void MainWindow::connectToServer(QString host, int port, QString username, QString password)
{
// Create client
QArClient *client = new QArClient(username);
// Connect client to server
if (!client->connect(host, port, username, password))
{
QString msg;
QTextStream ts(&msg);
ts << "Error: Unable to connect to " << host;
QMessageBox msgBox;
msgBox.setText(msg);
msgBox.exec();
return;
}
// Connect signals and slots
// -- Client to MapScene --
qRegisterMetaType<ArRobotInfo>("ArRobotInfo");
QObject::connect((QObject *) client, SIGNAL(updatePose(ArRobotInfo)),
_mapScene, SLOT(updateRobotPose(ArRobotInfo)));
QObject::connect((QObject *) client, SIGNAL(updatePath(Points *)),
_mapScene, SLOT(updateRobotPath(Points *)));
QObject::connect((QObject *) client, SIGNAL(updatePose(ArRobotInfo)),
this, SLOT(updateStatus(ArRobotInfo)));
// -- MapScene to Client --
QObject::connect((QObject *) _mapScene, SIGNAL(mapChanged(ArMap *)),
client, SLOT(mapChanged(ArMap *)));
QObject::connect((QObject *) _mapScene, SIGNAL(stop()),
client, SLOT(stop()));
// -- Client to main window --
QObject::connect(client, SIGNAL(disconnected(QString)),
this, SLOT(lostConnection(QString)));
// -- Teleop to client --
QObject::connect((QObject *) &_teleop,
SIGNAL(sendInputs(double, double, double)),
client,
SLOT(ratioDrive(double, double, double)));
// Set as main client
// TODO: support multiple robots
_client = client;
// If no map exists
if (_mapScene->getMap() == NULL)
{
// Get map from server
client->lock();
ArMap *map = client->getMapFromServer();
client->unlock();
_mapScene->renderMap(map);
// Fill goals combobox with goal names
QStringList goalList(_mapScene->goalList());
_goalsComboBox->addItems(goalList);
}
else
{
// Send map to server
_mapScene->updateMap();
}
// Set map view
ui->mapView->fitInView(_mapScene->sceneRect(), Qt::KeepAspectRatio);
// Get periodic updates
client->getUpdates(100);
// Display connected status
statusBar()->showMessage(QString("Connected."), 0);
// Record user name
_user.append(username);
// Enable map and nav controls
toggleMapControls(true);
toggleNavControls(true);
// Start logging
_sessionName.clear();
QTextStream ts2(&_sessionName);
ts2 << username << '_' << _mapScene->getMapName() << '_'
<< QDateTime::currentDateTime().toString(QString("yyyy_MM_dd_hh:mm:ss"));
startDataLogging(_sessionName);
}
