void MainWindow::sendPacket()
{
if (reseting)
{
sendBtnClicked();
reseting = false;
}
grSim_Packet packet;
bool yellow = false;
if (cmbTeam->currentText()=="Yellow") yellow = true;
packet.mutable_commands()->set_isteamyellow(yellow);
packet.mutable_commands()->set_timestamp(0.0);
grSim_Robot_Command* command = packet.mutable_commands()->add_robot_commands();
command->set_id(edtId->text().toInt());
command->set_wheelsspeed(!chkVel->isChecked());
command->set_wheel1(edtV1->text().toDouble());
command->set_wheel2(edtV2->text().toDouble());
command->set_wheel3(edtV3->text().toDouble());
command->set_wheel4(edtV4->text().toDouble());
command->set_veltangent(edtVx->text().toDouble());
command->set_velnormal(edtVy->text().toDouble());
command->set_velangular(edtW->text().toDouble());
command->set_kickspeedx(edtKick->text().toDouble());
command->set_kickspeedz(edtChip->text().toDouble());
command->set_spinner(chkSpin->isChecked());
QByteArray dgram;
dgram.resize(packet.ByteSize());
packet.SerializeToArray(dgram.data(), dgram.size());
udpsocket.writeDatagram(dgram, _addr, _port);
}
int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QDialog::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: reconnectUdp(); break;
case 1: sendPacket(); break;
case 2: sendBtnClicked(); break;
case 3: resetBtnClicked(); break;
case 4: disconnectUdp(); break;
default: ;
}
_id -= 5;
}
return _id;
}
MainWindow::MainWindow(QWidget *parent)
: QDialog(parent),
udpsocket(this)
{
QGridLayout* layout = new QGridLayout(this);
edtIp = new QLineEdit("127.0.0.1", this);
edtPort = new QLineEdit("20011", this);
edtId = new QLineEdit("0", this);
edtVx = new QLineEdit("0", this);
edtVy = new QLineEdit("0", this);
edtW = new QLineEdit("0", this);
edtV1 = new QLineEdit("0", this);
edtV2 = new QLineEdit("0", this);
edtV3 = new QLineEdit("0", this);
edtV4 = new QLineEdit("0", this);
edtChip = new QLineEdit("0", this);
edtKick = new QLineEdit("0", this);
this->setWindowTitle(QString("grSim Sample Client - v 2.0"));
lblIp = new QLabel("Simulator Address", this);
lblPort = new QLabel("Simulator Port", this);
lblId = new QLabel("Id", this);
lblVx = new QLabel("Velocity X (m/s)", this);
lblVy = new QLabel("Velocity Y (m/s)", this);
lblW = new QLabel("Velocity W (rad/s)", this);
lblV1 = new QLabel("Wheel1 (rad/s)", this);
lblV2 = new QLabel("Wheel2 (rad/s)", this);
lblV3 = new QLabel("Wheel3 (rad/s)", this);
lblV4 = new QLabel("Wheel4 (rad/s)", this);
cmbTeam = new QComboBox(this);
cmbTeam->addItem("Yellow");
cmbTeam->addItem("Blue");
lblChip = new QLabel("Chip (m/s)", this);
lblKick = new QLabel("Kick (m/s)", this);
txtInfo = new QTextEdit(this);
chkVel = new QCheckBox("Send Velocity? (or wheels)", this);
chkSpin = new QCheckBox("Spin", this);
btnSend = new QPushButton("Send", this);
btnReset = new QPushButton("Reset", this);
btnConnect = new QPushButton("Connect", this);
txtInfo->setReadOnly(true);
txtInfo->setHtml("This program is part of <b>grSim RoboCup SSL Simulator</b> package.<br />For more information please refer to <a href=\"http://eew.aut.ac.ir/~parsian/grsim/\">http://eew.aut.ac.ir/~parsian/grsim</a><br /><font color=\"gray\">This program is free software under the terms of GNU General Public License Version 3.</font>");
txtInfo->setFixedHeight(70);
layout->addWidget(lblIp, 1, 1, 1, 1);layout->addWidget(edtIp, 1, 2, 1, 1);
layout->addWidget(lblPort, 1, 3, 1, 1);layout->addWidget(edtPort, 1, 4, 1, 1);
layout->addWidget(lblId, 2, 1, 1, 1);layout->addWidget(edtId, 2, 2, 1, 1);layout->addWidget(cmbTeam, 2, 3, 1, 2);
layout->addWidget(lblVx, 3, 1, 1, 1);layout->addWidget(edtVx, 3, 2, 1, 1);
layout->addWidget(lblVy, 4, 1, 1, 1);layout->addWidget(edtVy, 4, 2, 1, 1);
layout->addWidget(lblW, 5, 1, 1, 1);layout->addWidget(edtW, 5, 2, 1, 1);
layout->addWidget(chkVel, 6, 1, 1, 1);layout->addWidget(edtKick, 6, 2, 1, 1);
layout->addWidget(lblV1, 3, 3, 1, 1);layout->addWidget(edtV1, 3, 4, 1, 1);
layout->addWidget(lblV2, 4, 3, 1, 1);layout->addWidget(edtV2, 4, 4, 1, 1);
layout->addWidget(lblV3, 5, 3, 1, 1);layout->addWidget(edtV3, 5, 4, 1, 1);
layout->addWidget(lblV4, 6, 3, 1, 1);layout->addWidget(edtV4, 6, 4, 1, 1);
layout->addWidget(lblChip, 7, 1, 1, 1);layout->addWidget(edtChip, 7, 2, 1, 1);
layout->addWidget(lblKick, 7, 3, 1, 1);layout->addWidget(edtKick, 7, 4, 1, 1);
layout->addWidget(chkSpin, 8, 1, 1, 4);
layout->addWidget(btnConnect, 9, 1, 1, 2);layout->addWidget(btnSend, 9, 3, 1, 1);layout->addWidget(btnReset, 9, 4, 1, 1);
layout->addWidget(txtInfo, 10, 1, 1, 4);
timer = new QTimer (this);
timer->setInterval(20);
connect(edtIp, SIGNAL(textChanged(QString)), this, SLOT(disconnectUdp()));
connect(edtPort, SIGNAL(textChanged(QString)), this, SLOT(disconnectUdp()));
connect(timer, SIGNAL(timeout()), this, SLOT(sendPacket()));
connect(btnConnect, SIGNAL(clicked()), this, SLOT(reconnectUdp()));
connect(btnSend, SIGNAL(clicked()), this, SLOT(sendBtnClicked()));
connect(btnReset, SIGNAL(clicked()), this, SLOT(resetBtnClicked()));
btnSend->setDisabled(true);
chkVel->setChecked(true);
sending = false;
reseting = false;
}
