void ModuleView::generateImage()
{
if(image)
{
delete image;
image = 0;
}
const QString& dotName(QDir::temp().filePath("ModuleView.dot"));
if(generateDotFile(dotName.toAscii().constData()))
{
const QString& pngName(QDir::temp().filePath("ModuleView.png"));
#ifdef _WIN32
const QString& cmd(QString("\"%1\\Util\\dot-1.9.0\\dot.exe\" -Tpng -o \"%2\" \"%3\"").arg(File::getGTDir(), pngName, dotName));
#else
const QString& cmd(QString("dot -Tpng -o \"%1\" \"%2\"").arg(pngName, dotName));
#endif
if(QProcess::execute(cmd) == 0)
{
image = new QPixmap(pngName);
if(image->isNull())
{
delete image;
image = 0;
}
QFile::remove(pngName);
}
SYNC_WITH(console);
lastModulInfoTimeStamp = console.moduleInfo.timeStamp;
}
QFile::remove(dotName);
}
QString ModuleGraphViewObject::generateDotFileContent()
{
SYNC_WITH(console);
lastModulInfoTimeStamp = console.moduleInfo.timeStamp;
const ModuleInfo& m = console.moduleInfo;
bool success = false;
std::stringstream stream;
stream << "digraph G {" << std::endl;
stream << "node [style=filled,fillcolor=lightyellow,fontname=Arial,fontsize=9,height=0.2];" << std::endl;
stream << "concentrate = true;" << std::endl;
for(std::list<ModuleInfo::Module>::const_iterator i = m.modules.begin(); i != m.modules.end(); ++i)
if(i->processIdentifier == processIdentifier && (category == "" || i->category == category))
{
bool used = false;
for(std::vector<std::string>::const_iterator j = i->representations.begin(); j != i->representations.end(); ++j)
{
std::list<ModuleInfo::Provider>::const_iterator k = std::find(m.providers.begin(), m.providers.end(), *j);
while(k != m.providers.end() && k->selected != i->name)
k = std::find(++k, m.providers.end(), *j);
if(k != m.providers.end())
{
used = true;
stream << j->c_str() << " [style=filled,fillcolor=\"lightblue\"];" << std::endl;
stream << i->name << "->" << j->c_str() << " [len=2];" << std::endl;
}
}
if(used)
{
for(std::vector<std::string>::const_iterator j = i->requirements.begin(); j != i->requirements.end(); ++j)
{
std::list<ModuleInfo::Provider>::const_iterator k = std::find(m.providers.begin(), m.providers.end(), *j);
while(k != m.providers.end() && (k->selected == "" || k->processIdentifier != processIdentifier))
k = std::find(++k, m.providers.end(), *j);
if(k == m.providers.end())
{
// no provider in same process
k = std::find(m.providers.begin(), m.providers.end(), *j);
while(k != m.providers.end() && k->selected == "")
k = std::find(++k, m.providers.end(), *j);
if(k == m.providers.end())
stream << j->c_str() << " [style=\"filled,dashed\",color=red,fontcolor=red];" << std::endl;
else
stream << j->c_str() << " [style=\"filled,dashed\",fillcolor=\"#ffdec4\"];" << std::endl;
}
stream << j->c_str() << "->" << i->name << " [len=2];" << std::endl;
}
if(i->name == "default")
stream << i->name.c_str() << "[shape=box,fontcolor=red];" << std::endl;
else
stream << i->name.c_str() << "[shape=box];" << std::endl;
success = true;
}
}
stream << "}" << std::endl;
return success ? QString(stream.str().c_str()) : QString();
}
void TimeWidget::update()
{
SYNC_WITH(timeView.console);
{
if(timeView.info.timeStamp == lastTimeInfoTimeStamp)
{
return;
}
lastTimeInfoTimeStamp = timeView.info.timeStamp;
if(SystemCall::getTimeSince(lastUpdate) < 200) //only update 5 times per second
{
return;
}
lastUpdate = SystemCall::getCurrentSystemTime();
float avgFrequency = -1.0;
timeView.info.getProcessStatistics(avgFrequency);
frequency->setText(" Frequency: " + QString::number(avgFrequency));
table->setUpdatesEnabled(false);
table->setSortingEnabled(false);//disable sorting while updating to avoid race conditions
for(TimeInfo::Infos::const_iterator i = timeView.info.infos.begin(), end = timeView.info.infos.end(); i != end; ++i)
{
std::string name = timeView.info.getName(i->first);
Row* currentRow = NULL;
if(items.find(i->first) != items.end())
{//already know this one
currentRow = items[i->first];
}
else
{//new item
currentRow = new Row;
currentRow->avg = new NumberTableWidgetItem();
currentRow->max = new NumberTableWidgetItem();
currentRow->min = new NumberTableWidgetItem();
currentRow->name = new QTableWidgetItem();
const int rowCount = table->rowCount();
table->setRowCount(rowCount + 1);
table->setItem(rowCount, 0, currentRow->name);
table->setItem(rowCount, 1, currentRow->min);
table->setItem(rowCount, 2, currentRow->max);
table->setItem(rowCount, 3, currentRow->avg);
items[i->first] = currentRow;
}
float minTime = -1, maxTime = -1, avgTime = -1;
timeView.info.getStatistics(i->second, minTime, maxTime, avgTime);
currentRow->avg->setText(QString::number(avgTime));
currentRow->min->setText(QString::number(minTime));
currentRow->max->setText(QString::number(maxTime));
currentRow->name->setText(QString(name.c_str())); //refresh name every time to eliminate unknown
}
}
applyFilter();
table->setSortingEnabled(true);
table->setUpdatesEnabled(true);
table->update();
}
void ColorCalibrationWidget::update()
{
SYNC_WITH(colorCalibrationView.console);
if(colorCalibrationView.console.colorCalibrationTimeStamp != timeStamp)
{
updateWidgets(currentColor);
timeStamp = colorCalibrationView.console.colorCalibrationTimeStamp;
}
}
void DebugDrawing3D::draw()
{
if(robotConsole)
{
SYNC_WITH(*robotConsole);
draw2();
}
else
draw2();
}
void update()
{
{
SYNC_WITH(cabslBehaviorView.console);
if(cabslBehaviorView.timeStamp == lastCABSLBehaviorDebugInfoTimeStamp)
return;
lastCABSLBehaviorDebugInfoTimeStamp = cabslBehaviorView.timeStamp;
}
QWidget::update();
}
void TimeView::updateWidget(QWidget& widget)
{
{
SYNC_WITH(console);
if(info.timeStamp == lastTimeInfoTimeStamp)
return;
lastTimeInfoTimeStamp = info.timeStamp;
}
timeWidget->update();
}
void update()
{
{
SYNC_WITH(sensorView.console);
if(sensorView.sensorData.timeStamp == lastUpdateTimeStamp)
return;
lastUpdateTimeStamp = sensorView.sensorData.timeStamp;
}
QWidget::update();
}
bool ColorSpaceView::needsUpdate() const
{
SYNC_WITH(console);
Image* image = 0;
RobotConsole::Images& currentImages = upperCam ? console.upperCamImages : console.lowerCamImages;
RobotConsole::Images::const_iterator i = currentImages.find(name);
if(i != currentImages.end())
image = i->second.image;
return ((image && image->timeStamp != lastTimeStamp) ||
(!image && lastTimeStamp));
}
void ModuleView::updateWidget(QWidget& widget)
{
{
SYNC_WITH(console);
if(lastModulInfoTimeStamp == console.moduleInfo.timeStamp)
return;
}
generateImage();
((ModuleWidget*)(&widget))->image = image;
widget.update();
}
void SensorView::updateWidget(QWidget& widget)
{
{
SYNC_WITH(console);
if(sensorData.timeStamp == lastUpdateTimeStamp)
return;
lastUpdateTimeStamp = sensorData.timeStamp;
}
sensorWidget->update();
}
void ColorSpaceView::updateDisplayLists()
{
SYNC_WITH(console);
Image* image = 0,
* raw = 0;
RobotConsole::Images& currentImages = upperCam ? console.upperCamImages : console.lowerCamImages;
RobotConsole::Images::const_iterator i = currentImages.find(name);
if(i != currentImages.end())
image = i->second.image;
i = currentImages.find("raw image");
if(i != currentImages.end())
raw = i->second.image;
if(image && (channel < 3 || raw))
{
if(!channel)
OpenGLMethods::paintCubeToOpenGLList(256, 256, 256,
cubeId, true,
127, //scale
-127, -127, -127, // offsets
int(background.x * 255) ^ 0xc0,
int(background.y * 255) ^ 0xc0,
int(background.z * 255) ^ 0xc0);
else
OpenGLMethods::paintCubeToOpenGLList(
image->width, image->height, 128,
cubeId, true,
127, //scale
-image->width / 2, -image->height / 2, -65, // offsets
int(background.x * 255) ^ 0xc0,
int(background.y * 255) ^ 0xc0,
int(background.z * 255) ^ 0xc0);
OpenGLMethods::paintImagePixelsToOpenGLList(*image, colorModel, channel - 1, false, colorsId);
lastTimeStamp = image->timeStamp;
}
else
{
glNewList(cubeId, GL_COMPILE_AND_EXECUTE);
glEndList();
glNewList(colorsId, GL_COMPILE_AND_EXECUTE);
glEndList();
lastTimeStamp = 0;
}
}
void paintEvent(QPaintEvent* event)
{
painter.begin(this);
painter.setFont(font);
painter.setBrush(altBrush);
painter.setPen(fontPen);
fillBackground = false;
char formattedTime[65];
paintRect = painter.window();
int defaultLeft = textOffset;
paintRectField0 = QRect(defaultLeft, 0, paintRect.right() - textOffset * 2, lineSpacing);
{
SYNC_WITH(cabslBehaviorView.console);
const ActivationGraph& info(cabslBehaviorView.activationGraph);
for(const ActivationGraph::Node activeOption : info.graph)
{
paintRectField0.setLeft(defaultLeft + 10 * activeOption.depth);
sprintf(formattedTime, "%.02f", float(activeOption.optionTime) / 1000.f);
print(activeOption.option.c_str(), formattedTime, true, true);
if(!activeOption.parameters.empty())
{
paintRectField0.setLeft(defaultLeft + 10 * activeOption.depth + 5);
for(const std::string& parameter : activeOption.parameters)
print(parameter.c_str(), "", false, false);
}
paintRectField0.setLeft(defaultLeft + 10 * activeOption.depth + 5);
sprintf(formattedTime, "%.02f", float(activeOption.stateTime) / 1000.f);
print(("state = " + activeOption.state).c_str(), formattedTime, false, true);
newBlock();
}
}
painter.end();
int minHeight = paintRectField0.top();
if(minHeight > 0)
setMinimumHeight(minHeight);
}
int SoundPlayer::play(const std::string& name)
{
int queuelen;
{
SYNC_WITH(soundPlayer);
soundPlayer.queue.push_back(name.c_str()); // avoid copy-on-write
queuelen = static_cast<int>(soundPlayer.queue.size());
if(!soundPlayer.started)
{
soundPlayer.started = true;
soundPlayer.filePrefix = File::getBHDir();
soundPlayer.filePrefix += "/Config/Sounds/";
soundPlayer.start();
}
else
soundPlayer.sem.post();
}
return queuelen;
}
void paintEvent(QPaintEvent *event)
{
painter.begin(this);
painter.setFont(font);
painter.setBrush(altBrush);
painter.setPen(fontPen);
fillBackground = false;
paintRect = painter.window();
paintRectField0 = QRect(headerView->sectionViewportPosition(0) + textOffset, 0, headerView->sectionSize(0) - textOffset * 2, lineSpacing);
paintRectField1 = QRect(headerView->sectionViewportPosition(1) + textOffset, 0, headerView->sectionSize(1) - textOffset * 2, lineSpacing);
paintRectField2 = QRect(headerView->sectionViewportPosition(2) + textOffset, 0, headerView->sectionSize(2) - textOffset * 2, lineSpacing);
paintRectField3 = QRect(headerView->sectionViewportPosition(3) + textOffset, 0, headerView->sectionSize(3) - textOffset * 2, lineSpacing);
paintRectField4 = QRect(headerView->sectionViewportPosition(4) + textOffset, 0, headerView->sectionSize(4) - textOffset * 2, lineSpacing);
paintRectField5 = QRect(headerView->sectionViewportPosition(5) + textOffset, 0, headerView->sectionSize(5) - textOffset * 2, lineSpacing);
paintRectField6 = QRect(headerView->sectionViewportPosition(6) + textOffset, 0, headerView->sectionSize(6) - textOffset * 2, lineSpacing);
{
SYNC_WITH(console);
for(TimeInfo::Infos::const_iterator i = info.infos.begin(), end = info.infos.end(); i != end; ++i)
{
double minTime = -1, maxTime = -1, avgTime = -1, minDelta = -1, maxDelta = -1, avgFreq = -1;
char fminTime[100], fmaxTime[100], favgTime[100], fminDelta[100], fmaxDelta[100], favgFreq[100];
if(info.getStatistics(i->second, minTime, maxTime, avgTime, minDelta, maxDelta, avgFreq))
{
sprintf(fminTime, "%.02f", minTime);
sprintf(fmaxTime, "%.02f", maxTime);
sprintf(favgTime, "%.02f", avgTime);
sprintf(fminDelta, "%.02f", minDelta);
sprintf(fmaxDelta, "%.02f", maxDelta);
sprintf(favgFreq, "%.02f", avgFreq);
print(i->first.c_str(), fminTime, fmaxTime, favgTime, fminDelta, fmaxDelta, favgFreq);
newBlock();
}
}
}
painter.end();
setMinimumHeight(paintRectField1.top());
}
void ImageWidget::paint(QPainter& painter)
{
SYNC_WITH(imageView.console);
const DebugImage* image = nullptr;
RobotConsole::Images& currentImages = imageView.upperCam ? imageView.console.upperCamImages : imageView.console.lowerCamImages;
RobotConsole::Images::const_iterator i = currentImages.find(imageView.background);
if(i != currentImages.end())
{
image = i->second.image;
imageWidth = image->getImageWidth();
imageHeight = image->height;
}
else if(!currentImages.empty())
{
imageWidth = currentImages.begin()->second.image->getImageWidth();
imageHeight = currentImages.begin()->second.image->height;
}
const QSize& size = painter.window().size();
float xScale = float(size.width()) / float(imageWidth);
float yScale = float(size.height()) / float(imageHeight);
scale = xScale < yScale ? xScale : yScale;
scale *= zoom;
float imageXOffset = (float(size.width()) - float(imageWidth) * scale) * 0.5f + float(offset.x()) * scale;
float imageYOffset = (float(size.height()) - float(imageHeight) * scale) * 0.5f + float(offset.y()) * scale;
painter.setTransform(QTransform(scale, 0, 0, scale, imageXOffset, imageYOffset));
if(image)
paintImage(painter, *image);
else
lastImageTimeStamp = 0;
paintDrawings(painter);
}
void SensorWidget::paintEvent(QPaintEvent* event)
{
painter.begin(this);
painter.setFont(font);
painter.setBrush(altBrush);
painter.setPen(fontPen);
fillBackground = false;
paintRect = painter.window();
paintRectField0 = QRect(headerView->sectionViewportPosition(0) + textOffset, 0, headerView->sectionSize(0) - textOffset * 2, lineSpacing);
paintRectField1 = QRect(headerView->sectionViewportPosition(1) + textOffset, 0, headerView->sectionSize(1) - textOffset * 2, lineSpacing);
{
SYNC_WITH(sensorView.console);
paintInertialSensorData();
newSection();
paintSystemSensorData();
newSection();
paintFsrSensorData();
newSection();
paintKeyStates();
}
painter.end();
setMinimumHeight(paintRectField1.top());
}
void DebugDrawing3D::draw()
{
SYNC_WITH(*robotConsole);
// Convert mm to m.
glScaled(0.001, 0.001, 0.001);
// Custom scaling.
glScaled(scaleX, scaleY, scaleZ);
// Custom rotation.
if (rotateX != 0) glRotated(toDegrees(rotateX), 1, 0, 0);
if (rotateY != 0) glRotated(toDegrees(rotateY), 0, 1, 0);
if (rotateZ != 0) glRotated(toDegrees(rotateZ), 0, 0, 1);
// Custom translation.
glTranslated(transX, transY, transZ);
GLboolean lighting;
glGetBooleanv(GL_LIGHTING, &lighting);
glDisable(GL_LIGHTING);
// Draw all quads.
std::vector<Quad>::iterator q;
for(q = quads.begin(); q != quads.end(); ++q)
{
glColor4ub(q->color.r, q->color.g, q->color.b, q->color.a);
glBegin(GL_QUADS);
glVertex3d(q->points[0].x, q->points[0].y, q->points[0].z);
glVertex3d(q->points[1].x, q->points[1].y, q->points[1].z);
glVertex3d(q->points[2].x, q->points[2].y, q->points[2].z);
glVertex3d(q->points[3].x, q->points[3].y, q->points[3].z);
glEnd();
}
// Draw all polygons/triangles.
std::vector<Polygon>::iterator p;
for(p = polygons.begin(); p != polygons.end(); ++p)
{
glColor4ub(p->color.r, p->color.g, p->color.b, p->color.a);
glBegin(GL_TRIANGLES);
glVertex3d(p->points[0].x, p->points[0].y, p->points[0].z);
glVertex3d(p->points[1].x, p->points[1].y, p->points[1].z);
glVertex3d(p->points[2].x, p->points[2].y, p->points[2].z);
glEnd();
}
// Draw all lines.
// Get line width so we can restore it later on
float lw[1];
glGetFloatv(GL_LINE_WIDTH, lw);
std::vector<Line>::iterator l;
for(l = lines.begin(); l != lines.end(); ++l)
{
glLineWidth(l->width);
glColor4ub(l->color.r, l->color.g, l->color.b, l->color.a);
glBegin(GL_LINES);
glVertex3d(l->points[0].x, l->points[0].y, l->points[0].z);
glVertex3d(l->points[1].x, l->points[1].y, l->points[1].z);
glEnd();
}
// Restore line width
glLineWidth(lw[0]);
// Draw all points.
// Get point size so we can restore it later on
float ps[1];
glGetFloatv(GL_POINT_SIZE, ps);
std::vector<Dot>::iterator d;
for(d = dots.begin(); d != dots.end(); ++d)
{
// Since each point may have a different size we can't handle all
// points in a single glBegin(GL_POINTS).
// ( glPointSize is not allowed in a glBegin(...). )
glPointSize(d->width);
glColor4ub(d->color.r, d->color.g, d->color.b, d->color.a);
glBegin(GL_POINTS);
glVertex3d(d->point.x,d->point.y,d->point.z);
glEnd();
}
std::vector<Sphere>::iterator s;
for(s = spheres.begin(); s != spheres.end(); ++s)
{
glColor4ub(s->color.r, s->color.g, s->color.b, s->color.a);
glPushMatrix();
glTranslated(s->point.x, s->point.y, s->point.z);
GLUquadric* q = gluNewQuadric();
gluSphere(q, s->radius, 16, 16);
gluDeleteQuadric(q);
glPopMatrix();
}
std::vector<Cylinder>::iterator c;
for(c = cylinders.begin(); c != cylinders.end(); ++c)
{
glColor4ub(c->color.r, c->color.g, c->color.b, c->color.a);
glPushMatrix();
glTranslated(c->point.x, c->point.y, c->point.z);
if(c->rotation.x != 0)
glRotated(toDegrees(c->rotation.x), 1, 0, 0);
if(c->rotation.y != 0)
glRotated(toDegrees(c->rotation.y), 0, 1, 0);
if(c->rotation.z != 0)
glRotated(toDegrees(c->rotation.z), 0, 0, 1);
glTranslated(0,0,-c->height / 2);
GLUquadric* q = gluNewQuadric();
gluCylinder(q, c->radius, c->radius, c->height, 16, 1);
glRotated(180, 0, 1, 0);
gluDisk(q, 0, c->radius, 16, 1);
glRotated(180, 0, 1, 0);
glTranslated(0, 0, c->height);
gluDisk(q, 0, c->radius, 16, 1);
gluDeleteQuadric(q);
glPopMatrix();
}
GLboolean culling;
glGetBooleanv(GL_CULL_FACE, &culling);
glDisable(GL_CULL_FACE);
glEnable(GL_TEXTURE_2D);
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
std::vector<Image3D>::iterator i;
for(i = images.begin(); i != images.end(); ++i)
{
GLuint t;
glGenTextures(1, &t);
glBindTexture(GL_TEXTURE_2D, t);
int width, height;
char* imageData = copyImage(*i->image, width, height);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB,
width, height,
0, GL_RGB, GL_UNSIGNED_BYTE, imageData);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
delete [] imageData;
glPushMatrix();
glTranslated(i->point.x, i->point.y, i->point.z);
if(i->rotation.x != 0)
glRotated(toDegrees(i->rotation.x), 1, 0, 0);
if(i->rotation.y != 0)
glRotated(toDegrees(i->rotation.y), 0, 1, 0);
if(i->rotation.z != 0)
glRotated(toDegrees(i->rotation.z), 0, 0, 1);
glBegin(GL_QUADS);
double right = (double) i->image->cameraInfo.resolutionWidth / width;
double top = (double) i->image->cameraInfo.resolutionHeight / height;
glTexCoord2d(right, top); glVertex3d(0, -i->width / 2, i->height / 2);
glTexCoord2d(0, top); glVertex3d(0, i->width / 2, i->height / 2);
glTexCoord2d(0, 0); glVertex3d(0, i->width / 2, -i->height / 2);
glTexCoord2d(right, 0); glVertex3d(0, -i->width / 2, -i->height / 2);
glEnd();
glPopMatrix();
glDeleteTextures(1, &t);
}
glDisable(GL_TEXTURE_2D);
// Restore point size
glPointSize(ps[0]);
if(lighting)
glEnable(GL_LIGHTING);
if(culling)
glEnable(GL_CULL_FACE);
}
bool ModuleGraphViewObject::hasChanged()
{
SYNC_WITH(console);
return lastModulInfoTimeStamp != console.moduleInfo.timeStamp;
}
void TimeWidget::update()
{
SYNC_WITH(timeView.console);
{
if(Time::getTimeSince(lastUpdate) < 200) //only update 5 times per second
return;
lastUpdate = Time::getCurrentSystemTime();
// if timing info is lost for more than 1s, clear timing table
if(timeView.console.logFile == "" && lastUpdate > lastTimeInfoTimeStamp + 1000 && table->rowCount() > 0)
{
table->setRowCount(0);
items.clear();
table->update();
return;
}
if(timeView.info.timeStamp == lastTimeInfoTimeStamp)
return;
lastTimeInfoTimeStamp = timeView.info.timeStamp;
float avgFrequency = -1.0;
float minDuration = -1.0;
float maxDuration = -1.0;
timeView.info.getProcessStatistics(avgFrequency, minDuration, maxDuration);
frequency->setText(" Freq: " + QString::number(avgFrequency, 'f', 1)
+ ", Min: " + QString::number(minDuration, 'f', 1) +
"ms, Max: " + QString::number(maxDuration, 'f', 1) + "ms");
table->setUpdatesEnabled(false);
table->setSortingEnabled(false);//disable sorting while updating to avoid race conditions
for(const auto& infoPair : timeView.info.infos)
{
std::string name = timeView.info.getName(infoPair.first);
Row* currentRow = nullptr;
if(items.find(infoPair.first) != items.end())
{
//already know this one
currentRow = items[infoPair.first];
}
else
{
//new item
currentRow = new Row;
currentRow->avg = new NumberTableWidgetItem();
currentRow->max = new NumberTableWidgetItem();
currentRow->min = new NumberTableWidgetItem();
currentRow->name = new QTableWidgetItem();
const int rowCount = table->rowCount();
table->setRowCount(rowCount + 1);
table->setItem(rowCount, 0, currentRow->name);
table->setItem(rowCount, 1, currentRow->min);
table->setItem(rowCount, 2, currentRow->max);
table->setItem(rowCount, 3, currentRow->avg);
items[infoPair.first] = currentRow;
}
float minTime = -1, maxTime = -1, avgTime = -1;
timeView.info.getStatistics(infoPair.second, minTime, maxTime, avgTime);
// this row timed out, remove it from the list
if(infoPair.second.timeStamp + 1000 < lastUpdate)
maxTime = 0;
currentRow->avg->setText(QString::number(avgTime));
currentRow->min->setText(QString::number(minTime));
currentRow->max->setText(QString::number(maxTime));
currentRow->name->setText(QString(name.c_str())); //refresh name every time to eliminate unknown
}
}
applyFilter();
table->setSortingEnabled(true);
table->setUpdatesEnabled(true);
table->update();
}
void paintEvent(QPaintEvent *event)
{
static const ViewInfo viewInfoNao[] = {
{SensorData::gyroX, angularSpeed, false},
{SensorData::gyroY, angularSpeed, true},
{SensorData::accX, acceleration, false},
{SensorData::accY, acceleration, false},
{SensorData::accZ, acceleration, true},
{SensorData::batteryLevel, ratio, true},
{SensorData::fsrLFL, pressure, false},
{SensorData::fsrLFR, pressure, false},
{SensorData::fsrLBL, pressure, false},
{SensorData::fsrLBR, pressure, false},
{SensorData::fsrRFL, pressure, false},
{SensorData::fsrRFR, pressure, false},
{SensorData::fsrRBL, pressure, false},
{SensorData::fsrRBR, pressure, true},
{SensorData::us, usLDistance, false},
{SensorData::us, usLtRDistance, false},
{SensorData::us, usRtLDistance, false},
{SensorData::us, usRDistance, true},
{SensorData::angleX, angle2, false},
{SensorData::angleY, angle2, false},
{SensorData::numOfSensors, end, true}
};
painter.begin(this);
painter.setFont(font);
painter.setBrush(altBrush);
painter.setPen(fontPen);
fillBackground = false;
paintRect = painter.window();
paintRectField0 = QRect(headerView->sectionViewportPosition(0) + textOffset, 0, headerView->sectionSize(0) - textOffset * 2, lineSpacing);
paintRectField1 = QRect(headerView->sectionViewportPosition(1) + textOffset, 0, headerView->sectionSize(1) - textOffset * 2, lineSpacing);
paintRectField2 = QRect(headerView->sectionViewportPosition(2) + textOffset, 0, headerView->sectionSize(2) - textOffset * 2, lineSpacing);
{
char value[32];
char filtered[32];
SYNC_WITH(console);
const SensorData& sensorData(sensorView.sensorData);
const SensorData& filteredSensorData(sensorView.filteredSensorData);
if(sensorData.data[SensorData::us] != SensorData::off)
usDistances[0][sensorData.usSensorType] = sensorData.data[SensorData::us];
if(filteredSensorData.data[SensorData::us] != SensorData::off)
usDistances[1][sensorData.usSensorType] = filteredSensorData.data[SensorData::us];
for(int i = 0;; ++i)
{
const ViewInfo &vi = viewInfoNao[i];
if(vi.type == SensorWidget::end)
break;
formatSensor(vi.type, sensorData.data[vi.sensor], false, value);
formatSensor(vi.type, filteredSensorData.data[vi.sensor], true, filtered);
print(getSensorName(vi), value, filtered);
newBlock();
if(vi.endOfSection)
newSection();
}
}
painter.end();
setMinimumHeight(paintRectField1.top());
}
