LM
13 years ago
23 changed files with 6415 additions and 4498 deletions
@ -1,12 +0,0 @@
@@ -1,12 +0,0 @@
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For use of qt 4x and visual studio2010 and add in. |
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The Visual studio adds automatically certain defines |
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In the projects properties -> C/C++ ->preprocessor change: |
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in DEBUG: |
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delete QT_NO_DEBUG |
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Both: |
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delete QT_NO_DYNAMIC_CAST |
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@ -0,0 +1,427 @@
@@ -0,0 +1,427 @@
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#include "GLOverlayGeode.h" |
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GLOverlayGeode::GLOverlayGeode() |
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: mDrawable(new GLOverlayDrawable) |
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, mMessageTimestamp(0.0) |
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{ |
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addDrawable(mDrawable); |
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} |
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void |
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GLOverlayGeode::setOverlay(px::GLOverlay &overlay) |
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{ |
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mDrawable->setOverlay(overlay); |
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mCoordinateFrameType = overlay.coordinateframetype(); |
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dirtyBound(); |
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} |
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px::GLOverlay::CoordinateFrameType |
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GLOverlayGeode::coordinateFrameType(void) const |
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{ |
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return mCoordinateFrameType; |
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} |
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void |
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GLOverlayGeode::setMessageTimestamp(qreal timestamp) |
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{ |
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mMessageTimestamp = timestamp; |
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} |
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qreal |
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GLOverlayGeode::messageTimestamp(void) const |
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{ |
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return mMessageTimestamp; |
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} |
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GLOverlayGeode::GLOverlayDrawable::GLOverlayDrawable() |
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{ |
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setUseDisplayList(true); |
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} |
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GLOverlayGeode::GLOverlayDrawable::GLOverlayDrawable(const GLOverlayDrawable& drawable, |
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const osg::CopyOp& copyop) |
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: osg::Drawable(drawable,copyop) |
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{ |
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setUseDisplayList(true); |
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} |
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void |
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GLOverlayGeode::GLOverlayDrawable::setOverlay(px::GLOverlay &overlay) |
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{ |
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if (!overlay.IsInitialized()) |
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{ |
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return; |
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} |
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mOverlay = overlay; |
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mBBox.init(); |
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const std::string& data = mOverlay.data(); |
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for (size_t i = 0; i < data.size(); ++i) |
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{ |
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switch (data.at(i)) { |
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case px::GLOverlay::POINTS: |
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break; |
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case px::GLOverlay::LINES: |
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break; |
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case px::GLOverlay::LINE_STRIP: |
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break; |
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case px::GLOverlay::LINE_LOOP: |
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break; |
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case px::GLOverlay::TRIANGLES: |
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break; |
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case px::GLOverlay::TRIANGLE_STRIP: |
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break; |
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case px::GLOverlay::TRIANGLE_FAN: |
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break; |
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case px::GLOverlay::QUADS: |
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break; |
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case px::GLOverlay::QUAD_STRIP: |
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break; |
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case px::GLOverlay::POLYGON: |
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break; |
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case px::GLOverlay::WIRE_CIRCLE: |
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i += sizeof(float) * 4; |
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break; |
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case px::GLOverlay::SOLID_CIRCLE: |
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i += sizeof(float) * 4; |
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break; |
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case px::GLOverlay::SOLID_CUBE: |
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i += sizeof(float) * 5; |
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break; |
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case px::GLOverlay::WIRE_CUBE: |
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i += sizeof(float) * 5; |
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break; |
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case px::GLOverlay::END: |
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break; |
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case px::GLOverlay::VERTEX2F: |
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i += sizeof(float) * 2; |
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break; |
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case px::GLOverlay::VERTEX3F: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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mBBox.expandBy(x, y, z); |
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} |
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break; |
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case px::GLOverlay::ROTATEF: |
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i += sizeof(float) * 4; |
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break; |
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case px::GLOverlay::TRANSLATEF: |
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i += sizeof(float) * 3; |
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break; |
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case px::GLOverlay::SCALEF: |
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i += sizeof(float) * 3; |
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break; |
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case px::GLOverlay::PUSH_MATRIX: |
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break; |
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case px::GLOverlay::POP_MATRIX: |
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break; |
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case px::GLOverlay::COLOR3F: |
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i += sizeof(float) * 3; |
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break; |
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case px::GLOverlay::COLOR4F: |
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i += sizeof(float) * 4; |
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break; |
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case px::GLOverlay::POINTSIZE: |
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i += sizeof(float); |
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break; |
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case px::GLOverlay::LINEWIDTH: |
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i += sizeof(float); |
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break; |
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} |
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} |
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dirtyDisplayList(); |
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} |
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void |
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GLOverlayGeode::GLOverlayDrawable::drawImplementation(osg::RenderInfo&) const |
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{ |
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if (!mOverlay.IsInitialized()) |
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{ |
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return; |
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} |
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glPushMatrix(); |
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glScalef(-1.0f, 1.0f, 1.0f); |
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glRotatef(90.0f, 0.0f, 0.0f, 1.0f); |
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const std::string& data = mOverlay.data(); |
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for (size_t i = 0; i < data.size(); ++i) |
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{ |
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switch (data.at(i)) { |
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case px::GLOverlay::POINTS: |
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glBegin(GL_POINTS); |
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break; |
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case px::GLOverlay::LINES: |
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glBegin(GL_LINES); |
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break; |
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case px::GLOverlay::LINE_STRIP: |
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glBegin(GL_LINE_STRIP); |
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break; |
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case px::GLOverlay::LINE_LOOP: |
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glBegin(GL_LINE_LOOP); |
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break; |
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case px::GLOverlay::TRIANGLES: |
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glBegin(GL_TRIANGLES); |
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break; |
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case px::GLOverlay::TRIANGLE_STRIP: |
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glBegin(GL_TRIANGLE_STRIP); |
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break; |
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case px::GLOverlay::TRIANGLE_FAN: |
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glBegin(GL_TRIANGLE_FAN); |
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break; |
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case px::GLOverlay::QUADS: |
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glBegin(GL_QUADS); |
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break; |
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case px::GLOverlay::QUAD_STRIP: |
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glBegin(GL_QUAD_STRIP); |
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break; |
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case px::GLOverlay::POLYGON: |
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glBegin(GL_POLYGON); |
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break; |
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case px::GLOverlay::WIRE_CIRCLE: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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float r = getFloatValue(data, i); |
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glBegin(GL_LINE_LOOP); |
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for (int i = 0; i < 20; i++) |
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{ |
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float angle = i / 20.0f * M_PI * 2.0f; |
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glVertex3f(x + r * cosf(angle), y + r * sinf(angle), z); |
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} |
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glEnd(); |
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} |
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break; |
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case px::GLOverlay::SOLID_CIRCLE: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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float r = getFloatValue(data, i); |
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glBegin(GL_POLYGON); |
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for (int i = 0; i < 20; i++) |
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{ |
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float angle = i / 20.0f * M_PI * 2.0f; |
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glVertex3f(x + r * cosf(angle), y + r * sinf(angle), z); |
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} |
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glEnd(); |
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} |
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break; |
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case px::GLOverlay::SOLID_CUBE: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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float w = getFloatValue(data, i); |
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float h = getFloatValue(data, i); |
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float w_2 = w / 2.0f; |
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float h_2 = h / 2.0f; |
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glBegin(GL_QUADS); |
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// face 1
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glNormal3f(1.0f, 0.0f, 0.0f); |
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glVertex3f(x + w_2, y - w_2, z + h_2); |
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glVertex3f(x + w_2, y - w_2, z - h_2); |
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glVertex3f(x + w_2, y + w_2, z - h_2); |
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glVertex3f(x + w_2, y + w_2, z + h_2); |
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// face 2
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glNormal3f(0.0f, 1.0f, 0.0f); |
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glVertex3f(x + w_2, y + w_2, z + h_2); |
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glVertex3f(x + w_2, y + w_2, z - h_2); |
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glVertex3f(x - w_2, y + w_2, z - h_2); |
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glVertex3f(x - w_2, y + w_2, z + h_2); |
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// face 3
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glNormal3f(0.0f, 0.0f, 1.0f); |
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glVertex3f(x + w_2, y + w_2, z + h_2); |
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glVertex3f(x - w_2, y + w_2, z + h_2); |
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glVertex3f(x - w_2, y - w_2, z + h_2); |
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glVertex3f(x + w_2, y - w_2, z + h_2); |
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// face 4
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glNormal3f(-1.0f, 0.0f, 0.0f); |
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glVertex3f(x - w_2, y - w_2, z + h_2); |
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glVertex3f(x - w_2, y + w_2, z + h_2); |
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glVertex3f(x - w_2, y + w_2, z - h_2); |
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glVertex3f(x - w_2, y - w_2, z - h_2); |
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// face 5
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glNormal3f(0.0f, -1.0f, 0.0f); |
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glVertex3f(x - w_2, y - w_2, z + h_2); |
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glVertex3f(x - w_2, y - w_2, z - h_2); |
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glVertex3f(x + w_2, y - w_2, z - h_2); |
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glVertex3f(x + w_2, y - w_2, z + h_2); |
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// face 6
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glNormal3f(0.0f, 0.0f, -1.0f); |
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glVertex3f(x - w_2, y - w_2, z - h_2); |
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glVertex3f(x - w_2, y + w_2, z - h_2); |
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glVertex3f(x + w_2, y + w_2, z - h_2); |
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glVertex3f(x + w_2, y - w_2, z - h_2); |
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glEnd(); |
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} |
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break; |
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case px::GLOverlay::WIRE_CUBE: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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float w = getFloatValue(data, i); |
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float h = getFloatValue(data, i); |
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float w_2 = w / 2.0f; |
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float h_2 = h / 2.0f; |
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// face 1
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glBegin(GL_LINE_LOOP); |
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glVertex3f(x + w_2, y - w_2, z + h_2); |
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glVertex3f(x + w_2, y - w_2, z - h_2); |
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glVertex3f(x + w_2, y + w_2, z - h_2); |
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glVertex3f(x + w_2, y + w_2, z + h_2); |
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glEnd(); |
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// face 2
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glBegin(GL_LINE_LOOP); |
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glVertex3f(x + w_2, y + w_2, z + h_2); |
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glVertex3f(x + w_2, y + w_2, z - h_2); |
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glVertex3f(x - w_2, y + w_2, z - h_2); |
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glVertex3f(x - w_2, y + w_2, z + h_2); |
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glEnd(); |
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// face 3
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glBegin(GL_LINE_LOOP); |
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glVertex3f(x + w_2, y + w_2, z + h_2); |
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glVertex3f(x - w_2, y + w_2, z + h_2); |
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glVertex3f(x - w_2, y - w_2, z + h_2); |
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glVertex3f(x + w_2, y - w_2, z + h_2); |
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glEnd(); |
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// face 4
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glBegin(GL_LINE_LOOP); |
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glVertex3f(x - w_2, y - w_2, z + h_2); |
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glVertex3f(x - w_2, y + w_2, z + h_2); |
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glVertex3f(x - w_2, y + w_2, z - h_2); |
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glVertex3f(x - w_2, y - w_2, z - h_2); |
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glEnd(); |
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// face 5
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glBegin(GL_LINE_LOOP); |
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glVertex3f(x - w_2, y - w_2, z + h_2); |
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glVertex3f(x - w_2, y - w_2, z - h_2); |
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glVertex3f(x + w_2, y - w_2, z - h_2); |
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glVertex3f(x + w_2, y - w_2, z + h_2); |
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glEnd(); |
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// face 6
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glBegin(GL_LINE_LOOP); |
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glVertex3f(x - w_2, y - w_2, z - h_2); |
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glVertex3f(x - w_2, y + w_2, z - h_2); |
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glVertex3f(x + w_2, y + w_2, z - h_2); |
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glVertex3f(x + w_2, y - w_2, z - h_2); |
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glEnd(); |
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} |
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break; |
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case px::GLOverlay::END: |
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glEnd(); |
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break; |
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case px::GLOverlay::VERTEX2F: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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glVertex2f(x, y); |
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} |
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break; |
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case px::GLOverlay::VERTEX3F: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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glVertex3f(x, y, z); |
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} |
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break; |
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case px::GLOverlay::ROTATEF: |
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{ |
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float angle = getFloatValue(data, i); |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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glRotatef(angle, x, y, z); |
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} |
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break; |
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case px::GLOverlay::TRANSLATEF: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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glTranslatef(x, y, z); |
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} |
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break; |
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case px::GLOverlay::SCALEF: |
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{ |
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float x = getFloatValue(data, i); |
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float y = getFloatValue(data, i); |
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float z = getFloatValue(data, i); |
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glScalef(x, y, z); |
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} |
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break; |
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case px::GLOverlay::PUSH_MATRIX: |
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glPushMatrix(); |
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break; |
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case px::GLOverlay::POP_MATRIX: |
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glPopMatrix(); |
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break; |
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case px::GLOverlay::COLOR3F: |
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{ |
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float red = getFloatValue(data, i); |
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float green = getFloatValue(data, i); |
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float blue = getFloatValue(data, i); |
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glColor3f(red, green, blue); |
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} |
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break; |
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case px::GLOverlay::COLOR4F: |
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{ |
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float red = getFloatValue(data, i); |
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float green = getFloatValue(data, i); |
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float blue = getFloatValue(data, i); |
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float alpha = getFloatValue(data, i); |
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glColor4f(red, green, blue, alpha); |
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} |
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break; |
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case px::GLOverlay::POINTSIZE: |
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glPointSize(getFloatValue(data, i)); |
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break; |
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case px::GLOverlay::LINEWIDTH: |
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glLineWidth(getFloatValue(data, i)); |
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break; |
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} |
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} |
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glPopMatrix(); |
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} |
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osg::BoundingBox |
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GLOverlayGeode::GLOverlayDrawable::computeBound() const |
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{ |
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return mBBox; |
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} |
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float |
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GLOverlayGeode::GLOverlayDrawable::getFloatValue(const std::string& data, |
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size_t& mark) const |
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{ |
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char temp[4]; |
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for (int i = 0; i < 4; ++i) |
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{ |
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++mark; |
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temp[i] = data.at(mark); |
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} |
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char *cp = &(temp[0]); |
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float *fp = reinterpret_cast<float *>(cp); |
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return *fp; |
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} |
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@ -0,0 +1,49 @@
@@ -0,0 +1,49 @@
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#ifndef GLOVERLAYGEODE_H |
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#define GLOVERLAYGEODE_H |
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#include <mavlink_protobuf_manager.hpp> |
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#include <osg/Geode> |
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#include <QtGlobal> |
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class GLOverlayGeode : public osg::Geode |
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{ |
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public: |
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GLOverlayGeode(); |
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void setOverlay(px::GLOverlay& overlay); |
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px::GLOverlay::CoordinateFrameType coordinateFrameType(void) const; |
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void setMessageTimestamp(qreal timestamp); |
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qreal messageTimestamp(void) const; |
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private: |
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class GLOverlayDrawable : public osg::Drawable |
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{ |
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public: |
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GLOverlayDrawable(); |
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GLOverlayDrawable(const GLOverlayDrawable& drawable, |
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const osg::CopyOp& copyop = osg::CopyOp::SHALLOW_COPY); |
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void setOverlay(px::GLOverlay& overlay); |
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META_Object(GLOverlayDrawableApp, GLOverlayDrawable) |
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virtual void drawImplementation(osg::RenderInfo&) const; |
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virtual osg::BoundingBox computeBound() const; |
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private: |
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float getFloatValue(const std::string& data, size_t& mark) const; |
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|
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px::GLOverlay mOverlay; |
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osg::BoundingBox mBBox; |
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}; |
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osg::ref_ptr<GLOverlayDrawable> mDrawable; |
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px::GLOverlay::CoordinateFrameType mCoordinateFrameType; |
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qreal mMessageTimestamp; |
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}; |
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#endif // GLOVERLAYGEODE_H
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File diff suppressed because it is too large
Load Diff
@ -0,0 +1,83 @@
@@ -0,0 +1,83 @@
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<?xml version='1.0'?> |
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<mavlink> |
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<include>common.xml</include> |
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<enums> |
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<enum name="SENSESOAR_MODE"> |
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<description> Different flight modes </description> |
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<entry name="SENSESOAR_MODE_GLIDING"> Gliding mode with motors off</entry> |
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<entry name="SENSESOAR_MODE_AUTONOMOUS"> Autonomous flight</entry> |
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<entry name="SENSESOAR_MODE_MANUAL"> RC controlled</entry> |
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</enum> |
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</enums> |
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<messages> |
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<message id="170" name="OBS_POSITION"> |
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Position estimate of the observer in global frame |
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<field type="int32_t" name="lon">Longitude expressed in 1E7</field> |
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<field type="int32_t" name="lat">Latitude expressed in 1E7</field> |
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<field type="int32_t" name="alt">Altitude expressed in milimeters</field> |
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</message> |
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<message id="172" name="OBS_VELOCITY"> |
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velocity estimate of the observer in NED inertial frame |
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<field type="float[3]" name="vel">Velocity</field> |
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</message> |
||||
<message id="174" name="OBS_ATTITUDE"> |
||||
attitude estimate of the observer |
||||
<field type="double[4]" name="quat">Quaternion re;im</field> |
||||
</message> |
||||
<message id="176" name="OBS_WIND"> |
||||
Wind estimate in NED inertial frame |
||||
<field type="float[3]" name="wind">Wind</field> |
||||
</message> |
||||
<message id="178" name="OBS_AIR_VELOCITY"> |
||||
Estimate of the air velocity |
||||
<field type="float" name="magnitude">Air speed</field> |
||||
<field type="float" name="aoa">angle of attack</field> |
||||
<field type="float" name="slip">slip angle</field> |
||||
</message> |
||||
<message id="180" name="OBS_BIAS"> |
||||
IMU biases |
||||
<field type="float[3]" name="accBias">accelerometer bias</field> |
||||
<field type="float[3]" name="gyroBias">gyroscope bias</field> |
||||
</message> |
||||
<message id="182" name="OBS_QFF"> |
||||
estimate of the pressure at sea level |
||||
<field type="float" name="qff">Wind</field> |
||||
</message> |
||||
<message id="183" name="OBS_AIR_TEMP"> |
||||
ambient air temperature |
||||
<field type="float" name="airT">Air Temperatur</field> |
||||
</message> |
||||
<message id="184" name="FILT_ROT_VEL"> |
||||
filtered rotational velocity |
||||
<field type="float[3]" name="rotVel">rotational velocity</field> |
||||
</message> |
||||
<message id="186" name="LLC_OUT"> |
||||
low level control output |
||||
<field type="int16_t[4]" name="servoOut">Servo signal</field> |
||||
<field type="int16_t[2]" name="MotorOut">motor signal</field> |
||||
</message> |
||||
<message id="188" name="PM_ELEC"> |
||||
Power managment |
||||
<field type="float" name="PwCons">current power consumption</field> |
||||
<field type="float" name="BatStat">battery status</field> |
||||
<field type="float[3]" name="PwGen">Power generation from each module</field> |
||||
</message> |
||||
<message id="190" name="SYS_Stat"> |
||||
system status |
||||
<field type="uint8_t" name="gps">gps status</field> |
||||
<field type="uint8_t" name="act">actuator status</field> |
||||
<field type="uint8_t" name="mod">module status</field> |
||||
<field type="uint8_t" name="commRssi">module status</field> |
||||
</message> |
||||
<message id="192" name="CMD_AIRSPEED_CHNG"> |
||||
change commanded air speed |
||||
<field type="uint8_t" name="target">Target ID</field> |
||||
<field type="float" name="spCmd">commanded airspeed</field> |
||||
</message> |
||||
<message id="194" name="CMD_AIRSPEED_ACK"> |
||||
accept change of airspeed |
||||
<field type="float" name="spCmd">commanded airspeed</field> |
||||
<field type="uint8_t" name="ack">0:ack, 1:nack</field> |
||||
</message> |
||||
</messages> |
||||
</mavlink> |
||||
Loading…
Reference in new issue