void ParametersToolBox::addParameter(
QVBoxLayout * layout,
const std::string & key,
const std::string & value)
{
std::string type = Parameters::getType(key);
if(type.compare("string") == 0)
{
addParameter(layout, key.c_str(), QString::fromStdString(value));
}
else if(type.compare("int") == 0)
{
addParameter(layout, key.c_str(), uStr2Int(value));
}
else if(type.compare("uint") == 0)
{
addParameter(layout, key.c_str(), uStr2Int(value));
}
else if(type.compare("double") == 0)
{
addParameter(layout, key.c_str(), uStr2Double(value));
}
else if(type.compare("float") == 0)
{
addParameter(layout, key.c_str(), uStr2Double(value));
}
else if(type.compare("bool") == 0)
{
addParameter(layout, key.c_str(), uStr2Bool(value));
}
}
QStringList ParametersToolBox::resetPage(int index)
{
QStringList paramChanged;
const QObjectList & children = stackedWidget_->widget(index)->children().first()->children().first()->children();
for(int j=0; j<children.size();++j)
{
QString key = children.at(j)->objectName();
// ignore working memory
QString group = key.split("/").first();
if(parameters_.find(key.toStdString())!=parameters_.end())
{
UASSERT_MSG(parameters_.find(key.toStdString()) != parameters_.end(), uFormat("key=%s", key.toStdString().c_str()).c_str());
std::string value = Parameters::getDefaultParameters().at(key.toStdString());
parameters_.at(key.toStdString()) = value;
if(qobject_cast<QComboBox*>(children.at(j)))
{
if(((QComboBox*)children.at(j))->currentIndex() != QString::fromStdString(value).split(':').first().toInt())
{
((QComboBox*)children.at(j))->setCurrentIndex(QString::fromStdString(value).split(':').first().toInt());
paramChanged.append(key);
}
}
else if(qobject_cast<QSpinBox*>(children.at(j)))
{
if(((QSpinBox*)children.at(j))->value() != uStr2Int(value))
{
((QSpinBox*)children.at(j))->setValue(uStr2Int(value));
paramChanged.append(key);
}
}
else if(qobject_cast<QDoubleSpinBox*>(children.at(j)))
{
if(((QDoubleSpinBox*)children.at(j))->value() != uStr2Double(value))
{
((QDoubleSpinBox*)children.at(j))->setValue(uStr2Double(value));
paramChanged.append(key);
}
}
else if(qobject_cast<QCheckBox*>(children.at(j)))
{
if(((QCheckBox*)children.at(j))->isChecked() != uStr2Bool(value))
{
((QCheckBox*)children.at(j))->setChecked(uStr2Bool(value));
paramChanged.append(key);
}
}
else if(qobject_cast<QLineEdit*>(children.at(j)))
{
if(((QLineEdit*)children.at(j))->text().compare(QString::fromStdString(value)) != 0)
{
((QLineEdit*)children.at(j))->setText(QString::fromStdString(value));
paramChanged.append(key);
}
}
}
}
return paramChanged;
}
void ParametersToolBox::updateParameter(const std::string & key, const std::string & value)
{
QString group = QString::fromStdString(key).split("/").first();
if(!ignoredGroups_.contains(group))
{
if(parameters_.find(key) == parameters_.end())
{
UWARN("key=\"%s\" doesn't exist", key.c_str());
}
else
{
parameters_.at(key) = value;
QWidget * widget = this->findChild<QWidget*>(key.c_str());
QString type = QString::fromStdString(Parameters::getType(key));
if(type.compare("string") == 0)
{
QString valueQt = QString::fromStdString(value);
if(valueQt.contains(';'))
{
// It's a list, just change the index
QStringList splitted = valueQt.split(':');
((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
}
else
{
((QLineEdit*)widget)->setText(valueQt);
}
}
else if(type.compare("int") == 0)
{
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("uint") == 0)
{
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("double") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Double(value));
}
else if(type.compare("float") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Float(value));
}
else if(type.compare("bool") == 0)
{
((QCheckBox*)widget)->setChecked(uStr2Bool(value));
}
}
}
}
void IMUThread::mainLoop()
{
UTimer totalTime;
UDEBUG("");
if(rate_>0 || captureDelay_)
{
double delay = rate_>0?1000.0/double(rate_):1000.0f*captureDelay_;
int sleepTime = delay - 1000.0f*frameRateTimer_.getElapsedTime();
if(sleepTime > 2)
{
uSleep(sleepTime-2);
}
// Add precision at the cost of a small overhead
delay/=1000.0;
while(frameRateTimer_.getElapsedTime() < delay-0.000001)
{
//
}
frameRateTimer_.start();
}
captureDelay_ = 0.0;
std::string line;
if (std::getline(imuFile_, line))
{
std::stringstream stream(line);
std::string s;
std::getline(stream, s, ',');
std::string nanoseconds = s.substr(s.size() - 9, 9);
std::string seconds = s.substr(0, s.size() - 9);
cv::Vec3d gyr;
for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ',');
gyr[j] = uStr2Double(s);
}
cv::Vec3d acc;
for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ',');
acc[j] = uStr2Double(s);
}
double stamp = double(uStr2Int(seconds)) + double(uStr2Int(nanoseconds))*1e-9;
if(previousStamp_>0 && stamp > previousStamp_)
{
captureDelay_ = stamp - previousStamp_;
}
previousStamp_ = stamp;
IMU imu(gyr, cv::Mat(), acc, cv::Mat(), localTransform_);
this->post(new IMUEvent(imu, stamp));
}
else if(!this->isKilled())
{
UWARN("no more imu data...");
this->kill();
this->post(new IMUEvent());
}
}
