void Mwars::on_pbRectangle_clicked()
{
if(rectangleIsRunning) {
QMessageBox::critical(this, "Error", "Rectangle is already running");
return;
}
workerThread = new QThread(); // instantiates ScannerDraw class and the QThread
scannerDraw = new ScannerDraw(this, 33, 44); // on heap
scannerDraw->moveToThread(workerThread);
connect(workerThread, SIGNAL(started()), scannerDraw, SLOT(drawRectangle()));
connect(scannerDraw, SIGNAL(finished()), workerThread, SLOT(quit()), Qt::DirectConnection);
connect(scannerDraw, SIGNAL(finished()), scannerDraw, SLOT(deleteLater()));
connect(scannerDraw, SIGNAL(finished()), workerThread, SLOT(deleteLater()));
connect(workerThread, SIGNAL(finished()), this, SLOT(rectangleFinished()));
connect(ui->pbStopRectangle, SIGNAL(clicked()), this, SLOT(stopRectangle()));
// need these signals cause can't call sockets across threads
connect(scannerDraw, SIGNAL(sendScannerMssg (ushort, ushort, ushort)), this, SLOT(sendScannerMssg(ushort, ushort, ushort)));
connect(scannerDraw, SIGNAL (laserOn()), this, SLOT(laserOn()));
connect(scannerDraw, SIGNAL (laserOff()), this, SLOT(laserOff()));
connect(scannerDraw, SIGNAL (scannerOn()), this, SLOT(scannerOn()));
connect(scannerDraw, SIGNAL (scannerOff()), this, SLOT(scannerOff()));
workerThread->start();
rectangleIsRunning = true;
ui->pbStopRectangle->setEnabled(true);
}
int
hokuyo::Laser::stopScanning() {
try {
return laserOff();
}
catch (hokuyo::Exception &e)
{
// Ignore exception because we might have gotten part of a scan
// instead of the expected response, which shows up as a bad checksum.
laserFlush();
}
return laserOff(); // This one should work because the scan is stopped.
}
//--------------------------------------------------------------------------------------
// void Mwars::laserDisableToggle(void)
// signals: pushButtonLaserEnableToggle(clicked)
// Enable Scanner button signal comes here
//
// This clears laser
//-------------------------------------------------------------------------------------
void Mwars::laserDisableToggle(void) {
if (laserDisableFlag) { // Is disabled, clear the flag
ui->labelLaser_3->setText("ENABLED");
ui->pushButtonLaserDisableToggle->setStyleSheet("background-color: rgb(255, 255, 255); color: rgb(75, 75, 75)");
// enable other buttons
ui->pbLaserToggle->setEnabled(true); // enable the laser button
ui->pushButtonCameraDataToggle->setEnabled(true);
ui->pushButtonTestDataToggle->setEnabled(true);
laserDisableFlag = false;
ui->notificationLabel->setText("LASER ENABLED");
ui->pushButtonTestDataToggle->setEnabled(true); // enable test data button
}
else { // not disabled, turn it off, disable it
laserOff();
ui->pbLaserToggle->setEnabled(false); // disable the laser button
ui->labelLaser_3->setText("DISABLED");
ui->pushButtonLaserDisableToggle->setStyleSheet("background-color: rgb(255, 255, 0); color: rgb(75, 75, 75)");
disableCameraData();
ui->pushButtonCameraDataToggle->setEnabled(false); // and disable its button
disableTestData();
ui->pushButtonTestDataToggle->setEnabled(false); // and disable its button
laserDisableFlag = true;
ui->notificationLabel->setText("LASER DISABLED");
}
}
//--------------------------------------------------------------------------------------
// void Mwars::calibrateOff(void)
//--------------------------------------------------------------------------------------
void Mwars::calibrateOff(void) {
// we come here when calibration is complete (including calib file updated)
disableCalibrationWidgets();
// init slider & spinbox ranges to the scanner values corresponding
// to the camera view extents 0,0 to 640, 480 pixels
ui->xSlider->setRange(g_xScanFOVOrigin_su, g_xScanFOVMax_su);
ui->ySlider->setRange(g_yScanFOVOrigin_su, g_yScanFOVMax_su);
laserOff();
centre_scanner();
scannerOff();
ui->notificationLabelCal->setText("");
calibrateFlag = false;
/* qDebug("xOffset: %d yOffset: %d xMax: %d, yMax: %d \n"
" xDelta: %d yDelta: %d, xScale: %d yScale: %d\n"
" g_xCamTrim %d g_yCamTrim %d",
g_xScanFOVOrigin_su, g_yScanFOVOrigin_su, g_xScanFOVMax_su, g_yScanFOVMax_su,
(g_xScanFOVMax_su-g_xScanFOVOrigin_su), (g_yScanFOVMax_su-g_yScanFOVOrigin_su),
g_xSF_PixelToSU, g_ySF_PixelToSU, g_xCamTrim,g_yCamTrim); */
}
//--------------------------------------------------------------------------------------
// void Mwars::laserToggle(void)
// signals: pbLaserToggle(clicked)
// Enable Scanner button signal comes here
// Note: a toggle
//-------------------------------------------------------------------------------------
void Mwars::on_pbLaserToggle_clicked(void) {
//void Mwars::laserToggle(void) {
if (laserOnFlag) // Is ON; turn off scanner
laserOff();
else // Is OFF, turn on
laserOn();
}
//--------------------------------------------------------------------------------------
// void Mwars::disableCameraData(void)
//-------------------------------------------------------------------------------------
void Mwars::disableCameraData(void) {
laserOff();
centre_scanner(); // leave scanner centred
scannerOff();
ui->pushButtonCameraDataToggle->setStyleSheet("background-color: rgb(255, 255, 255); color: rgb(75, 75, 75)");
cameraDataEnableFlag = false;
}
void Mwars::calSetLRHC(void) {
g_xScanFOVMax_su = ui->xSpinBox->value();
g_yScanFOVMax_su = ui->ySpinBox->value();
scannerOff();
laserOff();
ui->notificationLabelCal->setText("LRHC recorded");
}
//--------------------------------------------------------------------------------------
// void Mwars::enableCameraData(void)
//-------------------------------------------------------------------------------------
void Mwars::enableCameraData(void) {
laserOff(); // opencv data stream will turn laser on / off
disableTestData(); // turn off test data (if on)
calibrateOff(); //
centre_scanner();
scannerOn();
// and turn on camera data
ui->pushButtonCameraDataToggle->setStyleSheet("background-color: rgb(255, 255, 0); color: rgb(75, 75, 75)");
cameraDataEnableFlag = true;
}
//--------------------------------------------------------------------------------------
// void Mwars::resetScanner(void)
// signals: pushButtonresetScanner(clicked)
//--------------------------------------------------------------------------------------
void Mwars::resetScanner(void) {
laserOff();
serverReady = false;
testDataEnableFlag = false; // turn off data stream
cameraDataEnableFlag = false; // turn off data stream
centre_scanner();
scannerOff();
ui->pushButtonTestDataToggle->setStyleSheet("background-color: rgb(255, 255, 255); color: rgb(75, 75, 75)");
ui->pushButtonCameraDataToggle->setStyleSheet("background-color: rgb(255, 255, 255); color: rgb(75, 75, 75)");
sendScannerMssg(CMD_RESET, 0, 0);
qDebug() << "Reset server cmd sent";
}
//--------------------------------------------------------------------------------------
// void Mwars::calibrateOn(void)
//
// Enables calibation buttons. Actual calibration occurs when they are pressed
//--------------------------------------------------------------------------------------
void Mwars::calibrateOn(void) {
laserOff();
centre_scanner();
scannerOff();
disableTestData();
disableCameraData();
// init slider & spinbox ranges to the max extents that scanner can slew
ui->xSlider->setRange(DAC_X_MIN, DAC_X_MAX);
ui->ySlider->setRange(DAC_Y_MIN, DAC_Y_MAX);
ui->xSpinBox->setRange(DAC_X_MIN, DAC_X_MAX);
ui->ySpinBox->setRange(DAC_Y_MIN, DAC_Y_MAX);
// centre sliders
ui->xSlider->setValue((DAC_X_MAX-DAC_X_MIN)/2 + DAC_X_MIN);
ui->ySlider->setValue((DAC_Y_MAX-DAC_Y_MIN)/2 + DAC_Y_MIN);
// enable calibration buttons
ui->pbCalSetULHC->setEnabled(true);
ui->pbCalSetLRHC->setEnabled(true);
ui->pbCalFullFrame->setEnabled(true);
ui->pbCalHalfFrame->setEnabled(true);
ui->pbCamTrimOffset->setEnabled(true);
ui->spinboxXCamTrim->setEnabled(true);
ui->spinboxYCamTrim->setEnabled(true);
ui->pbCamTrimOffset->setEnabled(true);
ui->pbCalLaserBsight->setEnabled(true);
ui->sbXCamOffset->setEnabled(true);
ui->sbYCamOffset->setEnabled(true);
ui->pbCamOffset->setEnabled(true);
ui->pbRectangle->setEnabled(true);
ui->notificationLabelCal->setText("Ready to calibrate");
calibrateFlag = true;
}
void laserCleanup(void) {
laserOff();
gpio_unexport(laserPin);
}
void laserToggle(void) {
if (laserState)
laserOff();
else
laserOn();
}
inline static void laserInit() {
DDRA |= _BV(PA7);
laserOff();
}
int main() {
sei();
timerInit();
ledInit();
ledOn();
delay(100);
ledOff();
packet.s.nodeId = eeprom_read_byte(I2C_ADDRESS_EEPROM_LOCATION);
SPI.begin();
laserInit();
adcInit();
detectorInit();
detectorCalibrate();
uint8_t radioInitialised = radio.initialize(RF69_868MHZ, packet.s.nodeId, 100);
radio.encrypt(0);
if(radioInitialised) {
ledOn();
delay(1500);
sendStatusPacket();
ledOff();
} else {
ledRapidBlink(2);
}
laserOn();
while(1) {
if(laserTripped) {
ledOn();
sendStatusPacket();
delay(10);
while((0 == (PINB & _BV(PB1)))){
//WAIT
}
sendLaserVisiblePacket();
detectorArm();
while(0 == (PINA & _BV(PA3))) {
//WAIT
}
} else {
ledOff();
}
if(laserTripped || 0 == (PINA & _BV(PA3))) {
sendStatusPacket();
delay(300);
while(0 == (PINA & _BV(PA3))) {
//WAIT
}
delay(300);
}
if(radio.receiveDone()) {
switch((char)radio.DATA[0]) {
case CMD_LASER_ON: laserOn(); break;
case CMD_LASER_OFF: laserOff(); break;
case CMD_CALIBRATE: detectorCalibrate(); break;
case CMD_GET_STATUS: waitAndSendStatus(); break;
}
}
if(isBatteryLow()) {
laserOff();
radio.sleep();
while(1) {
ledRapidBlink(10);
delay(2000);
}
}
}
}
