int main(int argc, char *argv[])
{
QGuiApplication app(argc, argv);
qmlRegisterType<Graph>("Graph", 1, 0, "Graph");
QQmlApplicationEngine engine;
engine.load(QUrl(QStringLiteral("qrc:/main.qml")));
app.setWindowIcon(QIcon(":/content/icon.png"));
QMLHandlerCppSide alertLamp(engine.rootObjects()[0], "alertLamp");
QMLHandlerCppSide lineSens(engine.rootObjects()[0], "lineSens");
QMLHandlerCppSide textAccelX(engine.rootObjects()[0], "textAccelX");
QMLHandlerCppSide textAccelY(engine.rootObjects()[0], "textAccelY");
QMLHandlerCppSide textAccelZ(engine.rootObjects()[0], "textAccelZ");
QMLHandlerCppSide textGyroX(engine.rootObjects()[0], "textGyroX");
QMLHandlerCppSide textGyroY(engine.rootObjects()[0], "textGyroY");
QMLHandlerCppSide textGyroZ(engine.rootObjects()[0], "textGyroZ");
QMLHandlerCppSide textCurStatus(engine.rootObjects()[0], "textCurStatus");
QMLHandlerCppSide comboSetStatus(engine.rootObjects()[0], "comboSetStatus");
QMLHandlerCppSide textCurSpeed(engine.rootObjects()[0], "textCurSpeed");
QMLHandlerCppSide editSetSpeed(engine.rootObjects()[0], "editSetSpeed");
QMLHandlerCppSide wheels(engine.rootObjects()[0], "wheels");
QMLHandlerCppSide carAccelY(engine.rootObjects()[0], "carAccelY");
QMLHandlerCppSide carGyroX(engine.rootObjects()[0], "carGyroX");
QMLHandlerCppSide carGyroY(engine.rootObjects()[0], "carGyroY");
QMLHandlerCppSide carGyroZ(engine.rootObjects()[0], "carGyroZ");
QMLHandlerCppSide statusHistory(engine.rootObjects()[0], "statusHistory");
QMLHandlerCppSide speedGraph(engine.rootObjects()[0], "speedGraph");
QMLHandlerCppSide buttonConDiscon(engine.rootObjects()[0], "buttonConDiscon");
QMLHandlerCppSide buttonSendStatus(engine.rootObjects()[0], "buttonSendStatus");
QMLHandlerCppSide buttonSendSpeed(engine.rootObjects()[0], "buttonSendSpeed");
QMLHandlerCppSide buttonCarSelfTest(engine.rootObjects()[0], "buttonCarSelfTest");
GuiHandler guihandle(&alertLamp, &lineSens, &textAccelX, &textAccelY, &textAccelZ, &textGyroX, &textGyroY, &textGyroZ, &textCurStatus, &comboSetStatus, &textCurSpeed, &editSetSpeed, &wheels, &carAccelY, &carGyroX, &carGyroY, &carGyroZ, &statusHistory, &speedGraph, &buttonConDiscon, &buttonSendStatus, &buttonSendSpeed, &buttonCarSelfTest);
Robot mikrobi;
QObject::connect(&guihandle, SIGNAL(buttonConClicked()), &mikrobi, SLOT(connect()));
QObject::connect(&guihandle, SIGNAL(buttonDisClicked()), &mikrobi, SLOT(disconnect()));
QObject::connect(&guihandle, SIGNAL(buttonCarSelfTestClicked()), &mikrobi, SLOT(selfTest()));
QObject::connect(&guihandle, SIGNAL(buttonSendStatusClicked(QString)), &mikrobi, SLOT(status(QString)));
QObject::connect(&guihandle, SIGNAL(buttonSendSpeedClicked(float)), &mikrobi, SLOT(speed(float)));
QObject::connect(&mikrobi, SIGNAL(connected()), &guihandle, SLOT(robotConnected()));
QObject::connect(&mikrobi, SIGNAL(setAlert(int)), &guihandle, SLOT(setAlert(int)));
QObject::connect(&mikrobi, SIGNAL(disconnected()), &guihandle, SLOT(robotDisconnected()));
QObject::connect(&mikrobi, SIGNAL(setLedStrip(QVarLengthArray<bool>)), &guihandle, SLOT(setLedStrip(QVarLengthArray<bool>)));
QObject::connect(&mikrobi, SIGNAL(setTextAccelX(float)), &guihandle, SLOT(setTextAccelX(float)));
QObject::connect(&mikrobi, SIGNAL(setTextAccelY(float)), &guihandle, SLOT(setTextAccelY(float)));
QObject::connect(&mikrobi, SIGNAL(setTextAccelZ(float)), &guihandle, SLOT(setTextAccelZ(float)));
QObject::connect(&mikrobi, SIGNAL(setTextGyroX(float)), &guihandle, SLOT(setTextGyroX(float)));
QObject::connect(&mikrobi, SIGNAL(setTextGyroY(float)), &guihandle, SLOT(setTextGyroY(float)));
QObject::connect(&mikrobi, SIGNAL(setTextGyroZ(float)), &guihandle, SLOT(setTextGyroZ(float)));
QObject::connect(&mikrobi, SIGNAL(setTextStatus(QString)), &guihandle, SLOT(setTextStatus(QString)));
QObject::connect(&mikrobi, SIGNAL(setTextSpeed(float)), &guihandle, SLOT(setTextSpeed(float)));
QObject::connect(&mikrobi, SIGNAL(setWheels(QVarLengthArray<float>, const float)), &guihandle, SLOT(setWheels(QVarLengthArray<float>, const float)));
QObject::connect(&mikrobi, SIGNAL(setCarAccelY(QVarLengthArray<float>, float)), &guihandle, SLOT(setCarAccelY(QVarLengthArray<float>, float)));
QObject::connect(&mikrobi, SIGNAL(setCarGyroX(float)), &guihandle, SLOT(setCarGyroX(float)));
QObject::connect(&mikrobi, SIGNAL(setCarGyroY(float)), &guihandle, SLOT(setCarGyroY(float)));
QObject::connect(&mikrobi, SIGNAL(setCarGyroZ(float)), &guihandle, SLOT(setCarGyroZ(float)));
QObject::connect(&mikrobi, SIGNAL(drawSpeedGraph(float)), &guihandle, SLOT(drawSpeedGraph(float)));
QObject::connect(&mikrobi, SIGNAL(setTextStatus(QString)), &guihandle, SLOT(addStatusHistory(QString)));
return app.exec();
}
MissionWidget::MissionWidget(QWidget *parent, QString mName, JoystickWidget *joystick, Ui::NautilusCommander *gui, SendAction *sa) :
QWidget(parent)
{
this->missionName=mName;
this->ui=gui;
m_sSettingsFile = QString("%1/%2/settings.ini").arg(createPath("Missions")).arg(missionName);
loadSettings();
//Create Mission Folder.
QString missionFolder=QString("%1/%2").arg(createPath("Missions")).arg(missionName);
if(!QDir(missionFolder).exists()){
QDir().mkdir(missionFolder);
}
lblLightsOff=ui->label_switchOff;
lblLightsOn=ui->label_switchOn;
lblLightsOn->setVisible(false);
islightsOn=false;
righLeft=-1;
upDown=-1;
statusVideoOff=ui->statusVideoOff;
statusVideoOff->setVisible(true);
isRecording=false;
lblScreenShot=ui->label_toastSS;
lblScreenShot->setVisible(false);
missionNameLabel=ui->lblMissionName;
missionNameLabel->setText(missionName);
batteryROVPB=ui->progressBattRov;
panCamera=ui->panCamera;
tiltCamera=ui->tiltCamera;
statusErrorBox=ui->statusErrorBox;
statusErrorBox->setVisible(false);
lblError=ui->lblError;
sendAction=sa;
connect(this->sendAction,SIGNAL(offline()),this,SLOT(robotDisconnected()));
status=checkStatus();
if(status!=-1)
sendAction->sendComando(START_ROBOT); //ReEnable the robot
/******************************** Joystick *****************************************************/
this->joystick=joystick;
connect(joystick,SIGNAL(updateStatus(bool)),this,SLOT(updateControlStatus(bool)));
connect(this->joystick,SIGNAL(joystickAxisEvent(QString,int)),this,SLOT(axisEvent(QString,int)));
connect(this->joystick,SIGNAL(joystickButtonEvent(QString, QGameControllerButtonEvent*)),this,SLOT(buttonEvent(QString,QGameControllerButtonEvent*)));
rtsp=new openRTSP(0,missionName,numVideos);
connect(this,SIGNAL(saveVideo()),rtsp,SLOT(saveVideo()));
dataThread=new DataThread(ui->progressBattControl, ui->progressBattRov,ui->labelDepthValue);
dataThread->start();
mplayer=ui->mplayerWG;
//connect(mplayer,SIGNAL(stateChanged(int)),this,SLOT(updatePlayerStatus(int)));
mplayer->start();
mplayer->load("rtsp://*****:*****@10.5.5.110:554");
mplayer->setVisible(true);
isCameraOnline=true;
speedDial=ui->dial;
speedDial->setNotchesVisible(false);
speeds[0][0]=3;speeds[0][1]=10;speeds[0][2]=14;speeds[0][3]=20;//speeds[0][4]=13;//speeds[0][5]=15;speeds[0][6]=18;speeds[0][7]=22;
speeds[1][0]=1580;speeds[1][1]=1610;speeds[1][2]=1640;speeds[1][3]=1670;//speeds[1][4]=1670;
speeds[2][0]=1420;speeds[2][1]=1390;speeds[2][2]=1360;speeds[2][3]=1330;//speeds[2][4]=1330; y = 3000-x
dialIndex=0;
lastCommand="";
speedDial->setValue(speeds[0][0]);
}
