RtcmClient::RtcmClient(QObject *parent) : QObject(parent) { mTcpSocket = new QTcpSocket(this); mSerialPort = new QSerialPort(this); qRegisterMetaType<rtcm_obs_header_t>("rtcm_obs_header_t"); qRegisterMetaType<rtcm_obs_t>("rtcm_obs_gps_t"); currentMsgHandler = this; rtcm3_init_state(&rtcmState); rtcm3_set_rx_callback(rtcm_rx, &rtcmState); rtcm3_set_rx_callback_1005_1006(rtcm_rx_1006, &rtcmState); rtcm3_set_rx_callback_obs(rtcm_rx_obs, &rtcmState); connect(mTcpSocket, SIGNAL(readyRead()), this, SLOT(tcpInputDataAvailable())); connect(mTcpSocket, SIGNAL(connected()), this, SLOT(tcpInputConnected())); connect(mTcpSocket, SIGNAL(disconnected()), this, SLOT(tcpInputDisconnected())); connect(mTcpSocket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(tcpInputError(QAbstractSocket::SocketError))); connect(mSerialPort, SIGNAL(readyRead()), this, SLOT(serialDataAvailable())); connect(mSerialPort, SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(serialPortError(QSerialPort::SerialPortError))); }
Logger::Logger(QObject *parent) : QObject(parent) { mPort = new SerialPort(this); mPacketInterface = new PacketInterface(this); mValueFile = new QFile("Data/BLDC_Values"); mPrintFile = new QFile("Data/BLDC_Print"); mValueFile->open(QIODevice::WriteOnly | QIODevice::Text); mPrintFile->open(QIODevice::WriteOnly | QIODevice::Text); mValueStream = new QTextStream(mValueFile); mPrintStream = new QTextStream(mPrintFile); mPort->openPort("/dev/ttyACM0"); // Video mVidW = 1280; mVidH = 720; mVidFps = 25.0; mFAudioSamp = 44100; mFrameGrabber = new FrameGrabber(mVidW, mVidH, mVidFps, 0, this); mFrameGrabber->start(QThread::InheritPriority); mPlotter = new FramePlotter(this); mPlotter->start(QThread::InheritPriority); mCoder = new VideoCoder(mVidW, mVidH, mVidFps, "Data/v_video.avi", this); mCoder->start(QThread::InheritPriority); // Audio recording mTimer = 0; mAudio = 0; if (QAudioDeviceInfo::availableDevices(QAudio::AudioInput).size() > 0) { mAudioFile.setFileName("Data/v_audio.raw"); mAudioFile.open(QIODevice::WriteOnly | QIODevice::Truncate); QAudioFormat format; // Set up the desired format, for example: format.setSampleRate(mFAudioSamp); format.setChannelCount(1); format.setSampleSize(8); format.setCodec("audio/pcm"); format.setByteOrder(QAudioFormat::LittleEndian); format.setSampleType(QAudioFormat::UnSignedInt); QAudioDeviceInfo info = QAudioDeviceInfo::defaultInputDevice(); if (!info.isFormatSupported(format)) { qWarning() << "Default format not supported, trying to use the nearest."; format = info.nearestFormat(format); } mAudio = new QAudioInput(format, this); mAudio->setNotifyInterval(1000 / mVidFps); mAudio->start(&mAudioFile); } else { mTimer = new QTimer(this); mTimer->setInterval(1000 / mVidFps); mTimer->start(); } mConsoleReader = new ConsoleReader(this); connect(mConsoleReader, SIGNAL(textReceived(QString)), this, SLOT(consoleLineReceived(QString))); connect(mPort, SIGNAL(serial_data_available()), this, SLOT(serialDataAvailable())); if (mTimer != 0) { connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot())); } if (mAudio != 0) { connect(mAudio, SIGNAL(notify()), this, SLOT(audioNotify())); // Lower the volume to avoid clipping. This seems to be passed to // pulseaudio. mAudio->setVolume(0.1); } connect(mPacketInterface, SIGNAL(dataToSend(QByteArray&)), this, SLOT(packetDataToSend(QByteArray&))); connect(mPacketInterface, SIGNAL(valuesReceived(PacketInterface::MC_VALUES)), this, SLOT(mcValuesReceived(PacketInterface::MC_VALUES))); connect(mPacketInterface, SIGNAL(printReceived(QString)), this, SLOT(printReceived(QString))); connect(mPacketInterface, SIGNAL(samplesReceived(QByteArray)), this, SLOT(samplesReceived(QByteArray))); connect(mPacketInterface, SIGNAL(rotorPosReceived(double)), this, SLOT(rotorPosReceived(double))); connect(mPacketInterface, SIGNAL(experimentSamplesReceived(QVector<double>)), this, SLOT(experimentSamplesReceived(QVector<double>))); connect(mPlotter, SIGNAL(frameReady(QImage)), mCoder, SLOT(setNextFrame(QImage))); }