void System::updatePacketData()
{
updateBarometerData();
updateMagnetometerData();
updateAccelerometerData();
updateAnemometerData();
updateWindVaneData();
updateGPSData();
updateBatteryData();
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow), sentBytes(NULL)
{
ui->setupUi(this);
//---- Menu Configuration ----
machineGroup = new QActionGroup(this);
machineGroup->addAction(ui->actionScorpio);
machineGroup->addAction(ui->actionQuadcopter);
ui->actionScorpio->setChecked(true);
viewGroup = new QActionGroup(this);
viewGroup->addAction(ui->actionTracking);
viewGroup->addAction(ui->actionTracking);
viewGroup->addAction(ui->actionManual_Control);
viewGroup->addAction(ui->actionCommand_Center);
ui->actionCommand_Center->setChecked(true);
//---- ----
//---- Statusbar ----
serialConnected=false;
gpsFix=false;
joystickConnected=false;
gpsFooterStat = new QLabel(this);
connectedFooterStat = new QLabel(this);
joystickFooterStat = new QLabel(this);
aliveFooterState = new QLabel(this);
connectedGPSFooterStat = new QLabel(this);
ui->statusBar->addPermanentWidget(gpsFooterStat);
ui->statusBar->addPermanentWidget(connectedFooterStat);
ui->statusBar->addPermanentWidget(aliveFooterState);
ui->statusBar->addPermanentWidget(joystickFooterStat);
ui->statusBar->addPermanentWidget(connectedGPSFooterStat);
//---- ----
//---- Compass Graphics View ----
compassPixmap = new QPixmap(":/img/CompassSquare150.png");
ui->compassViewLabel->setPixmap(rotatePixmap(compassPixmap,0));
//---- ----
//---- Speedometer Graphics View ----
ui->speedometerViewLabel->setPixmap(updateSpeedIndicator(0));
//---- ----
//---- Steer Graphics View ----
ui->steerGraphicsView->setStyleSheet("background: transparent");
steerGraphicsScene = new QGraphicsScene(this);
QBrush brush(QColor::fromRgb(59,174,227));
steerRailIndicator = steerGraphicsScene->addRect(0,22.5,148,15,Qt::NoPen,brush);
brush.setColor(Qt::red);
QPen pen(Qt::black);
pen.setWidth(2);
steerIndicator = steerGraphicsScene->addRect(67.5,5,15,50,Qt::NoPen,brush);
updateSteerIndicator(-100);
ui->steerGraphicsView->setScene(steerGraphicsScene);
//---- ----
//---- Tracker View ----
ui->trackerGraphicsView->
setBackgroundBrush(QBrush(QColor::fromRgb(237,200,90),Qt::Dense4Pattern));
trackerScene = new QGraphicsScene(this);
ui->trackerGraphicsView->setScene(trackerScene);
QPolygonF NorthArrow;
NorthArrow.append(QPointF(-5.,0)); NorthArrow.append(QPointF(0.,-20)); NorthArrow.append(QPointF(5.,0));
NorthArrow.append(QPointF(0.,-5.)); NorthArrow.append(QPointF(-5.,0));
brush.setColor(Qt::black);
northArrowGraphicsItem = trackerScene->addPolygon(NorthArrow,Qt::NoPen,brush);
northArrowGraphicsItem->setPos(800,10);
northArrowGraphicsItem->setFlag(QGraphicsItem::ItemIgnoresTransformations);
//Scorpio Graphics Item
scorpio2DGraphicsItem = new GraphicsItemScorpio;
trackerScene->addItem(scorpio2DGraphicsItem);
scorpio2DGraphicsItem->setPos(500,150);
wgs2utm(BASE_LATITUDE, BASE_LONGITUDE,&baseEasting,&baseNorthing, &baseUTMZone);
lastPoKnown=false;
//---- ----
brush.setColor(QColor(255, 0, 0, 180));
targetMarker = trackerScene->addEllipse(400,100,10,10,pen,brush);
brush.setColor(QColor(255, 255, 0, 180));
baseMarker = trackerScene->addRect(0,0,10,10,pen,brush);
//---- ----
connect(&timerTracker,SIGNAL(timeout()),this,SLOT(updateTrackerGraphics()));
//TODO: another sig-slot for updating scene to zoom to fit
timerTracker.start(100);
//---- ---- ---- ----
//---- Joystick Initialization ----
myJoystick = new RR_SDLJoystick;
myJoystickData = new RR_SDLJoystickData_t;
QString *joystickInitError;
if(!myJoystick->initJoystick(myJoystickData, joystickInitError)){
ui->plainTextEdit->insertPlainText("Error Connecting Joystick");
//TODO: Fix so that the insertPlainText takes the error code from Joystick Object.
}
else{
ui->plainTextEdit->insertPlainText("Joystick Connected!");
joystickConnected=true;
connect(&timerJoystick,SIGNAL(timeout()),myJoystick ,SLOT(pollJoystick()));
timerJoystick.start(150);
}
connect(myJoystick,SIGNAL(gotJoystick()),this,SLOT(updateGaugeIndicators()));
connect(myJoystick,SIGNAL(gotJoystick()),this,SLOT(updateJoystickTelemetry()));
//---- ----
//---- Serial ----
serialPort = new RR_QtSerial(57600,"COM26");
connect(&timerSerial,SIGNAL(timeout()), serialPort,SLOT(receiveBytes()));
connect(ui->actionConnect,SIGNAL(triggered(bool)),serialPort,SLOT(switchSerial(bool)));
connect(serialPort,SIGNAL(gotConnected(bool)),this,SLOT(updateSerialStatusBar(bool)));
connect(serialPort,SIGNAL(gotConnected(bool)),ui->actionConnect,SLOT(setChecked(bool)));
timerSerial.start(150);
//----- GPS ------
serialGPSPort = new RR_QtSerial(57600,"COM19");
connect(&timerGPSSerial, SIGNAL(timeout()),serialGPSPort, SLOT(receiveBytes()));
connect(ui->actionConnect_GPS, SIGNAL(triggered(bool)), serialGPSPort, SLOT(switchSerial(bool)));
connect(serialGPSPort,SIGNAL(gotConnected(bool)),this,SLOT(updateGPSSerialStatusBar(bool)));
connect(serialGPSPort,SIGNAL(gotConnected(bool)),ui->actionConnect_GPS,SLOT(setChecked(bool)));
timerGPSSerial.start(150);
//-------
//---- GPS Data Serialization ----
receivedGPSData = new RR_QtTelemetryReceivedData_t;
sentGPSData = new RR_QtTelemetrySentData_t;
gps = new RR_QtTelemetry(receivedGPSData,sentGPSData);
receivedGPSData->fix=false;
connect(serialGPSPort,SIGNAL(gotBytes(QByteArray*)),gps,SLOT(decodeBytes(QByteArray*)));
connect(gps,SIGNAL(gotDecodedMessage()),this,SLOT(updateGPSData()));
//---- ----
//---- Telemetry ----
receivedTelemetryData = new RR_QtTelemetryReceivedData_t;
sentTelemetryData = new RR_QtTelemetrySentData_t;
telemetry = new RR_QtTelemetry(receivedTelemetryData,sentTelemetryData);
receivedTelemetryData->fix=false;
connect(this,SIGNAL(gotJoystickMessage()),telemetry,SLOT(sendMessage()));
connect(telemetry,SIGNAL(gotEncodedBytes(QByteArray*)),serialPort,SLOT(sendBytes(QByteArray*)));
connect(serialPort,SIGNAL(gotBytes(QByteArray*)),telemetry,SLOT(decodeBytes(QByteArray*)));
connect(telemetry,SIGNAL(gotDecodedMessage()),this,SLOT(updateTelemetryGraphics()));
//---- ----
//---- Text Display ----
connect(&timerSerialPrint,SIGNAL(timeout()),this, SLOT(printStuff()));
timerSerialPrint.start(ui->printfreSlider->value());
connect(ui->printfreSlider, SIGNAL(sliderMoved(int)),&timerSerialPrint,SLOT(start(int)));
connect(ui->clearPushButton,SIGNAL(clicked()),ui->plainTextEdit,SLOT(clear()));
connect(ui->printfreSlider,SIGNAL(sliderMoved(int)),this,SLOT(setPrintFrequencyText()));
setPrintFrequencyText();
//---- ----
//---- Test and Debug ----
connect(&timerTestDebug,SIGNAL(timeout()),this,SLOT(testdebug()));
timerTestDebug.start(1000);
//---- ----
connect(&timerStatusBarUpdate, SIGNAL(timeout()), this, SLOT(updateGPSStatbar()));
timerStatusBarUpdate.start(500);
//Pulse Check
connect(&timerPulseCheck,SIGNAL(timeout()), this, SLOT(checkPulse()));
pulseSamplingTime = 5000;
timerPulseCheck.start(pulseSamplingTime);
}
