void Mwars::on_pbRectangle_clicked()
{
if(rectangleIsRunning) {
QMessageBox::critical(this, "Error", "Rectangle is already running");
return;
}
workerThread = new QThread(); // instantiates ScannerDraw class and the QThread
scannerDraw = new ScannerDraw(this, 33, 44); // on heap
scannerDraw->moveToThread(workerThread);
connect(workerThread, SIGNAL(started()), scannerDraw, SLOT(drawRectangle()));
connect(scannerDraw, SIGNAL(finished()), workerThread, SLOT(quit()), Qt::DirectConnection);
connect(scannerDraw, SIGNAL(finished()), scannerDraw, SLOT(deleteLater()));
connect(scannerDraw, SIGNAL(finished()), workerThread, SLOT(deleteLater()));
connect(workerThread, SIGNAL(finished()), this, SLOT(rectangleFinished()));
connect(ui->pbStopRectangle, SIGNAL(clicked()), this, SLOT(stopRectangle()));
// need these signals cause can't call sockets across threads
connect(scannerDraw, SIGNAL(sendScannerMssg (ushort, ushort, ushort)), this, SLOT(sendScannerMssg(ushort, ushort, ushort)));
connect(scannerDraw, SIGNAL (laserOn()), this, SLOT(laserOn()));
connect(scannerDraw, SIGNAL (laserOff()), this, SLOT(laserOff()));
connect(scannerDraw, SIGNAL (scannerOn()), this, SLOT(scannerOn()));
connect(scannerDraw, SIGNAL (scannerOff()), this, SLOT(scannerOff()));
workerThread->start();
rectangleIsRunning = true;
ui->pbStopRectangle->setEnabled(true);
}
//--------------------------------------------------------------------------------------
// void Mwars::laserToggle(void)
// signals: pbLaserToggle(clicked)
// Enable Scanner button signal comes here
// Note: a toggle
//-------------------------------------------------------------------------------------
void Mwars::on_pbLaserToggle_clicked(void) {
//void Mwars::laserToggle(void) {
if (laserOnFlag) // Is ON; turn off scanner
laserOff();
else // Is OFF, turn on
laserOn();
}
int main() {
sei();
timerInit();
ledInit();
ledOn();
delay(100);
ledOff();
packet.s.nodeId = eeprom_read_byte(I2C_ADDRESS_EEPROM_LOCATION);
SPI.begin();
laserInit();
adcInit();
detectorInit();
detectorCalibrate();
uint8_t radioInitialised = radio.initialize(RF69_868MHZ, packet.s.nodeId, 100);
radio.encrypt(0);
if(radioInitialised) {
ledOn();
delay(1500);
sendStatusPacket();
ledOff();
} else {
ledRapidBlink(2);
}
laserOn();
while(1) {
if(laserTripped) {
ledOn();
sendStatusPacket();
delay(10);
while((0 == (PINB & _BV(PB1)))){
//WAIT
}
sendLaserVisiblePacket();
detectorArm();
while(0 == (PINA & _BV(PA3))) {
//WAIT
}
} else {
ledOff();
}
if(laserTripped || 0 == (PINA & _BV(PA3))) {
sendStatusPacket();
delay(300);
while(0 == (PINA & _BV(PA3))) {
//WAIT
}
delay(300);
}
if(radio.receiveDone()) {
switch((char)radio.DATA[0]) {
case CMD_LASER_ON: laserOn(); break;
case CMD_LASER_OFF: laserOff(); break;
case CMD_CALIBRATE: detectorCalibrate(); break;
case CMD_GET_STATUS: waitAndSendStatus(); break;
}
}
if(isBatteryLow()) {
laserOff();
radio.sleep();
while(1) {
ledRapidBlink(10);
delay(2000);
}
}
}
}
void laserToggle(void) {
if (laserState)
laserOff();
else
laserOn();
}
//--------------------------------------------------------------------------------------
// void Mwars::alignBoresight(void)
// signal: pbCalLaserBsight (clicked)
//
// this just enables the calibration buttons
//--------------------------------------------------------------------------------------
void Mwars::alignBoresight(void) {
scannerOn();
centre_scanner(); // this also send the centering message to scanner
laserOn();
}