void MainWindow::createActions()
{
minimizeAction = new QAction(tr("Mi&nimize"), this);
connect(minimizeAction, SIGNAL(triggered()), this, SLOT(hide()));
restoreAction = new QAction(tr("&Restore"), this);
connect(restoreAction, SIGNAL(triggered()), this, SLOT(showNormal()));
quitAction = new QAction(tr("&Quit"), this);
connect(quitAction, SIGNAL(triggered()), qApp, SLOT(quit()));
toggleAction = new QAction(tr("&Toggle Tracking"), this);
connect(toggleAction, SIGNAL(triggered()), this, SLOT(toggleTracking()));
}
void MainWindow::makeConnections() {
QPushButton *donateBtn = ui->centralWidget->findChild<QPushButton*>("donatePushButton");
if(donateBtn)
connect(donateBtn, SIGNAL(clicked()), this, SLOT(openPaypalPage()));
connect(trayIcon, SIGNAL(activated(QSystemTrayIcon::ActivationReason)),
this, SLOT(iconActivated(QSystemTrayIcon::ActivationReason)));
connect(preferences, SIGNAL(projectChanged(Project*)), this, SLOT(switchProject(Project*)));
connect(getTrackBtn(), SIGNAL(clicked()), this, SLOT(toggleTracking()));
connect(trackingClock, SIGNAL(ticked()), this, SLOT(setTimeLabel()));
QListView * projectLst = ui->centralWidget->findChild<QListView*>("projectLst");
connect(projectLst, SIGNAL(activated(QModelIndex)), this, SLOT(setSelectedProject(QModelIndex)));
connect(projectLst, SIGNAL(clicked(QModelIndex)), this, SLOT(setSelectedProject(QModelIndex)));
QPushButton * btn = ui->centralWidget->findChild<QPushButton*>("newProjectBtn");
connect(btn, SIGNAL(clicked()), this, SLOT(showProjectDialog()));
connect(newProjectDialog, SIGNAL(accepted()), this, SLOT(addNewProject()));
}
int main()
{
// Objects
CameraInput *camera = new CameraInput();
Control *controller = new Control();
Process *processer = new Process();
Tracking *tracker = new Tracking();
Serial_Communication *serial = new Serial_Communication("/dev/ttyUSB0", "/dev/ttyUSB1");
// Serial_Communication *serial = new Serial_Communication("/dev/ttyUSB0");// #### For testing with only one arduino
File_Handler *file_Handler = new File_Handler();
Window_Handler *window_Handler = new Window_Handler();
Menu *menu = new Menu();
// Threads
QThread *t1 = new QThread;
QThread *t2 = new QThread;
QThread *t3 = new QThread;
QThread *t4 = new QThread;
QThread *t5 = new QThread;
camera->moveToThread(t1);
processer->moveToThread(t2);
tracker->moveToThread(t3);
serial->moveToThread(t3);
controller->moveToThread(t4);
file_Handler->moveToThread(t5);
// Connect signals to slots. Whenever a signal is emitted in a function, its corresponding (connected) function will run.
qRegisterMetaType<cv::Mat>("cv::Mat");
//Signals calling from:
//Main thread
QObject::connect(menu, SIGNAL(startRecording(bool)), controller, SLOT(startRecording(bool)));
QObject::connect(menu, SIGNAL(stopRecording()), controller, SLOT(stopRecording()));
QObject::connect(menu, SIGNAL(displayMenu(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(menu, SIGNAL(requestDataFromFootController()), serial, SLOT(receiveDataFromFootControllerLoop()));
QObject::connect(menu, SIGNAL(startHighRep()), controller, SLOT(startDelayMode()));
QObject::connect(menu, SIGNAL(decreaseDelay()), controller, SLOT(decreaseDelay()));
QObject::connect(menu, SIGNAL(increaseDelay()), controller, SLOT(increaseDelay()));
QObject::connect(menu, SIGNAL(modeSwitch()), controller, SLOT(endMode()));
QObject::connect(menu, SIGNAL(startPlayback()), file_Handler, SLOT(readFromFile()));
QObject::connect(menu, SIGNAL(stopPlayback()), file_Handler, SLOT(stopVideo()));
QObject::connect(menu, SIGNAL(toggleSlowMotion()), file_Handler, SLOT(toggleSlowMotion()));
QObject::connect(menu, SIGNAL(toggleTracking()), controller, SLOT(toggleTracking()));
//Thread 1
QObject::connect(t1, SIGNAL(started()), camera, SLOT(captureImage()));
QObject::connect(camera, SIGNAL(capturedImage(cv::Mat)), controller, SLOT(inputImage(cv::Mat)));
//Thread 2
QObject::connect(t2, SIGNAL(started()), controller, SLOT(processerReady()));
QObject::connect(processer, SIGNAL(posXposY(int,int)), tracker, SLOT(position(int,int)));
QObject::connect(processer, SIGNAL(readyForWork()), controller, SLOT(processerReady()));
//Thread 3
QObject::connect(tracker, SIGNAL(directionAndSpeed(int,int)), serial, SLOT(sendDataToControlUnit(int,int)));
QObject::connect(serial, SIGNAL(fromFootController(char)), menu, SLOT(giveInput(char)));
//Thread 4
QObject::connect(t4, SIGNAL(started()), controller, SLOT(fileHandlerReadyToWrite()));
QObject::connect(controller, SIGNAL(imageToProcess(cv::Mat)), processer, SLOT(processImage(cv::Mat)));
QObject::connect(controller, SIGNAL(requestImage()), camera, SLOT(captureImage()));
QObject::connect(controller, SIGNAL(imageToRecord(cv::Mat)), file_Handler, SLOT(writeImage(cv::Mat)));
// QObject::connect(controller, SIGNAL(imageToShow(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(processer, SIGNAL(processedImage(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(controller, SIGNAL(stopMotor()), serial, SLOT(stopMotor()));
//Thread 5
QObject::connect(file_Handler, SIGNAL(showFrame(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(file_Handler, SIGNAL(readyToWrite()), controller, SLOT(fileHandlerReadyToWrite()));
QObject::connect(file_Handler, SIGNAL(timeout()), file_Handler, SLOT(playVideo()));
QObject::connect(file_Handler, SIGNAL(playbackEnded()), menu, SLOT(returnToLowRep()));
// Starting Threads
t1->start();
t2->start();
t3->start();
t4->start();
t5->start();
// menu->menu();
menu->inputHandler();
return 0;
}