Gui::Gui(Shared* sm)
{
this->sm = sm;
//Creation and setup of Gui elements
QGridLayout* mainLayout = new QGridLayout();
labelImage = new QLabel();
mainLayout->addWidget(labelImage, 0, 0);
setLayout(mainLayout);
setVisible(true);
//We connect a signat to a slot to be able to do something from an incoming signal.
connect(this, SIGNAL(signal_updateGUI()), this, SLOT(on_updateGUI_recieved()));
show();
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
connect(this, SIGNAL(signal_updateGUI()), this, SLOT(updateGUI_recieved()));
ui->setupUi(this);
// ui->battery->setValue(60.0);
vel = new VelWidget();;
dataw = new DataWidget();
linx=liny=linz=0.0;
roll=pitch=yaw=0.0;
ui->tabWidget->setCurrentIndex(0);
this->initButtons();
}
GUI::GUI(Sensors* sensors)
{
this->sensors = sensors;
QGridLayout* mainLayout = new QGridLayout();
labelImage = new QLabel();
labelImage_filtered_hsv = new QLabel();
labelImage_filtered_rgb = new QLabel();
labelImage_hsv = new QLabel();
labelImage_rgb = new QLabel();
QGroupBox* boxRGB = new QGroupBox("RGB");
QGroupBox* boxHSV = new QGroupBox("HSV");
QGridLayout* layRGB = new QGridLayout();
QGridLayout* layHSV = new QGridLayout();
boxRGB->setLayout(layRGB);
boxHSV->setLayout(layHSV);
sliderR_min = new QSlider();
sliderB_min = new QSlider();
sliderG_min = new QSlider();
sliderR_max = new QSlider();
sliderB_max = new QSlider();
sliderG_max = new QSlider();
textR_min = new QLabel("R min");
textG_min = new QLabel("G min");
textB_min = new QLabel("B min");
textR_max = new QLabel("R max");
textG_max = new QLabel("G max");
textB_max = new QLabel("B max");
textR_value_min = new QLabel();
textG_value_min = new QLabel();
textB_value_min = new QLabel();
textR_value_max = new QLabel();
textG_value_max = new QLabel();
textB_value_max = new QLabel();
sliderR_min->setMaximum(255);
sliderG_min->setMaximum(255);
sliderB_min->setMaximum(255);
sliderR_max->setMaximum(255);
sliderG_max->setMaximum(255);
sliderB_max->setMaximum(255);
layRGB->addWidget(textR_max, 0, 0);
layRGB->addWidget(textR_min, 0, 1);
layRGB->addWidget(textG_max, 0, 2);
layRGB->addWidget(textG_min, 0, 3);
layRGB->addWidget(textB_max, 0, 4);
layRGB->addWidget(textB_min, 0, 5);
layRGB->addWidget(sliderR_max, 1, 0);
layRGB->addWidget(sliderR_min, 1, 1);
layRGB->addWidget(sliderG_max, 1, 2);
layRGB->addWidget(sliderG_min, 1, 3);
layRGB->addWidget(sliderB_max, 1, 4);
layRGB->addWidget(sliderB_min, 1, 5);
layRGB->addWidget(textR_value_max, 2, 0);
layRGB->addWidget(textR_value_min, 2, 1);
layRGB->addWidget(textG_value_max, 2, 2);
layRGB->addWidget(textG_value_min, 2, 3);
layRGB->addWidget(textB_value_max, 2, 4);
layRGB->addWidget(textB_value_min, 2, 5);
sliderH_min = new QDoubleSpinBox();
sliderS_min= new QDoubleSpinBox();
sliderV_min = new QDoubleSpinBox();
textH_min = new QLabel("H min");
textS_min = new QLabel("S min");
textV_min = new QLabel("V min");
sliderH_max = new QDoubleSpinBox();
sliderS_max= new QDoubleSpinBox();
sliderV_max = new QDoubleSpinBox();
textH_max = new QLabel("H max");
textS_max = new QLabel("S max");
textV_max = new QLabel("V max");
textH_value_max = new QLabel();
textS_value_max = new QLabel();
textV_value_max = new QLabel();
textH_value_min = new QLabel();
textS_value_min = new QLabel();
textV_value_min = new QLabel();
sliderH_min->setMaximum(6.29);
sliderH_max->setMaximum(6.29);
sliderS_min->setMaximum(1.1);
sliderS_max->setMaximum(1);
sliderV_max->setMaximum(255.1);
sliderV_min->setMaximum(255);
layHSV->addWidget(textH_max, 0, 0);
layHSV->addWidget(textH_min, 0, 1);
layHSV->addWidget(textS_max, 0, 2);
layHSV->addWidget(textS_min, 0, 3);
layHSV->addWidget(textV_max, 0, 4);
layHSV->addWidget(textV_min, 0, 5);
layHSV->addWidget(sliderH_max, 1, 0);
layHSV->addWidget(sliderH_min, 1, 1);
layHSV->addWidget(sliderS_max, 1, 2);
layHSV->addWidget(sliderS_min, 1, 3);
layHSV->addWidget(sliderV_max, 1, 4);
layHSV->addWidget(sliderV_min, 1, 5);
layHSV->addWidget(textH_value_max, 2, 0);
layHSV->addWidget(textH_value_min, 2, 1);
layHSV->addWidget(textS_value_max, 2, 2);
layHSV->addWidget(textS_value_min, 2, 3);
layHSV->addWidget(textV_value_max, 2, 4);
layHSV->addWidget(textV_value_min, 2, 5);
mainLayout->addWidget(labelImage, 0, 0);
mainLayout->addWidget(labelImage_filtered_rgb, 0, 1);
mainLayout->addWidget(labelImage_filtered_hsv, 0, 2);
mainLayout->addWidget(labelImage_hsv, 2, 2);
mainLayout->addWidget(labelImage_rgb, 2, 1);
mainLayout->addWidget(boxRGB, 1, 1);
mainLayout->addWidget(boxHSV, 1, 2);
setLayout(mainLayout);
setVisible(true);
hsv_image = ColorFilter::draw_hsvmap(320);
connect(this, SIGNAL(signal_updateGUI()), this, SLOT(on_updateGUI_recieved()));
show();
sliderH_max->setValue(3.8);
sliderH_min->setValue(3.2);
sliderS_max->setValue(1.0);
sliderS_min->setValue(0.5);
sliderV_max->setValue(255);
sliderV_min->setValue(140);
sliderR_max->setValue(0);
sliderR_min->setValue(0);
sliderB_max->setValue(255);
sliderB_min->setValue(0);
sliderG_max->setValue(255);
sliderG_min->setValue(0);
kalman_RGB = new Kalman2D();
kalman_HSV = new Kalman2D();
x_rgb=0;
y_rgb=0;
y_hsv=0;
x_hsv=0;
}
void GUI::updateThreadGUI()
{
emit signal_updateGUI();
}
void Gui::updateThreadGUI()
{
//emit the signal to update the gui
emit signal_updateGUI();
}
void MainWindow::updateThreadGUI()
{
emit signal_updateGUI();
}
GUI::GUI(Robot* robot, Ice::CommunicatorPtr ic)
{
this->robot = robot;
QGridLayout* mainLayout = new QGridLayout();
QGridLayout* layoutControl = new QGridLayout();
QVBoxLayout* layoutButtons = new QVBoxLayout();
camerasWidget = new CamerasWidget(robot);
buttonStopRobot = new QPushButton("Stop Robot");
checkLaser = new QCheckBox("Laser");
checkCameras = new QCheckBox("Cameras");
InfoCurrentV = new QLabel("Current v (m/s):");
InfoCurrentW = new QLabel("Current w (rad/s):");
currentV = new QLabel("0");
currentW = new QLabel("0");
canvasVW = new controlVW();
canvasVW->setIC(ic);
laserWidget =new LaserWidget();
int indiceFilaGui = 0;
layoutControl->addWidget(canvasVW, 0, 0);
layoutButtons->addWidget(InfoCurrentV, 0);
layoutButtons->addWidget(currentV, 1);
layoutButtons->addWidget(InfoCurrentW, 2);
layoutButtons->addWidget(currentW, 3);
QSpacerItem *item = new QSpacerItem(0,200, QSizePolicy::Expanding, QSizePolicy::Fixed);
layoutButtons->addItem(item);
layoutButtons->addWidget(buttonStopRobot, 2);
layoutButtons->addWidget(checkCameras, 3);
layoutButtons->addWidget(checkLaser, 4);
mainLayout->addLayout(layoutControl, 0, 0);
mainLayout->addLayout(layoutButtons, 0, 1);
setLayout(mainLayout);
setVisible(true);
adjustSize();
connect(this, SIGNAL(signal_updateGUI()), this, SLOT(on_updateGUI_recieved()));
connect(buttonStopRobot, SIGNAL(clicked()),this, SLOT(on_buttonStopRobot_clicked()) );
connect(canvasVW, SIGNAL(VW_changed(float,float)), this, SLOT(on_update_canvas_recieved(float, float)));
connect(checkLaser, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
connect(checkCameras, SIGNAL(stateChanged(int)), this, SLOT(on_checks_changed()));
show();
}
