void MainFrm::openRecentFile()
{
QAction *action = qobject_cast<QAction *>(sender());
if (action){
if (!readXMLFile(action->data().toString()))
this->displayError(tr("Could not parse XML file! Are you sure it exists and is a valid project file?"),true);
else
loadTabs();
}
}
void MainFrm::loadFile()
{
if (pFrmReports->isVisible())
closeSecondaryFrm(pFrmReports);
QString fileName = QFileDialog::getOpenFileName(this,
tr("Open Project"), tr(""), tr("Project Files (*.xml)"));
if (!fileName.isEmpty()){
if (!readXMLFile(fileName))
this->displayError(tr("Could not parse XML file! Are you sure this is a valid project file?"),true);
else
loadTabs();
setCurrentFile(fileName);
statusShow(tr("File loaded"));
}
}
bool DataReader::readFile(TFileType fileType, char* filename, char* dirname)
{
bool bOk = true;
if (dirname)
{
bOk = readDicomFile(dirname);
}
else if (fileType == FT_VTI)
{
bOk = readXMLFile(filename);
}
else if (fileType == FT_MHA)
{
bOk = readMetaFile(filename);
}
else
{
cout << "Error! Not VTI or MHA!" << endl;
exit(EXIT_FAILURE);
}
// Verify that we actually have a volume
int dim[3];
input->GetDimensions(dim);
if (dim[0] < 2 ||
dim[1] < 2 ||
dim[2] < 2)
{
cout << "Error loading data!" << endl;
exit(EXIT_FAILURE);
}
outputPort = reader->GetOutputPort();
return bOk;
}
//--------------------------------------------------------------------------------------
// Mwars::Mwars()
// the Constructor
//--------------------------------------------------------------------------------------
Mwars::Mwars(QWidget *parent) : QMainWindow(parent), ui(new Ui::mwarsForm) {
ui->setupUi(this); // Ui:mwarsForm ui
//*********** two timers
QTimer *keepServerAliveTimer = new QTimer(this); // instantiate timer
QTimer *testTimer = new QTimer(this);
// a. TCP stream to scanner server
// clientSocket: client socket sends stream to scanner. clientSocket already exists
// Q_SIGNALS signals emitted by socket unimplemented: void hostFound() void connected()
connect( &clientSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(clientSocketError(QAbstractSocket::SocketError)) );
connect( &clientSocket, SIGNAL(stateChanged(QAbstractSocket::SocketState)),
this, SLOT(clientSocketState(QAbstractSocket::SocketState)) );
connect( &clientSocket, SIGNAL(readyRead()),this, SLOT(OnReadyRead()) );
connect( &clientSocket, SIGNAL(disconnected()), this, SLOT(disconnectedz()) );
// b. UDP stream from opencv / camera
listenSocket = new QUdpSocket ( this );
listenSocket->bind(9988 );
connect( listenSocket, SIGNAL(readyRead()),this, SLOT(OnReadyRead()) );
//signals from within code
connect( this, SIGNAL(connectScanner()), this, SLOT(connectToScanner())); // Constructor
connect( keepServerAliveTimer, SIGNAL(timeout()), this, SLOT(keepServerAlive()));
// connect( testTimer, SIGNAL(timeout()), this, SLOT(testSignal()));
// signals from ui
connect( ui->xSlider, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
connect( ui->ySlider, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
connect( ui->spinboxXCamTrim, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
connect( ui->spinboxYCamTrim, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
//connect( ui->pbLaserToggle, SIGNAL(clicked()), this, SLOT(laserToggle()));
connect( ui->pushButtonLaserDisableToggle, SIGNAL(clicked()), this, SLOT(laserDisableToggle()));
connect( ui->pushButtonScannerToggle, SIGNAL(clicked()), this, SLOT(scannerToggle()));
connect( ui->pushButtonConnect, SIGNAL(clicked()), this, SLOT(connectToScanner()));
connect( ui->radioButtonVerboseOn, SIGNAL(clicked()), this, SLOT(verboseOn()));
connect( ui->radioButtonVerboseOff, SIGNAL(clicked()), this, SLOT(verboseOff()));
connect( ui->pushButtonResetScanner, SIGNAL(clicked()), this, SLOT(resetScanner()));
connect( ui->pushButtonCameraDataToggle, SIGNAL(clicked()), this, SLOT(cameraDataToggle()));
connect( ui->pushButtonTestDataToggle, SIGNAL(clicked()), this, SLOT(testDataToggle()));
//connect( ui->pbAlignBS, SIGNAL(clicked()), this, SLOT(alignBoresight()));
connect( ui->pbCalibrateToggle, SIGNAL(clicked()), this, SLOT(calibrateToggle()));
connect( ui->pbCalSetULHC, SIGNAL(clicked()), this, SLOT(calSetULHC()));
connect( ui->pbCalSetLRHC, SIGNAL(clicked()), this, SLOT(calSetLRHC()));
connect( ui->pbCalFullFrame, SIGNAL(clicked()), this, SLOT(calFullFrame()));
connect( ui->pbCalHalfFrame, SIGNAL(clicked()), this, SLOT(calHalfFrame()));
connect( ui->spinboxXCamTrim, SIGNAL(valueChanged(int)), this, SLOT(xCamTrim()));
connect( ui->spinboxYCamTrim, SIGNAL(valueChanged(int)), this, SLOT(yCamTrim()));
connect( ui->pbCamTrimOffset, SIGNAL(clicked()), this, SLOT(camTrimOffset()));
connect( ui->sbXCamOffset, SIGNAL(valueChanged(int)), this, SLOT(xCamOffset()));
connect( ui->sbYCamOffset, SIGNAL(valueChanged(int)), this, SLOT(yCamOffset()));
connect( ui->pbCamOffset, SIGNAL(clicked()), this, SLOT(camScanOffset()));
connect( ui->pbCalLaserBsight, SIGNAL(clicked()), this, SLOT(alignBoresight()));
//connect( this, SIGNAL (testSignal()), this, SLOT (testSignal()));
// temporary stuff to test parallax offset
g_xLenWallFOV_mm = (1310 * 2); // measured width, x axis, of FOV at target distance = range (mm)
g_yLenWallFOV_mm = (975 * 2);
g_xSF_pixelTomm = (float)g_xLenWallFOV_mm / CAMERA_X_PIXELS;
g_ySF_pixelTomm = (float)g_yLenWallFOV_mm / CAMERA_Y_PIXELS;
range_mm = 2750; // measured range cam to target (mm)
//overwritten when cam file is read
g_xScanFOVOrigin_su = DAC_X_MIN; // scanner origin corresponding to x_camFOVOrigin (scan units)
g_xScanFOVMax_su = DAC_X_MAX; // scanner max x corresponding to x_camFOVMax (scan units)
// read camera to scanner calibration file. This reads the calibration parameters
// and sets main slider and spin box values
readXMLFile();
ui->spinboxXCamTrim->setRange(-5000, +5000);
ui->spinboxYCamTrim->setRange(-5000, +5000);
ui->radioButtonVerboseOff->setChecked(true);
clearStateWidets(); // clear Server State widget text
#ifdef FORCE_ENABLE_WIDGETS
enableWidgets();
#else
disableWidgets(); // control widgets get enabled when connected
#endif
verbose = false; // verbose OFF
laserOnFlag = false;
testDataEnableFlag = false; // set by TestData button to turn on test data stream
cameraDataEnableFlag = false; // set by Camera Data button to turn on OpenCVcamera data stream
laserDisableFlag = false; // set by Laser On/Off button
scannerOnFlag = false; // set by Scanner On/Off button
tcpConnected = false; // tcp connected
serverReady = false;
calibrateFlag = false;
setWindowTitle(tr("MWARS SCANNER CONSOLE"));
// =================== start scannerserver comms ===============================
// a) UDP stream of co-ords and laser command from OpenCV Project mwars
// b) TCP connection to server in the scanner unit
// 1. connect to the TCP server in the laser scanner unit
emit connectScanner(); //runs connectToScanner
// ==================== timers ==================================
// start the keep alivetimer. Used to get response to update Console
keepServerAliveTimer->start(1000); //1000 = 1 sec
//start the test signal timer for testSignal()
// 1000 = 1 sec, 1 = 1mS
//testTimer->start(100); // 5 Hz
//testTimer->start(10); // 50 Hz
//testTimer->start(20); // 25 Hz
// testTimer->start(60); // 8 Hz
// testTimer->start(50); // 10 Hz
sendScanCmd(); // init scanner, slew to slider values
rectangleIsRunning = false;
}
