void MainWindow::keyPressEvent(QKeyEvent *qkeyevent) //Tatstertur .............
{
switch(qkeyevent->key())
{
case Qt::Key_Up:
vor();
break;
case Qt::Key_Down:
back();
break;
case Qt::Key_Right:
rechts();
break;
case Qt::Key_Left:
links();
break;
case Qt::Key_Space:
stop();
break;
case Qt::Key_X:
hoch();
break;
case Qt::Key_Y:
runter();
break;
}
}
void CVT::compute_weighted_cvt(cv::Mat & img, std::vector<cv::Point2d> & sites)
{
//YH initialize
int site_size = sites.size();
this->cells.resize(site_size);
for (int i = 0; i < site_size; i++)
{
this->cells[i].site = sites[i];
}
float max_dist_moved = FLT_MAX;
//YH start VOR
int iteration = 0;
do
{
vor(img); //compute voronoi
max_dist_moved = move_sites(img);
if (debug) std::cout << "[" << iteration << "] max dist moved = " << max_dist_moved << std::endl;
iteration++;
} while (max_dist_moved>max_site_displacement && iteration < this->iteration_limit);
if (debug) cv::waitKey();
}
QList<Vector2D> Voronoi_Diagram::calculate(QList<Vector2D> in_points)
{
//consider some points
std::vector<Point_2> points;
for(int i=0;i<in_points.size();i++)
{
points.push_back(Point_2(in_points.at(i).x,in_points.at(i).y));
}
Delaunay_triangulation_2 dt2;
//insert points into the triangulation
dt2.insert(points.begin(),points.end());
//construct a rectangle
Iso_rectangle_2 bbox(Field::MinX,Field::MinY,Field::MaxX,Field::MaxY);
Cropped_voronoi_from_delaunay vor(bbox);
//extract the cropped Voronoi diagram
dt2.draw_dual(vor);
//print the cropped Voronoi diagram as segments
std::stringstream ss;
QList<Vector2D> out;
wm->voronoi.clear();
for(int i=0;i<vor.m_cropped_vd.size();i++)
{
Segment_2 tmp = vor.m_cropped_vd.at(i);
Point_2 start = tmp.vertex(0) , end = tmp.vertex(1);
Vector2D first(floor(start.x()),floor(start.y())) , second(floor(end.x()),floor(end.y()));
if( !out.contains(first) )
{
if( wm->kn->IsInsideField(first) )
out.append(first);
}
if( !out.contains(second) )
{
if( wm->kn->IsInsideField(second) )
out.append(second);
}
Segment2D seg(first,second);
wm->voronoi.append(seg);
}
return out;
}
void test(){
std::vector<Point_2> points;
points.push_back(Point_2(0,0));
points.push_back(Point_2(1,1));
points.push_back(Point_2(0,1));
DT dt2;
//insert points into the triangulation
dt2.insert(points.begin(),points.end());
//construct a rectangle
Iso_rectangle_2 bbox(-1,-1,2,2);
Cropped_voronoi_from_delaunay vor(bbox);
//extract the cropped Voronoi diagram
dt2.draw_dual(vor);
//print the cropped Voronoi diagram as segments
std::copy(vor.m_cropped_vd.begin(),vor.m_cropped_vd.end(),
std::ostream_iterator<Segment_2>(std::cout,"\n"));
}
void
xop_s1 (
__m128i a1_1,
__m128i a1_2,
__m128i a2_1,
__m128i a2_2,
__m128i a3_1,
__m128i a3_2,
__m128i a4_1,
__m128i a4_2,
__m128i a5_1,
__m128i a5_2,
__m128i a6_1,
__m128i a6_2,
__m128i *out1,
__m128i *out2,
__m128i *out3,
__m128i *out4
) {
__m128i a1=_mm_xor_si128 (a1_1, a1_2);
__m128i a2=_mm_xor_si128 (a2_1, a2_2);
__m128i a3=_mm_xor_si128 (a3_1, a3_2);
__m128i a4=_mm_xor_si128 (a4_1, a4_2);
__m128i a5=_mm_xor_si128 (a5_1, a5_2);
__m128i a6=_mm_xor_si128 (a6_1, a6_2);
__m128i ones = ONES;
vtype x0F0F3333, x3C3C3C3C, x55FF55FF, x69C369C3, x0903B73F, x09FCB7C0,
x5CA9E295;
vtype x55AFD1B7, x3C3C69C3, x6993B874;
vtype x5CEDE59F, x09FCE295, x5D91A51E, x529E962D;
vtype x29EEADC0, x4B8771A3, x428679F3, x6B68D433;
vtype x5BA7E193, x026F12F3, x6B27C493, x94D83B6C;
vtype x965E0B0F, x3327A113, x847F0A1F, xD6E19C32;
vtype x0DBCE883, x3A25A215, x37994A96;
vtype xC9C93B62, x89490F02, xB96C2D16;
vtype x0, x1, x2, x3;
vsel(x0F0F3333, a3, a2, a5);
vxor(x3C3C3C3C, a2, a3);
vor(x55FF55FF, a1, a4);
vxor(x69C369C3, x3C3C3C3C, x55FF55FF);
vsel(x0903B73F, a5, x0F0F3333, x69C369C3);
vxor(x09FCB7C0, a4, x0903B73F);
vxor(x5CA9E295, a1, x09FCB7C0);
vsel(x55AFD1B7, x5CA9E295, x55FF55FF, x0F0F3333);
vsel(x3C3C69C3, x3C3C3C3C, x69C369C3, a5);
vxor(x6993B874, x55AFD1B7, x3C3C69C3);
vsel(x5CEDE59F, x55FF55FF, x5CA9E295, x6993B874);
vsel(x09FCE295, x09FCB7C0, x5CA9E295, a5);
vsel(x5D91A51E, x5CEDE59F, x6993B874, x09FCE295);
vxor(x529E962D, x0F0F3333, x5D91A51E);
vsel(x29EEADC0, x69C369C3, x09FCB7C0, x5CEDE59F);
vsel(x4B8771A3, x0F0F3333, x69C369C3, x5CA9E295);
vsel(x428679F3, a5, x4B8771A3, x529E962D);
vxor(x6B68D433, x29EEADC0, x428679F3);
vsel(x5BA7E193, x5CA9E295, x4B8771A3, a3);
vsel(x026F12F3, a4, x0F0F3333, x529E962D);
vsel(x6B27C493, x6B68D433, x5BA7E193, x026F12F3);
vnot(x94D83B6C, x6B27C493);
vsel(x0, x94D83B6C, x6B68D433, a6);
vxor(*out1, *out1, x0);
vsel(x965E0B0F, x94D83B6C, a3, x428679F3);
vsel(x3327A113, x5BA7E193, a2, x69C369C3);
vsel(x847F0A1F, x965E0B0F, a4, x3327A113);
vxor(xD6E19C32, x529E962D, x847F0A1F);
vsel(x1, xD6E19C32, x5CA9E295, a6);
vxor(*out2, *out2, x1);
vsel(x0DBCE883, x09FCE295, x3C3C69C3, x847F0A1F);
vsel(x3A25A215, x3327A113, x5CA9E295, x0903B73F);
vxor(x37994A96, x0DBCE883, x3A25A215);
vsel(x3, x37994A96, x529E962D, a6);
vxor(*out4, *out4, x3);
vsel(xC9C93B62, x94D83B6C, x69C369C3, x5D91A51E);
vsel(x89490F02, a3, xC9C93B62, x965E0B0F);
vsel(xB96C2D16, x89490F02, x3C3C3C3C, x3A25A215);
vsel(x2, xB96C2D16, x6993B874, a6);
vxor(*out3, *out3, x2);
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
//IPS Stationen Arduino-Simulation
/*ui->s1x->setValue(1000);ui->s1y->setValue(1000);ui->s1z->setValue(0);
ui->s2x->setValue(2000);ui->s2y->setValue(1000);ui->s2z->setValue(0);
ui->s3x->setValue(2000);ui->s3y->setValue(0000);ui->s3z->setValue(1000);
ui->s4x->setValue(1000);ui->s4y->setValue(0000);ui->s4z->setValue(0);
ui->s5x->setValue(0000);ui->s5y->setValue(0000);ui->s5z->setValue(1000);
ui->s6x->setValue(0000);ui->s6y->setValue(1000);ui->s6z->setValue(0);
ui->s7x->setValue(0000);ui->s7y->setValue(2000);ui->s7z->setValue(1000);
ui->s8x->setValue(1000);ui->s8y->setValue(2000);ui->s8z->setValue(0);
ui->s9x->setValue(2000);ui->s9y->setValue(2000);ui->s9z->setValue(1000);*/
//Ende IPS Stationen;
//Karte erstellen
map = new QGraphicsScene(this);
ui->graphicsView->setScene(map);
ui->graphicsView->scale(0.1,0.1); //zoomen der Karte so ist platz für 7,5 meter
// GUI Einstellunegn
setWindowTitle(tr("Zentrale - Sturzflug@daedalus"));
//PortBox ComPort Einstellungen
//COM Ports suchen
foreach (QextPortInfo info, QextSerialEnumerator::getPorts())
ui->XbeeportBox->addItem(info.portName);
foreach (QextPortInfo info, QextSerialEnumerator::getPorts())
ui->IPSportBox->addItem(info.portName);
//selber eintargen Möglich machen
ui->XbeeportBox->setEditable(true);
ui->IPSportBox->setEditable(true);
//Port Box STOP
//BaudRateBox kompatible Werte mit Win und Linux
ui->XbeeBaudRateBox->addItem("1200", BAUD1200);
ui->XbeeBaudRateBox->addItem("2400", BAUD2400);
ui->XbeeBaudRateBox->addItem("4800", BAUD4800);
ui->XbeeBaudRateBox->addItem("9600", BAUD9600);
ui->XbeeBaudRateBox->addItem("19200", BAUD19200);
ui->XbeeBaudRateBox->addItem("115200", BAUD115200);
ui->XbeeBaudRateBox->setCurrentIndex(3); //Vorsicht nur Ändern wenn auch PorSettings geändert
ui->IPSBaudRateBox->addItem("115200", BAUD115200); //IPS nur mit dieser BaudRate
ui->IPSBaudRateBox->setCurrentIndex(0); //Vorsicht nur Ändern wenn auch PorSettings geändert
// BaudRateBox STOP
//ComText Box
ui->XbeeComText->setReadOnly(true);
ui->IPSComText->setReadOnly(true);
//ComText Box STOP
Xbeetimer = new QTimer(this);
Xbeetimer->setInterval(80);
IPStimer = new QTimer(this);
IPStimer->setInterval(155); //könnte probleme lösen
Refreshtimer = new QTimer(this);
Refreshtimer->setInterval(ui->refreshTime->value()); //Aktuallisierungsrate aus der GUI in ms
//Vordefinierte Einstelluneg
PortSettings Xbeesettings = {BAUD9600, DATA_8, PAR_NONE, STOP_1, FLOW_OFF, 10};
Xbeeport = new QextSerialPort(ui->XbeeportBox->currentText(), Xbeesettings, QextSerialPort::Polling);
PortSettings IPSsettings = {BAUD115200, DATA_8, PAR_NONE, STOP_1, FLOW_OFF, 10};
IPSport = new QextSerialPort(ui->IPSportBox->currentText(), IPSsettings, QextSerialPort::Polling);
//Vordefinierte Einstellungen STOP
//Connectoren -----------------------------------------------------------------------------------------------------
//globale Connectoren
//connect(ui->TestButton, SIGNAL(clicked()), SLOT(onTestButtonClicked()));
connect(ui->reset_imu, SIGNAL(clicked()), SLOT(onreset_imuClicked()));
//Xbee connectoren
connect(ui->XbeeBaudRateBox, SIGNAL(currentIndexChanged(int)), SLOT(XbeeonBaudRateChanged(int)));
connect(ui->XbeeportBox, SIGNAL(editTextChanged(QString)), SLOT(XbeeonPortNameChanged(QString)));
connect(Xbeetimer, SIGNAL(timeout()), SLOT(XbeeonReadyRead()));
connect(Xbeeport, SIGNAL(readyRead()), SLOT(XbeeonReadyRead()));
//IPS connectoren
connect(ui->IPSBaudRateBox, SIGNAL(currentIndexChanged(int)), SLOT(IPSonBaudRateChanged(int)));
connect(ui->IPSportBox, SIGNAL(editTextChanged(QString)), SLOT(IPSonPortNameChanged(QString)));
connect(IPStimer, SIGNAL(timeout()), SLOT(IPSonReadyRead()));
connect(IPSport, SIGNAL(readyRead()), SLOT(IPSonReadyRead()));
connect(ui->posStationSetzen, SIGNAL(clicked()), SLOT(setPosStation()));
//refresh connector ZENTRALES Takt-Element
connect(Refreshtimer, SIGNAL(timeout()), SLOT(refresh()));
connect(ui->setRefresh, SIGNAL(clicked()), SLOT(setrefreshrate()));
// Karte
connect(ui->deletkoordinaten, SIGNAL(clicked()), SLOT(deletekoordinaten()));
//Einstellungen
connect(ui->setAbweichung, SIGNAL(clicked()), SLOT(setAbweichung()));
connect(ui->setZiel, SIGNAL(clicked()), SLOT(setZiel()));
connect(ui->setZieltolleranz, SIGNAL(clicked()), SLOT(setZieltolleranz()));
connect(ui->setHoehe, SIGNAL(clicked()), SLOT(setHoehe()));
connect(ui->setFilter, SIGNAL(clicked()), SLOT(setFilter()));
connect(ui->setHindernisse, SIGNAL(clicked()), SLOT(setHindernisse()));
connect(ui->setSchub, SIGNAL(clicked()), SLOT(setRueckschub()));
connect(ui->ultraschall, SIGNAL(stateChanged(int)), SLOT(setUltraschall()));
//Handsteuerung
connect(ui->Handsteuerung, SIGNAL(stateChanged(int)), SLOT(setHandsteuerung()));
connect(ui->vor, SIGNAL(clicked()), SLOT(vor()));
connect(ui->back, SIGNAL(clicked()), SLOT(back()));
connect(ui->links, SIGNAL(clicked()), SLOT(links()));
connect(ui->rechts, SIGNAL(clicked()), SLOT(rechts()));
connect(ui->stop, SIGNAL(clicked()), SLOT(stop()));
connect(ui->hoch, SIGNAL(clicked()), SLOT(hoch()));
connect(ui->runter, SIGNAL(clicked()), SLOT(runter()));
connect(ui->abwurf, SIGNAL(clicked()), SLOT(abwurf()));
//ENDE Connectoren ------------------------------------------------------------------------------------------------
setup();
}
