
double deccsec = 0;
int dispsource = 0;
BOOL bOSD = TRUE;
BOOL bOrientationCircle = TRUE;
BOOL bDispLLA = TRUE;
BOOL bDispYPR = TRUE;
BOOL bDispAltitudeAGL = FALSE;
BOOL bDispDVL = TRUE;
BOOL bDispGPS = TRUE;
BOOL bDispSOG = FALSE;
BOOL bDispEPU = FALSE;
BOOL bDispERR = FALSE;
BOOL bMap = TRUE;
BOOL bFullMap = FALSE;
BOOL bRotatingMap = FALSE;
BOOL bShowOtherOverlays = TRUE;
COORDSYSTEM2IMG csMap2FullImg;
BOOL bDispRecordSymbol = FALSE;
BOOL bDispPlaySymbol = FALSE;
BOOL bDispPauseSymbol = FALSE;
BOOL bEnableAltRCMode = FALSE;
BOOL bZQSDPressed = FALSE;
BOOL bExtendedMenu = FALSE;
BOOL bColorsExtendedMenu = FALSE;
BOOL bCISCREAOSDExtendedMenu = FALSE;
BOOL bMAVLinkOSDExtendedMenu = FALSE;
BOOL bSonarDispOptionsExtendedMenu = FALSE;
BOOL bOSDDispOptionsExtendedMenu = FALSE;
BOOL bOtherOptionsExtendedMenu = FALSE;
BOOL bSnapshot = FALSE;
CvPoint PlaySymbolPoints[3];
int nbPlaySymbolPoints = sizeof(PlaySymbolPoints);
CvPoint PauseSymbolPoints[4];
int nbPauseSymbolPoints = sizeof(PauseSymbolPoints);
char s = 0;
char szText[MAX_BUF_LEN];
char windowname[MAX_BUF_LEN];
int colortextid = 0;
int colorsonarlidarid = 0;
int colormapid = 0;
#ifndef USE_OPENCV_HIGHGUI_CPP_API
CvScalar colortext;
CvScalar colormap;
#else
cv::Scalar colortext;
cv::Scalar colormap;
#endif // !USE_OPENCV_HIGHGUI_CPP_API
CvFont font;
CHRONO chrono_recording;
CHRONO chrono_playing;
CHRONO chrono_pausing;
CHRONO chrono_alarms;
CHRONO chrono_epu;
switch (robid)
{
//case QUADRO_SIMULATOR_ROBID:
//case COPTER_ROBID:
//case BLUEROV_ROBID:
//case ARDUCOPTER_ROBID:
case BUBBLE_ROBID:
case ETAS_WHEEL_ROBID:
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
bEnableAltRCMode = TRUE;
break;
default:
bEnableAltRCMode = FALSE;
break;
}
if (bDisablePathfinderDVL&&bDisableNortekDVL) bDispDVL = FALSE; else bDispDVL = TRUE;
if ((guiid < MAX_NB_VIDEO)&&(!bDisableVideo[guiid])) videoid = guiid;
if ((guiid >= 0)&&(guiid< MAX_NB_BALL)) ballid = guiid;
memset(szText, 0, sizeof(szText));
memset(windowname, 0, sizeof(windowname));
StartChrono(&chrono_recording);
StartChrono(&chrono_playing);
StartChrono(&chrono_pausing);
StartChrono(&chrono_alarms);
StartChrono(&chrono_epu);
// Sometimes needed on Linux to get windows-related functions working properly in multiple threads, sometimes not...
#ifdef ENABLE_OPENCV_HIGHGUI_STARTWINDOWTHREAD
EnterCriticalSection(&OpenCVGUICS);
#ifndef USE_OPENCV_HIGHGUI_CPP_API
cvStartWindowThread();
#else
cv::startWindowThread();
#endif // !USE_OPENCV_HIGHGUI_CPP_API
LeaveCriticalSection(&OpenCVGUICS);
#endif // ENABLE_OPENCV_HIGHGUI_STARTWINDOWTHREAD
dispsource = 0;
cvInitFont(&font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0.0, 1, 8);
colortextid = 0;
colortext = CV_RGB_CvScalar(0, 255, 128);
colorsonarlidarid = 0;
colormapid = 0;
colormap = CV_RGB_CvScalar(0, 255, 0);
for (;;)
{
if (windowname[0] != 0)
{
#ifdef ENABLE_SHARED_WAITKEY_OPENCVGUI
uSleep(1000*opencvguiperiod);
EnterCriticalSection(&OpenCVGUICS);
if ((opencvguikeytargetid < 0)||(opencvguikeytargetid >= nbopencvgui)||(opencvguikeytargetid == guiid)) c = opencvguikey;
LeaveCriticalSection(&OpenCVGUICS);
#else
#ifdef ENABLE_OPENCV_HIGHGUI_THREADS_WORKAROUND
EnterCriticalSection(&OpenCVGUICS);
#endif // ENABLE_OPENCV_HIGHGUI_THREADS_WORKAROUND
#ifndef USE_OPENCV_HIGHGUI_CPP_API
c = cvWaitKey(opencvguiperiod);
#else
c = cv::waitKey(opencvguiperiod);
#endif // !USE_OPENCV_HIGHGUI_CPP_API
#ifdef ENABLE_OPENCV_HIGHGUI_THREADS_WORKAROUND
LeaveCriticalSection(&OpenCVGUICS);
#endif // ENABLE_OPENCV_HIGHGUI_THREADS_WORKAROUND
#endif // ENABLE_SHARED_WAITKEY_OPENCVGUI
}
else uSleep(1000*opencvguiperiod);
if (bExit) break;
#pragma region IMAGES
if (bEnableOpenCVGUIs[guiid])
{
if (windowname[0] == 0)
{
sprintf(windowname, "UxVOpenCVGUI%d", guiid);
EnterCriticalSection(&OpenCVGUICS);
#ifndef USE_OPENCV_HIGHGUI_CPP_API
cvNamedWindow(windowname, CV_WINDOW_AUTOSIZE);
cvMoveWindow(windowname, ((opencvguiimgwidth[guiid]*guiid%1024)/opencvguiimgwidth[guiid])*opencvguiimgwidth[guiid], (opencvguiimgwidth[guiid]*guiid/1024)*opencvguiimgheight[guiid]);
#else
cv::namedWindow(windowname, cv::WINDOW_AUTOSIZE);
cv::moveWindow(windowname, ((opencvguiimgwidth[guiid]*guiid%1024)/opencvguiimgwidth[guiid])*opencvguiimgwidth[guiid], (opencvguiimgwidth[guiid]*guiid/1024)*opencvguiimgheight[guiid]);
#endif // !USE_OPENCV_HIGHGUI_CPP_API
LeaveCriticalSection(&OpenCVGUICS);
}
}
else
{
if (windowname[0] != 0)
{
if ((videoid >= 0)&&(videoid < MAX_NB_VIDEO)&&(!bDisableVideo[videoid]))
{
EnterCriticalSection(&VideoRecordRequestsCS[videoid]);
if (VideoRecordRequests[videoid] > 0)
{
//VideoRecordRequests[videoid] = 0; // Force recording to stop.
LeaveCriticalSection(&VideoRecordRequestsCS[videoid]);
//bDispRecordSymbol = FALSE;
}
else
{
LeaveCriticalSection(&VideoRecordRequestsCS[videoid]);
}
}
if (bMissionRunning)
{
//AbortMission();
//bDispPlaySymbol = FALSE;
bDispPlaySymbol = TRUE;
}
else if (bMissionPaused)
{
bDispPauseSymbol = TRUE;
}
EnterCriticalSection(&OpenCVGUICS);
#ifndef USE_OPENCV_HIGHGUI_CPP_API
cvDestroyWindow(windowname);
cvNamedWindow(windowname, CV_WINDOW_AUTOSIZE);
cvDestroyWindow(windowname);
#else
cv::destroyWindow(windowname);
cv::namedWindow(windowname, cv::WINDOW_AUTOSIZE);
cv::destroyWindow(windowname);
#endif // !USE_OPENCV_HIGHGUI_CPP_API
LeaveCriticalSection(&OpenCVGUICS);
memset(windowname, 0, sizeof(windowname));
}
mSleep(100);
continue;
}
EnterCriticalSection(&dispimgsCS[guiid]);
if ((bShowVideoOpenCVGUIs[guiid])&&(videoid >= 0)&&(videoid < MAX_NB_VIDEO)&&(!bDisableVideo[videoid]))
{
EnterCriticalSection(&imgsCS[videoid]);
CopyResizeScale(imgs[videoid], dispimgs[guiid], bCropOnResize);
LeaveCriticalSection(&imgsCS[videoid]);
}
else
{
#ifndef USE_OPENCV_HIGHGUI_CPP_API
cvSet(dispimgs[guiid], CV_RGB(0, 0, 0), NULL);
#else
dispimgmats[guiid] = cv::cvarrToMat(dispimgs[guiid]);
dispimgmats[guiid] = cv::Mat::zeros(dispimgmats[guiid].size(), dispimgmats[guiid].type());
#endif // !USE_OPENCV_HIGHGUI_CPP_API
}
if (bShowSonarOpenCVGUIs[guiid])
{
EnterCriticalSection(&SeanetOverlayImgCS);
CopyResizeScaleOverlay(SeanetOverlayImg, dispimgs[guiid], bCropOnResize);
LeaveCriticalSection(&SeanetOverlayImgCS);
}
if (bShowOtherOverlays)
{
//if (bDynamicSonarLocalization)
//{
// EnterCriticalSection(&DynamicSonarLocalizationOverlayImgCS);
// CopyResizeScaleOverlay(DynamicSonarLocalizationOverlayImg, dispimgs[guiid], bCropOnResize);
// LeaveCriticalSection(&DynamicSonarLocalizationOverlayImgCS);
//}
if (bExternalVisualLocalization&&(videoid == videoid_externalvisuallocalization))
{
EnterCriticalSection(&ExternalVisualLocalizationOverlayImgCS);
CopyResizeScaleOverlay(ExternalVisualLocalizationOverlayImg, dispimgs[guiid], bCropOnResize);
LeaveCriticalSection(&ExternalVisualLocalizationOverlayImgCS);
}
if ((bWallDetection||bWallTrackingControl||bWallAvoidanceControl))
{
EnterCriticalSection(&WallOverlayImgCS);
CopyResizeScaleOverlay(WallOverlayImg, dispimgs[guiid], bCropOnResize);
LeaveCriticalSection(&WallOverlayImgCS);
}
if ((ballid >= 0)&&(ballid < MAX_NB_BALL)&&(bBallTrackingControl[ballid]))
{
EnterCriticalSection(&BallOverlayImgCS[ballid]);
CopyResizeScaleOverlay(BallOverlayImg[ballid], dispimgs[guiid], bCropOnResize);
LeaveCriticalSection(&BallOverlayImgCS[ballid]);
}
if ((bSurfaceVisualObstacleDetection||bSurfaceVisualObstacleAvoidanceControl)&&(videoid == videoid_surfacevisualobstacle))
{
EnterCriticalSection(&SurfaceVisualObstacleOverlayImgCS);
CopyResizeScaleOverlay(SurfaceVisualObstacleOverlayImg, dispimgs[guiid], bCropOnResize);
LeaveCriticalSection(&SurfaceVisualObstacleOverlayImgCS);
}
if (bPingerTrackingControl)
{
EnterCriticalSection(&PingerOverlayImgCS);
CopyResizeScaleOverlay(PingerOverlayImg, dispimgs[guiid], bCropOnResize);
LeaveCriticalSection(&PingerOverlayImgCS);
}
}
LeaveCriticalSection(&dispimgsCS[guiid]);
#pragma endregion
EnterCriticalSection(&StateVariablesCS);
#pragma region KEYS
switch ((char)TranslateKeys(c))
{
case 'z':
if (bForceOverrideInputs)
{
u_ovrid += 0.1*u_max_ovrid;
u_ovrid = (u_ovrid > u_max_ovrid)? u_max_ovrid: u_ovrid;
switch (robid)
{
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
break;
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
if (bEnableAltRCMode) u_ovrid = u_max_ovrid;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) u_ovrid = u_max_ovrid;
uw_ovrid = 0;
break;
default:
uw_ovrid = 0;
break;
}
}
else
{
u += 0.1*u_max;
u = (u > u_max)? u_max: u;
switch (robid)
{
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
break;
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
if (bEnableAltRCMode) u = u_max;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) u = u_max;
if (!bHeadingControl) uw = 0;
break;
default:
if (!bHeadingControl) uw = 0;
break;
}
}
bZQSDPressed = TRUE;
break;
case 's':
if (bForceOverrideInputs)
{
u_ovrid -= 0.1*u_max_ovrid;
u_ovrid = (u_ovrid < -u_max_ovrid)? -u_max_ovrid: u_ovrid;
switch (robid)
{
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
u_ovrid = (u_ovrid < 0)? 0: u_ovrid;
break;
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
if (bEnableAltRCMode) u_ovrid = -u_max_ovrid;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) u_ovrid = -u_max_ovrid;
uw_ovrid = 0;
break;
default:
uw_ovrid = 0;
break;
}
}
else
{
u -= 0.1*u_max;
u = (u < -u_max)? -u_max: u;
switch (robid)
{
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
u = (u < 0)? 0: u;
break;
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
if (bEnableAltRCMode) u = -u_max;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) u = -u_max;
if (!bHeadingControl) uw = 0;
break;
default:
if (!bHeadingControl) uw = 0;
break;
}
}
bZQSDPressed = TRUE;
break;
case 'q':
if (bForceOverrideInputs)
{
uw_ovrid += 0.1*uw_max_ovrid;
uw_ovrid = (uw_ovrid > uw_max_ovrid)? uw_max_ovrid: uw_ovrid;
switch (robid)
{
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) uw_ovrid = uw_max_ovrid;
break;
default:
break;
}
}
else
{
if (bHeadingControl)
{
wpsi += 0.03;
wpsi = fmod_2PI(wpsi);
}
else
{
uw += 0.1*uw_max;
uw = (uw > uw_max)? uw_max: uw;
switch (robid)
{
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) uw = uw_max;
break;
default:
break;
}
}
}
bZQSDPressed = TRUE;
break;
case 'd':
if (bForceOverrideInputs)
{
uw_ovrid -= 0.1*uw_max_ovrid;
uw_ovrid = (uw_ovrid < -uw_max_ovrid)? -uw_max_ovrid: uw_ovrid;
switch (robid)
{
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) uw_ovrid = -uw_max_ovrid;
break;
default:
break;
}
}
else
{
if (bHeadingControl)
{
wpsi -= 0.03;
wpsi = fmod_2PI(wpsi);
}
else
{
uw -= 0.1*uw_max;
uw = (uw < -uw_max)? -uw_max: uw;
switch (robid)
{
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
if (bEnableAltRCMode) uw = -uw_max;
break;
default:
break;
}
}
}
bZQSDPressed = TRUE;
break;
case 'f':
if (bForceOverrideInputs)
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
u_max_ovrid += 0.025;
u_max_ovrid = (u_max_ovrid > 1)? 1: u_max_ovrid;
break;
default:
uv_ovrid += 0.1*max(fabs(u_min_z), fabs(u_max_z));
uv_ovrid = (uv_ovrid > u_max_z)? u_max_z: uv_ovrid;
break;
}
}
else
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
u_max += 0.025;
u_max = (u_max > 1)? 1: u_max;
break;
default:
if (bDepthControl)
{
wz += 0.1;
}
else if (bAltitudeAGLControl)
{
wagl += 0.1;
}
else
{
uv += 0.1*max(fabs(u_min_z), fabs(u_max_z));
uv = (uv > u_max_z)? u_max_z: uv;
}
break;
}
}
break;
case 'v':
if (bForceOverrideInputs)
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
u_max_ovrid -= 0.025;
u_max_ovrid = (u_max_ovrid < 0)? 0: u_max_ovrid;
break;
default:
uv_ovrid -= 0.1*max(fabs(u_min_z), fabs(u_max_z));
uv_ovrid = (uv_ovrid < u_min_z)? u_min_z: uv_ovrid;
break;
}
}
else
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
u_max -= 0.025;
u_max = (u_max < 0)? 0: u_max;
break;
default:
if (bDepthControl)
{
wz -= 0.1;
}
else if (bAltitudeAGLControl)
{
wagl -= 0.1;
}
else
{
uv -= 0.1*max(fabs(u_min_z), fabs(u_max_z));
uv = (uv < u_min_z)? u_min_z: uv;
}
break;
}
}
break;
case 'a':
if (bForceOverrideInputs)
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
uw_ovrid = 0;
break;
case QUADRO_SIMULATOR_ROBID:
case COPTER_ROBID:
case BLUEROV_ROBID:
case ARDUCOPTER_ROBID:
ul_ovrid += 0.1;
ul_ovrid = (ul_ovrid > u_max_y)? u_max_y: ul_ovrid;
bZQSDPressed = TRUE;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
uw_max_ovrid += 0.1;
uw_max_ovrid = (uw_max_ovrid > 1)? 1: uw_max_ovrid;
break;
default:
break;
}
}
else
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
if (!bHeadingControl) uw = 0;
break;
case QUADRO_SIMULATOR_ROBID:
case COPTER_ROBID:
case BLUEROV_ROBID:
case ARDUCOPTER_ROBID:
ul += 0.1;
ul = (ul > u_max_y)? u_max_y: ul;
bZQSDPressed = TRUE;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
uw_max += 0.1;
uw_max = (uw_max > 1)? 1: uw_max;
break;
default:
break;
}
}
break;
case 'e':
if (bForceOverrideInputs)
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
uw_ovrid = 0;
break;
case QUADRO_SIMULATOR_ROBID:
case COPTER_ROBID:
case BLUEROV_ROBID:
case ARDUCOPTER_ROBID:
ul_ovrid -= 0.1;
ul_ovrid = (ul_ovrid < u_min_y)? u_min_y: ul_ovrid;
bZQSDPressed = TRUE;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
uw_max_ovrid -= 0.1;
uw_max_ovrid = (uw_max_ovrid < 0)? 0: uw_max_ovrid;
break;
default:
break;
}
}
else
{
switch (robid)
{
case MOTORBOAT_SIMULATOR_ROBID:
case MOTORBOAT_ROBID:
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
case BUGGY_SIMULATOR_ROBID:
case BUGGY_ROBID:
if (!bHeadingControl) uw = 0;
break;
case QUADRO_SIMULATOR_ROBID:
case COPTER_ROBID:
case BLUEROV_ROBID:
case ARDUCOPTER_ROBID:
ul -= 0.1;
ul = (ul < u_min_y)? u_min_y: ul;
bZQSDPressed = TRUE;
break;
case BUBBLE_ROBID:
case TANK_SIMULATOR_ROBID:
case ETAS_WHEEL_ROBID:
uw_max -= 0.1;
uw_max = (uw_max < 0)? 0: uw_max;
break;
default:
break;
}
}
break;
case 'B':
if (bForceOverrideInputs)
{
uv_ovrid = (u_min_z+u_max_z)/2.0;
}
else
{
uv = (u_min_z+u_max_z)/2.0;
}
break;
case ' ':
if (bForceOverrideInputs)
{
u_ovrid = 0; uw_ovrid = 0; ul_ovrid = 0;
}
else
{
DisableAllHorizontalControls(); // wpsi = 0;
}
break;
case 'g':
if (bForceOverrideInputs)
{
u_ovrid = 0; uw_ovrid = 0; uv_ovrid = 0; ul_ovrid = 0; up_ovrid = 0; ur_ovrid = 0;
}
else
{
DisableAllControls(); // wpsi = 0; wz = 0;
}
break;
case 'R':
bEnableAltRCMode = !bEnableAltRCMode;
if (bEnableAltRCMode) printf("Alternate RC mode enabled.\n");
else printf("Alternate RC mode disabled.\n");
break;
case 'F':
bForceOverrideInputs = !bForceOverrideInputs;
if (bForceOverrideInputs)
{
printf("Force override inputs enabled.\n");
u_ovrid = u; uw_ovrid = uw; uv_ovrid = uv; ul_ovrid = ul; up_ovrid = up; ur_ovrid = ur;
u_max_ovrid = u_max; uw_max_ovrid = uw_max;
}
else printf("Force override inputs disabled.\n");
break;
case 't':
if (!bHeadingControl)
{
bHeadingControl = TRUE;
wpsi = Center(psihat);
}
else
{
bHeadingControl = FALSE;
}
break;
case 'y':
switch (robid)
{
case SAILBOAT_SIMULATOR_ROBID:
case VAIMOS_ROBID:
case SAILBOAT_ROBID:
case SAILBOAT2_ROBID:
if (!bSailControl) bSailControl = TRUE; else bSailControl = FALSE;
break;
default:
if (!bDepthControl)
{
bDepthControl = TRUE;
wz = Center(zhat);
}
else
{
bDepthControl = FALSE;
}
break;
}
break;
case 'Y':
if (!bAltitudeAGLControl)
{
bAltitudeAGLControl = TRUE;
wagl = altitude_AGL;
}
else
{
bAltitudeAGLControl = FALSE;
}
break;
case 'U':
if (!bPitchControl)
{
bPitchControl = TRUE;
}
else
{
bPitchControl = FALSE;
}
//if (bPitchControl) printf("Pitch control enabled.\n");
//else printf("Pitch control disabled.\n");
break;
case 'H':
if (!bRollControl)
{
bRollControl = TRUE;
}
else
{
bRollControl = FALSE;
}
//if (bRollControl) printf("Roll control enabled.\n");
//else printf("Roll control disabled.\n");
break;
case 'T':
if (!bObstacleAvoidanceControl)
{
bObstacleAvoidanceControl = TRUE;
}
else
{
bObstacleAvoidanceControl = FALSE;
DisableAllHorizontalControls();
}
if (bObstacleAvoidanceControl) printf("Obstacle avoidance control enabled.\n");
else printf("Obstacle avoidance control disabled.\n");
break;
case 'w':
bBrakeControl = TRUE;
bSailControl = FALSE;
bDistanceControl = FALSE;
u = 0;
break;
case 'b':
lights += 0.1;
lights = (lights > 1)? 1: lights;
if (robid == BLUEROV_ROBID) joystick_buttons |= (1<<14);
break;
case 'n':
lights -= 0.1;
lights = (lights < 0)? 0: lights;
if (robid == BLUEROV_ROBID) joystick_buttons |= (1<<13);
break;
case 'u':
cameratilt += 0.1;
cameratilt = (cameratilt > 1)? 1: cameratilt;
if (robid == BLUEROV_ROBID) joystick_buttons |= (1<<10);
break;
case 'j':
cameratilt -= 0.1;
cameratilt = (cameratilt < -1)? -1: cameratilt;
if (robid == BLUEROV_ROBID) joystick_buttons |= (1<<9);
break;
case 'N':
cameratilt = 0;
if (robid == BLUEROV_ROBID) joystick_buttons |= (1<<7);
break;
case 'o': bOSD = !bOSD; break;
case 'c': bOrientationCircle = !bOrientationCircle; break;
case 'm':
bFullMap = FALSE;
bMap = !bMap;
break;
case 'M':
bMap = FALSE;
bFullMap = !bFullMap;
break;
case '*': bRotatingMap = !bRotatingMap; break;
case 'i': bShowVideoOpenCVGUIs[guiid] = !bShowVideoOpenCVGUIs[guiid]; break;
case '$':
// Should cycle between different display modes...?
bShowSonarOpenCVGUIs[guiid] = !bShowSonarOpenCVGUIs[guiid];
break;
case ';': bShowOtherOverlays = !bShowOtherOverlays; break;
case '+':
if ((fabs(csMap.xMin) > 0.1)&&(fabs(csMap.xMax) > 0.1)&&(fabs(csMap.yMin) > 0.1)&&(fabs(csMap.yMax) > 0.1))
{
csMap.xMin *= 0.9; csMap.xMax *= 0.9; csMap.yMin *= 0.9; csMap.yMax *= 0.9;
}
break;
case '-':
if ((fabs(csMap.xMin) < 10000000)&&(fabs(csMap.xMax) < 10000000)&&(fabs(csMap.yMin) < 10000000)&&(fabs(csMap.yMax) < 10000000))
{
csMap.xMin /= 0.9; csMap.xMax /= 0.9; csMap.yMin /= 0.9; csMap.yMax /= 0.9;
}
break;
// Disabled because casted to char, because problems on Linux if int, especially when using SHIFT...
#ifdef TEST_OPENCVGUI_ARROWS
case 2490368: // Up arrow.
if ((fabs(csMap.xMin) < 10000000)&&(fabs(csMap.xMax) < 10000000)&&(fabs(csMap.yMin) < 10000000)&&(fabs(csMap.yMax) < 10000000))
{
csMap.yMin += 1; csMap.yMax += 1;
}
break;
case 2621440: // Down arrow.
if ((fabs(csMap.xMin) < 10000000)&&(fabs(csMap.xMax) < 10000000)&&(fabs(csMap.yMin) < 10000000)&&(fabs(csMap.yMax) < 10000000))
{
csMap.yMin -= 1; csMap.yMax -= 1;
}
break;
case 2424832: // Left arrow.
if ((fabs(csMap.xMin) < 10000000)&&(fabs(csMap.xMax) < 10000000)&&(fabs(csMap.yMin) < 10000000)&&(fabs(csMap.yMax) < 10000000))
{
csMap.xMin -= 1; csMap.xMax -= 1;
}
break;
case 2555904: // Right arrow.
if ((fabs(csMap.xMin) < 10000000)&&(fabs(csMap.xMax) < 10000000)&&(fabs(csMap.yMin) < 10000000)&&(fabs(csMap.yMax) < 10000000))
{
csMap.xMin += 1; csMap.xMax += 1;
}
break;
#endif // TEST_OPENCVGUI_ARROWS
case 'O':
// gpssetenvcoordposition
if (bCheckGNSSOK())
{
double latitude = 0, longitude = 0, altitude = 0;
// We do not use GPS altitude for that as it is not reliable...
EnvCoordSystem2GPS(lat_env, long_env, alt_env, angle_env, Center(x_gps), Center(y_gps), Center(z_gps), &latitude, &longitude, &altitude);
lat_env = latitude; long_env = longitude;
}
break;
case 'G':
// gpslocalization
if (bCheckGNSSOK())
{
// Should add speed...?
// Should add altitude with a big error...?
xhat = xhat & x_gps;
yhat = yhat & y_gps;
if (xhat.isEmpty || yhat.isEmpty)
{
xhat = x_gps;
yhat = y_gps;
}
}
break;
case 'J':
// enableautogpslocalization/disableautogpslocalization
bGPSLocalization = !bGPSLocalization;
break;
case 'V':
// enableautodvllocalization/disableautodvllocalization
bDVLLocalization = !bDVLLocalization;
break;
case 'Z':
// (re)setstateestimation
xhat = interval(-MAX_UNCERTAINTY, MAX_UNCERTAINTY);
yhat = interval(-MAX_UNCERTAINTY, MAX_UNCERTAINTY);
zhat = interval(-MAX_UNCERTAINTY, MAX_UNCERTAINTY);
psihat = interval(-MAX_UNCERTAINTY, MAX_UNCERTAINTY);
vrxhat = interval(-MAX_UNCERTAINTY, MAX_UNCERTAINTY);
omegazhat = interval(-MAX_UNCERTAINTY, MAX_UNCERTAINTY);
break;
case 'S':
// staticsonarlocalization
bStaticSonarLocalization = TRUE;
break;
case 'D':
// enabledynamicsonarlocalization/disabledynamicsonarlocalization
bDynamicSonarLocalization = !bDynamicSonarLocalization;
break;
case 'P':