GameBoard::GameBoard(Game *parent)
: game(parent)
{
setupUi(this);
/** canvas object */
canvas = new Canvas(this);
canvas->setSceneRect(70,65, graphicsView->width(), graphicsView->height());
graphicsView->setScene(canvas);
/** init game with rocks */
initGame();
/** connect signal from scene and game */
connect(game, SIGNAL(refresh()), this, SLOT(refresh()));
connect(canvas, SIGNAL(showPossibleMoves(uint,uint)), this, SLOT(showMoves(uint, uint)));
connect(canvas, SIGNAL(sceneUpdated(uint,uint,uint,uint)), this, SLOT(sceneUpdate(uint, uint, uint, uint)));
}
void MainWindow::updateScan(const sensor_msgs::LaserScan scan) {
scanview->convertDistanceToCoordinate((float*)scan.ranges.data(),scan.ranges.size(), scan.angle_min,scan.angle_increment);
Q_EMIT sceneUpdate();
}
void MainWindow::setDeltaAngle(int deg){ scanview->setDeltaAngle(deg);Q_EMIT sceneUpdate();}
void MainWindow::setArcDistanceInPixels(int deg){ scanview->setArcDistanceInPixels(deg);Q_EMIT sceneUpdate();}
void MainWindow::setRange(int deg){ scanview->setRange(deg); Q_EMIT sceneUpdate();}
MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
: QMainWindow(parent)
, qnode(argc,argv)
,timer()
,scene()
//, gps(argc,argv)
{
ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.
QObject::connect(ui.actionAbout_Qt, SIGNAL(triggered(bool)), qApp, SLOT(aboutQt())); // qApp is a global variable for the application
ReadSettings();
setWindowIcon(QIcon(":/images/icon.png"));
ui.tab_manager->setCurrentIndex(0); // ensure the first tab is showing - qt-designer should have this already hardwired, but often loses it (settings?).
QObject::connect(&qnode, SIGNAL(rosShutdown()), this, SLOT(close()));
//QObject::connect(&gps, SIGNAL(rosShutdown()), this, SLOT(close()));
/*********************
** Logging
**********************/
ui.view_logging->setModel(qnode.loggingModel());
QObject::connect(&qnode, SIGNAL(loggingUpdated()), this, SLOT(updateLoggingView()));
//Mesaj detayları
//QImuMesajEditGrup egrup;
ui.viewFrontCamera->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
ui.viewFrontCamera->setScaledContents(true);
ui.viewPTZCamera->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
ui.viewPTZCamera->setScaledContents(true);
QObject::connect(&qnode,SIGNAL(imuSignal_accelX(QString)),ui.lineAccelX,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_accelY(QString)),ui.lineAccelY,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_accelZ(QString)),ui.lineAccelZ,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_gyroX(QString)),ui.lineGyroX,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_gyroY(QString)),ui.lineGyroY,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_gyroZ(QString)),ui.lineGyroZ,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_magnetomX(QString)),ui.lineMagnetomX,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_magnetomY(QString)),ui.lineMagnetomY,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_magnetomZ(QString)),ui.lineMagnetomZ,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(imuSignal_raw(QString)),ui.lineIMURaw,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_raw(QString)),ui.lineGPSRaw,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_latitude(QString)),ui.lineLatitude,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_longtitude(QString)),ui.lineLongtitude,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_cog(QString)),ui.lineGPSCOG,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_vog(QString)),ui.lineGPSVOG,SLOT(setText(QString)));
QObject::connect(&qnode,SIGNAL(gpsSignal_quality(QString)),ui.lineGPSQuality,SLOT(setText(QString)));
qRegisterMetaType<sensor_msgs::LaserScan>("sensor_msgs::LaserScan");
QObject::connect(&qnode,SIGNAL(scanSignal(const sensor_msgs::LaserScan)),this,SLOT(updateScan(sensor_msgs::LaserScan)));
qRegisterMetaType<cv::Mat>("cv::Mat");
QObject::connect(&qnode,SIGNAL(frontCamera_signal(cv::Mat)),this,SLOT(getFrontCameraImage(cv::Mat)));
QObject::connect(&qnode,SIGNAL(ptzCamera_signal(cv::Mat)),this,SLOT(getPTZCameraImage(cv::Mat)));
qRegisterMetaType<axis_camera::Axis>("axis_camera::Axis");
QObject::connect(&qnode,SIGNAL(ptzStatus_signal(axis_camera::Axis)),this,SLOT(getPTZCameraStatus(axis_camera::Axis)));
QObject::connect(ui.buttonPTZPan,SIGNAL(clicked()),this,SLOT(button_PTZPan_clicked()));
QObject::connect(ui.buttonPTZTilt,SIGNAL(clicked()),this,SLOT(button_PTZTilt_clicked()));
QObject::connect(ui.buttonSendVelocity,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_clicked()));
QObject::connect(ui.buttonSendVelocity_2,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_2_clicked()));
QObject::connect(ui.buttonSendVelocity_3,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_3_clicked()));
QObject::connect(ui.buttonSendVelocity_4,SIGNAL(clicked()),this,SLOT(on_buttonSendVelocity_4_clicked()));
/*********************
** Auto Start
**********************/
if ( ui.checkbox_remember_settings->isChecked() ) {
on_button_connect_clicked(true);
}
////////////////////////////////////////////////////////////////////////
qsrand(QTime(0,0,0).secsTo(QTime::currentTime()));
scene.setSceneRect(-1600,-1600, 3200, 3200);
scene.setItemIndexMethod(QGraphicsScene::NoIndex);
scanview = new ScanWiew();
scanview->setPos(0,0);
scene.addItem(scanview);
/*
for (int i = 0; i < MouseCount; ++i) {
ScanWiew *mouse = new ScanWiew;
mouse->setPos(::sin((i * 6.28) / MouseCount) * 200,
::cos((i * 6.28) / MouseCount) * 200);
scene.addItem(mouse);
}*/
// QGraphicsView view(&scene);
ui.graphicsView->setScene(&scene);
ui.graphicsView->setRenderHint(QPainter::Antialiasing);
QColor color( 0, 0, 0);
ui.graphicsView->setBackgroundBrush(color);//QPixmap(":/images/cheese.jpg"));
ui.graphicsView->setCacheMode(QGraphicsView::CacheBackground);
ui.graphicsView->setViewportUpdateMode(QGraphicsView::BoundingRectViewportUpdate);
ui.graphicsView->setDragMode(QGraphicsView::ScrollHandDrag);
#if defined(Q_WS_S60) || defined(Q_WS_MAEMO_5) || defined(Q_WS_SIMULATOR)
ui.graphicsView->showMaximized();
#else
//ui.graphicsView.resize(400, 300);
//view.show();
#endif
//QObject::connect(&timer, SIGNAL(timeout()), &scene, SLOT(advance()));
QObject::connect(this, SIGNAL(sceneUpdate()), &scene, SLOT(update()));
QObject::connect(ui.spinBox_ArcDistanceInMeter,SIGNAL( valueChanged (int)),this,SLOT(setArcDistanceInMeter(int)));
QObject::connect(ui.spinBox_arcDistanceInPixels,SIGNAL( valueChanged (int)),this,SLOT(setArcDistanceInPixels(int)));
QObject::connect(ui.spinBox_LaserRange,SIGNAL( valueChanged (int)),this,SLOT(setRange(int)));
//timer.start(1000 / 33);
ui.line_log_dir_path->setText( QDir::currentPath());
QObject::connect(ui.button_single_save,SIGNAL(clicked()),this,SLOT(button_single_save_clicked()));
QObject::connect(ui.checkbox_enable_sensor_logging,SIGNAL(stateChanged(int)),this,SLOT(checkbox_enable_sensor_logging_changed(int)));
}
