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)));
}