基于GTK创建ARDrone 2.0控制线程
来源：互联网 发布：破解版360企业云盘mac 编辑：程序博客网 时间：2024/06/07 10:26
目标: 创建一个GUI，用来控制飞机起飞、降落、左右、前后、上下、旋转，后四者的控制量各自由一个文本框输入。
用GTK实现，顶层窗口只能包含一个组合框，所以顶层一个组合框，向下一个vbox；vbox里包含5个hbox，分别用来放置控制起飞降落、左右、前后、上下、旋转的控件。对于起飞降落，需要两个互斥按钮；其余四种动作，各自需要标签、文本框和按钮各一个。
首先创建gui.c，
#include <stdlib.h>
#include <stdio.h>
#include "gui.h"
#include <ardrone_tool/UI/ardrone_input.h>
#include <VP_Os/vp_os_delay.h>
#include <ardrone_api.h>
static GtkWidget *window; //top widget--widow
//-----------buttons----------
static GtkWidget *btnStop;
static GtkWidget *btnStart;
static GtkWidget *btnLeftRight;
static GtkWidget *btnFrontBack;
static GtkWidget *btnUpDown;
static GtkWidget *btnAngular;
//------------text entries--------
static GtkWidget *textLeftright;
static GtkWidget *textFrontBack;
static GtkWidget *textUpDown;
static GtkWidget *textAngular;
//-------------get and set Start/Stop buttons state-----
static void toggleButtonsState(void)
{
gboolean start_state = gtk_widget_get_sensitive(btnStart);
gtk_widget_set_sensitive(btnStart, !start_state);
gtk_widget_set_sensitive(btnStop, start_state);
}
//-----------Start/Stop buttons callback function------
static void btnlandCallback(GtkWidget *widget,gpointer data)
{
static int landFlag = 1; //1-taking off, else land
ardrone_tool_set_ui_pad_start(landFlag);
if (landFlag)
g_print("Taking off");
else
g_print("Landing");
landFlag = (landFlag+1)%2;
toggleButtonsState(); //Only one button to be clicked
}
static int mode_flag = 1;
//-----------LeftRight button callback function
static void btnLRCallback(GtkWidget *widget, gpointer data)
{
float LRVaule;
const gchar* LRChar = gtk_entry_get_text(GTK_ENTRY(textLeftright));
LRVaule = (float)strtod(LRChar, NULL);
ardrone_tool_set_progressive_cmd(mode_flag, LRVaule, 0.0, 0.0, 0.0, 0.0, 0.0);
}
//--------------FrontBack button callback function
static void btnFBCallback(GtkWidget *widget, gpointer data)
{
float FBVaule;
const gchar* FBChar = gtk_entry_get_text(GTK_ENTRY(textFrontBack));
FBVaule = (float)strtod(FBChar, NULL);
//int i;
//ardrone_at_reset_com_watchdog();
//for(i=0; i<10; i++)
//{
ardrone_tool_set_progressive_cmd(mode_flag, 0.0, FBVaule, 0.0, 0.0, 0.0, 0.0);
// vp_os_delay(150);
//}
//ardrone_at_set_progress_cmd(mode_flag, 0.0, FBVaule, 0.0, 0.0);
}
//------------------UpDown button callback function
static void btnUDCallback(GtkWidget *widget, gpointer data)
{
float UDVaule;
const gchar* UDChar = gtk_entry_get_text(GTK_ENTRY(textUpDown));
UDVaule = (float)strtod(UDChar, NULL);
ardrone_tool_set_progressive_cmd(mode_flag, 0.0, 0.0, UDVaule, 0.0, 0.0, 0.0);
}
//--------------Angular button callback function
static void btnACallback(GtkWidget *widget, gpointer data)
{
float AVaule;
const gchar* AChar = gtk_entry_get_text(GTK_ENTRY(textAngular));
AVaule = (float)strtod(AChar, NULL);
ardrone_tool_set_progressive_cmd(mode_flag, 0.0, 0.0, 0.0, AVaule, 0.0, 0.0);
}
//-----------init window--------------
void init_control_gui(int argc, char **argv)
{
GtkWidget *vboxMain; //top box
//-----box for every control widget
GtkWidget *hboxStartStop;
GtkWidget *hboxLeftRight;
GtkWidget *hboxFrontBack;
GtkWidget *hboxUpDown;
GtkWidget *hboxAngular;
//-----label for control text entries
GtkWidget *labelLeftRight;
GtkWidget *labelFrontBack;
GtkWidget *labelUpDown;
GtkWidget *labelAngular;
g_thread_init(NULL);
gtk_init(&argc, &argv);
//-----Create window and register its destroy function
window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_position(GTK_WINDOW(window), GTK_WIN_POS_CENTER);
g_signal_connect(G_OBJECT(window),"destroy",
G_CALLBACK(gtk_main_quit),NULL);
//-----Create all boxes
vboxMain = gtk_vbox_new(FALSE, 1);
hboxStartStop = gtk_hbox_new(FALSE, 10);
hboxLeftRight = gtk_hbox_new(FALSE, 10);
hboxFrontBack = gtk_hbox_new(FALSE, 10);
hboxUpDown = gtk_hbox_new(FALSE, 10);
hboxAngular = gtk_hbox_new(FALSE, 10);
//-----Create Start/Stop buttons and put them into a hbox
btnStart = gtk_button_new_with_label("Taking Off");
btnStop = gtk_button_new_with_label("Landing");
gtk_box_pack_start(GTK_BOX(hboxStartStop), btnStart, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxStartStop), btnStop, FALSE, FALSE, 0);
//-----Create LeftRight button/text/label and put them into a hbox
btnLeftRight = gtk_button_new_with_label("Left/Right");
labelLeftRight = gtk_label_new("Left/Right Var:");
textLeftright = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxLeftRight), labelLeftRight, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxLeftRight), textLeftright, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxLeftRight), btnLeftRight, FALSE, FALSE,0);
//-----Create FrontBack button/text/label and put them into a hbox
btnFrontBack = gtk_button_new_with_label("Front/Back");
labelFrontBack = gtk_label_new("Front/Back Var:");
textFrontBack = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxFrontBack), labelFrontBack, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxFrontBack), textFrontBack, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxFrontBack), btnFrontBack, FALSE, FALSE,0);
//-----Create UpDown button/text/label and put them into a hbox
btnUpDown = gtk_button_new_with_label("Up/Down");
labelUpDown = gtk_label_new("Up/Down Var:");
textUpDown = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxUpDown), labelUpDown, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxUpDown), textUpDown, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxUpDown), btnUpDown, FALSE, FALSE,0);
//-----Create Angular button/text/label and put them into a hbox
btnAngular = gtk_button_new_with_label("Angular");
labelAngular = gtk_label_new("Angular Var:");
textAngular = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxAngular), labelAngular, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxAngular), textAngular, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxAngular), btnAngular, FALSE, FALSE,0);
//-----Register all buttons' callback function
g_signal_connect(btnStart, "clicked", G_CALLBACK(btnlandCallback), NULL);
g_signal_connect(btnStop, "clicked", G_CALLBACK(btnlandCallback), NULL);
g_signal_connect(btnLeftRight, "clicked", G_CALLBACK(btnLRCallback), NULL);
g_signal_connect(btnFrontBack, "clicked", G_CALLBACK(btnFBCallback), NULL);
g_signal_connect(btnUpDown, "clicked", G_CALLBACK(btnUDCallback), NULL);
g_signal_connect(btnAngular, "clicked", G_CALLBACK(btnACallback), NULL);
//-----Set Start/Stop buttons' state to be different at one moment
gtk_widget_set_sensitive(btnStart, TRUE);
gtk_widget_set_sensitive(btnStop, FALSE);
//-----Put all hbox into vbox
gtk_box_pack_start(GTK_BOX(vboxMain), hboxStartStop, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxLeftRight, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxFrontBack, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxUpDown, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxAngular, TRUE, TRUE, 0);
//-----Put vbox into window
gtk_container_add(GTK_CONTAINER(window), vboxMain); //a window can only contain one widget
gtk_widget_show_all(window);
}
#include <stdio.h>
#include "gui.h"
#include <ardrone_tool/UI/ardrone_input.h>
#include <VP_Os/vp_os_delay.h>
#include <ardrone_api.h>
static GtkWidget *window; //top widget--widow
//-----------buttons----------
static GtkWidget *btnStop;
static GtkWidget *btnStart;
static GtkWidget *btnLeftRight;
static GtkWidget *btnFrontBack;
static GtkWidget *btnUpDown;
static GtkWidget *btnAngular;
//------------text entries--------
static GtkWidget *textLeftright;
static GtkWidget *textFrontBack;
static GtkWidget *textUpDown;
static GtkWidget *textAngular;
//-------------get and set Start/Stop buttons state-----
static void toggleButtonsState(void)
{
gboolean start_state = gtk_widget_get_sensitive(btnStart);
gtk_widget_set_sensitive(btnStart, !start_state);
gtk_widget_set_sensitive(btnStop, start_state);
}
//-----------Start/Stop buttons callback function------
static void btnlandCallback(GtkWidget *widget,gpointer data)
{
static int landFlag = 1; //1-taking off, else land
ardrone_tool_set_ui_pad_start(landFlag);
if (landFlag)
g_print("Taking off");
else
g_print("Landing");
landFlag = (landFlag+1)%2;
toggleButtonsState(); //Only one button to be clicked
}
static int mode_flag = 1;
//-----------LeftRight button callback function
static void btnLRCallback(GtkWidget *widget, gpointer data)
{
float LRVaule;
const gchar* LRChar = gtk_entry_get_text(GTK_ENTRY(textLeftright));
LRVaule = (float)strtod(LRChar, NULL);
ardrone_tool_set_progressive_cmd(mode_flag, LRVaule, 0.0, 0.0, 0.0, 0.0, 0.0);
}
//--------------FrontBack button callback function
static void btnFBCallback(GtkWidget *widget, gpointer data)
{
float FBVaule;
const gchar* FBChar = gtk_entry_get_text(GTK_ENTRY(textFrontBack));
FBVaule = (float)strtod(FBChar, NULL);
//int i;
//ardrone_at_reset_com_watchdog();
//for(i=0; i<10; i++)
//{
ardrone_tool_set_progressive_cmd(mode_flag, 0.0, FBVaule, 0.0, 0.0, 0.0, 0.0);
// vp_os_delay(150);
//}
//ardrone_at_set_progress_cmd(mode_flag, 0.0, FBVaule, 0.0, 0.0);
}
//------------------UpDown button callback function
static void btnUDCallback(GtkWidget *widget, gpointer data)
{
float UDVaule;
const gchar* UDChar = gtk_entry_get_text(GTK_ENTRY(textUpDown));
UDVaule = (float)strtod(UDChar, NULL);
ardrone_tool_set_progressive_cmd(mode_flag, 0.0, 0.0, UDVaule, 0.0, 0.0, 0.0);
}
//--------------Angular button callback function
static void btnACallback(GtkWidget *widget, gpointer data)
{
float AVaule;
const gchar* AChar = gtk_entry_get_text(GTK_ENTRY(textAngular));
AVaule = (float)strtod(AChar, NULL);
ardrone_tool_set_progressive_cmd(mode_flag, 0.0, 0.0, 0.0, AVaule, 0.0, 0.0);
}
//-----------init window--------------
void init_control_gui(int argc, char **argv)
{
GtkWidget *vboxMain; //top box
//-----box for every control widget
GtkWidget *hboxStartStop;
GtkWidget *hboxLeftRight;
GtkWidget *hboxFrontBack;
GtkWidget *hboxUpDown;
GtkWidget *hboxAngular;
//-----label for control text entries
GtkWidget *labelLeftRight;
GtkWidget *labelFrontBack;
GtkWidget *labelUpDown;
GtkWidget *labelAngular;
g_thread_init(NULL);
gtk_init(&argc, &argv);
//-----Create window and register its destroy function
window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_position(GTK_WINDOW(window), GTK_WIN_POS_CENTER);
g_signal_connect(G_OBJECT(window),"destroy",
G_CALLBACK(gtk_main_quit),NULL);
//-----Create all boxes
vboxMain = gtk_vbox_new(FALSE, 1);
hboxStartStop = gtk_hbox_new(FALSE, 10);
hboxLeftRight = gtk_hbox_new(FALSE, 10);
hboxFrontBack = gtk_hbox_new(FALSE, 10);
hboxUpDown = gtk_hbox_new(FALSE, 10);
hboxAngular = gtk_hbox_new(FALSE, 10);
//-----Create Start/Stop buttons and put them into a hbox
btnStart = gtk_button_new_with_label("Taking Off");
btnStop = gtk_button_new_with_label("Landing");
gtk_box_pack_start(GTK_BOX(hboxStartStop), btnStart, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxStartStop), btnStop, FALSE, FALSE, 0);
//-----Create LeftRight button/text/label and put them into a hbox
btnLeftRight = gtk_button_new_with_label("Left/Right");
labelLeftRight = gtk_label_new("Left/Right Var:");
textLeftright = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxLeftRight), labelLeftRight, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxLeftRight), textLeftright, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxLeftRight), btnLeftRight, FALSE, FALSE,0);
//-----Create FrontBack button/text/label and put them into a hbox
btnFrontBack = gtk_button_new_with_label("Front/Back");
labelFrontBack = gtk_label_new("Front/Back Var:");
textFrontBack = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxFrontBack), labelFrontBack, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxFrontBack), textFrontBack, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxFrontBack), btnFrontBack, FALSE, FALSE,0);
//-----Create UpDown button/text/label and put them into a hbox
btnUpDown = gtk_button_new_with_label("Up/Down");
labelUpDown = gtk_label_new("Up/Down Var:");
textUpDown = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxUpDown), labelUpDown, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxUpDown), textUpDown, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxUpDown), btnUpDown, FALSE, FALSE,0);
//-----Create Angular button/text/label and put them into a hbox
btnAngular = gtk_button_new_with_label("Angular");
labelAngular = gtk_label_new("Angular Var:");
textAngular = gtk_entry_new();
gtk_box_pack_start(GTK_BOX(hboxAngular), labelAngular, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxAngular), textAngular, FALSE, FALSE, 0);
gtk_box_pack_start(GTK_BOX(hboxAngular), btnAngular, FALSE, FALSE,0);
//-----Register all buttons' callback function
g_signal_connect(btnStart, "clicked", G_CALLBACK(btnlandCallback), NULL);
g_signal_connect(btnStop, "clicked", G_CALLBACK(btnlandCallback), NULL);
g_signal_connect(btnLeftRight, "clicked", G_CALLBACK(btnLRCallback), NULL);
g_signal_connect(btnFrontBack, "clicked", G_CALLBACK(btnFBCallback), NULL);
g_signal_connect(btnUpDown, "clicked", G_CALLBACK(btnUDCallback), NULL);
g_signal_connect(btnAngular, "clicked", G_CALLBACK(btnACallback), NULL);
//-----Set Start/Stop buttons' state to be different at one moment
gtk_widget_set_sensitive(btnStart, TRUE);
gtk_widget_set_sensitive(btnStop, FALSE);
//-----Put all hbox into vbox
gtk_box_pack_start(GTK_BOX(vboxMain), hboxStartStop, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxLeftRight, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxFrontBack, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxUpDown, TRUE, TRUE, 0);
gtk_box_pack_start(GTK_BOX(vboxMain), hboxAngular, TRUE, TRUE, 0);
//-----Put vbox into window
gtk_container_add(GTK_CONTAINER(window), vboxMain); //a window can only contain one widget
gtk_widget_show_all(window);
}
创建gui.h，
#ifndef GUI_H_
#define GUI_H_
#include <gtk-2.0/gtk/gtk.h>
#include <cairo.h>
void init_control_gui(int argc, char **argv);
#endif
#define GUI_H_
#include <gtk-2.0/gtk/gtk.h>
#include <cairo.h>
void init_control_gui(int argc, char **argv);
#endif
将以上两个文件添加到sdk_demo/Source里面的UI文件夹，在ardrone_testing_tool.c里添加GTK线程，
#include "UI/gui.h"
DEFINE_THREAD_ROUTINE(gui, data)
{
gdk_threads_enter();
gtk_main();
gdk_threads_leave();
}
在main函数里添加，
init_control_gui(argc, argv)
在ardrone_tool_init_custom函数里启动线程，
START_THREAD(gui, NULL);
在ardrone_tool_shutdown_custom函数里关闭线程，
JOIN_THREAD(gui);
修改ardrone_testing_tool.c结尾的Thread Table,
最后，修改Makefile即可，
GENERIC_BINARIES_COMMON_SOURCE_FILES+= \
Navdata/navdata.c \
Video/video_stage.c \
UI/gui.c
GENERIC_LIBS=-lpc_ardrone -lgtk-x11-2.0 -lrt `pkg-config --libs gthread-2.0`
注：main函数里建立了gtk线程，如果在其他线程里，比如video_stage或navdata_update，想要对界面上的控件（比如Label）做一些改变，可以通过如下方式进行，
gdk_threads_enter();
/*******Your code here*****************/
gdk_threads_leave();
顺便提一下添加navdata_update线程的方法：将sdk_demo里Navdata文件夹拷贝到你的工程源文件目录下，在Thread Table添加，
THREAD_TABLE_ENTRY(navdata_update, 20)
然后在Makefile里的编译源文件加上Navdata/navdata.c，就完成了，该线程由SDK的ardrone_tool_main函数自己启动，不用自己在ardrone_tool_init_custom和ardrone_tool_shutdown_custom函数里开启和启动。
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