void TMsgCore::OnNewConnection() // server side
{
QTcpSocket *socket;
if (m_tcpServer) socket = m_tcpServer->nextPendingConnection();
assert(socket);
bool ret = connect(socket, SIGNAL(readyRead()), SLOT(OnReadyRead()));
ret = ret && connect(socket, SIGNAL(disconnected()), SLOT(OnDisconnected()));
assert(ret);
m_sockets.insert(socket);
}
// TODO: use exceptions
bool Irc::Run()
{
if (!Connect())
{
return false;
}
connect(&m_socket, SIGNAL(readyRead()), this, SLOT(OnReadyRead()));
m_eventloop.exec();
// Start delivering messages from the queue
m_message_queue->Process();
return true;
}
void TMsgCore::OnReadyRead() // server side
{
std::set<QTcpSocket *>::iterator it = m_sockets.begin();
for (; it != m_sockets.end(); it++) // devo scorrerli tutti perche' non so da
// quale socket viene il messaggio...
{
if ((*it)->state() == QTcpSocket::ConnectedState &&
(*it)->bytesAvailable() > 0)
break;
}
if (it != m_sockets.end()) {
readFromSocket(*it);
OnReadyRead();
}
}
bool NetworkConnection::openConnection(const QString & host, const unsigned short port, bool not_main_connection)
{
qsocket = new QTcpSocket(); //try with no parent passed for now
if(!qsocket)
return 0;
//connect signals
//connect(qsocket, SIGNAL(hostFound()), SLOT(OnHostFound()));
connect(qsocket, SIGNAL(connected()), SLOT(OnConnected()));
connect(qsocket, SIGNAL(readyRead()), SLOT(OnReadyRead()));
connect(qsocket, SIGNAL(disconnected ()), SLOT(OnConnectionClosed()));
// connect(qsocket, SIGNAL(delayedCloseFinished()), SLOT(OnDelayedCloseFinish()));
// connect(qsocket, SIGNAL(bytesWritten(qint64)), SLOT(OnBytesWritten(qint64)));
connect(qsocket, SIGNAL(error(QAbstractSocket::SocketError)), SLOT(OnError(QAbstractSocket::SocketError)));
if(qsocket->state() != QTcpSocket::UnconnectedState)
{
qDebug("Called openConnection while in state %d", qsocket->isValid());
return 0;
}
//remove asserts later
Q_ASSERT(host != 0);
Q_ASSERT(port != 0);
if(!not_main_connection)
drawPleaseWait();
qDebug("Connecting to %s %d...\n", host.toLatin1().constData(), port);
// assume info.host is clean
qsocket->connectToHost(host, (quint16) port);
/* If dispatch does not have a UI, the thing that sets the UI
* will setupRoomAndConsole */
/* Tricky now without dispatches... who sets up the UI?
* there's always a mainwindow... but maybe things aren't setup? */
/* connectionInfo as a message with those pointers is probably a bad idea */
return (qsocket->state() != QTcpSocket::UnconnectedState);
}
/**
* At construction time, we want to listen to a tcp socket and emit a signal
* when reading is finished.
*
* @param socket -- The socket to construct message from.
* @param target -- The target canceller/receiver.
*
* @version
* - JR Lewis pre-2012.02.08
* - Initial version.
* - JR Lewis 2012.02.08
* - Bringing this into the net project.
* - JR Lewis 2012.02.13
* - Adding target.
*/
MessageAssembler::MessageAssembler(QTcpSocket& socket, QObject* target)
: QObject(0)
, socket(socket)
, block_size(0)
, cancel(false)
{
bool r = QObject::connect( &socket
, SIGNAL(readyRead())
, this
, SLOT(OnReadyRead()));
assert(r);
r = QObject::connect( target
, SIGNAL(CancelTimer())
, this
, SLOT(OnCancel()));
assert(r);
r = QObject::connect( this
, SIGNAL(MessageConstructed(QString const&))
, target
, SLOT(OnMessageConstructed(QString const&)));
assert(r);
}
//--------------------------------------------------------------------------------------
// Mwars::Mwars()
// the Constructor
//--------------------------------------------------------------------------------------
Mwars::Mwars(QWidget *parent) : QMainWindow(parent), ui(new Ui::mwarsForm) {
ui->setupUi(this); // Ui:mwarsForm ui
//*********** two timers
QTimer *keepServerAliveTimer = new QTimer(this); // instantiate timer
QTimer *testTimer = new QTimer(this);
// a. TCP stream to scanner server
// clientSocket: client socket sends stream to scanner. clientSocket already exists
// Q_SIGNALS signals emitted by socket unimplemented: void hostFound() void connected()
connect( &clientSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(clientSocketError(QAbstractSocket::SocketError)) );
connect( &clientSocket, SIGNAL(stateChanged(QAbstractSocket::SocketState)),
this, SLOT(clientSocketState(QAbstractSocket::SocketState)) );
connect( &clientSocket, SIGNAL(readyRead()),this, SLOT(OnReadyRead()) );
connect( &clientSocket, SIGNAL(disconnected()), this, SLOT(disconnectedz()) );
// b. UDP stream from opencv / camera
listenSocket = new QUdpSocket ( this );
listenSocket->bind(9988 );
connect( listenSocket, SIGNAL(readyRead()),this, SLOT(OnReadyRead()) );
//signals from within code
connect( this, SIGNAL(connectScanner()), this, SLOT(connectToScanner())); // Constructor
connect( keepServerAliveTimer, SIGNAL(timeout()), this, SLOT(keepServerAlive()));
// connect( testTimer, SIGNAL(timeout()), this, SLOT(testSignal()));
// signals from ui
connect( ui->xSlider, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
connect( ui->ySlider, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
connect( ui->spinboxXCamTrim, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
connect( ui->spinboxYCamTrim, SIGNAL(valueChanged(int)), this, SLOT(sendScanCmd()));
//connect( ui->pbLaserToggle, SIGNAL(clicked()), this, SLOT(laserToggle()));
connect( ui->pushButtonLaserDisableToggle, SIGNAL(clicked()), this, SLOT(laserDisableToggle()));
connect( ui->pushButtonScannerToggle, SIGNAL(clicked()), this, SLOT(scannerToggle()));
connect( ui->pushButtonConnect, SIGNAL(clicked()), this, SLOT(connectToScanner()));
connect( ui->radioButtonVerboseOn, SIGNAL(clicked()), this, SLOT(verboseOn()));
connect( ui->radioButtonVerboseOff, SIGNAL(clicked()), this, SLOT(verboseOff()));
connect( ui->pushButtonResetScanner, SIGNAL(clicked()), this, SLOT(resetScanner()));
connect( ui->pushButtonCameraDataToggle, SIGNAL(clicked()), this, SLOT(cameraDataToggle()));
connect( ui->pushButtonTestDataToggle, SIGNAL(clicked()), this, SLOT(testDataToggle()));
//connect( ui->pbAlignBS, SIGNAL(clicked()), this, SLOT(alignBoresight()));
connect( ui->pbCalibrateToggle, SIGNAL(clicked()), this, SLOT(calibrateToggle()));
connect( ui->pbCalSetULHC, SIGNAL(clicked()), this, SLOT(calSetULHC()));
connect( ui->pbCalSetLRHC, SIGNAL(clicked()), this, SLOT(calSetLRHC()));
connect( ui->pbCalFullFrame, SIGNAL(clicked()), this, SLOT(calFullFrame()));
connect( ui->pbCalHalfFrame, SIGNAL(clicked()), this, SLOT(calHalfFrame()));
connect( ui->spinboxXCamTrim, SIGNAL(valueChanged(int)), this, SLOT(xCamTrim()));
connect( ui->spinboxYCamTrim, SIGNAL(valueChanged(int)), this, SLOT(yCamTrim()));
connect( ui->pbCamTrimOffset, SIGNAL(clicked()), this, SLOT(camTrimOffset()));
connect( ui->sbXCamOffset, SIGNAL(valueChanged(int)), this, SLOT(xCamOffset()));
connect( ui->sbYCamOffset, SIGNAL(valueChanged(int)), this, SLOT(yCamOffset()));
connect( ui->pbCamOffset, SIGNAL(clicked()), this, SLOT(camScanOffset()));
connect( ui->pbCalLaserBsight, SIGNAL(clicked()), this, SLOT(alignBoresight()));
//connect( this, SIGNAL (testSignal()), this, SLOT (testSignal()));
// temporary stuff to test parallax offset
g_xLenWallFOV_mm = (1310 * 2); // measured width, x axis, of FOV at target distance = range (mm)
g_yLenWallFOV_mm = (975 * 2);
g_xSF_pixelTomm = (float)g_xLenWallFOV_mm / CAMERA_X_PIXELS;
g_ySF_pixelTomm = (float)g_yLenWallFOV_mm / CAMERA_Y_PIXELS;
range_mm = 2750; // measured range cam to target (mm)
//overwritten when cam file is read
g_xScanFOVOrigin_su = DAC_X_MIN; // scanner origin corresponding to x_camFOVOrigin (scan units)
g_xScanFOVMax_su = DAC_X_MAX; // scanner max x corresponding to x_camFOVMax (scan units)
// read camera to scanner calibration file. This reads the calibration parameters
// and sets main slider and spin box values
readXMLFile();
ui->spinboxXCamTrim->setRange(-5000, +5000);
ui->spinboxYCamTrim->setRange(-5000, +5000);
ui->radioButtonVerboseOff->setChecked(true);
clearStateWidets(); // clear Server State widget text
#ifdef FORCE_ENABLE_WIDGETS
enableWidgets();
#else
disableWidgets(); // control widgets get enabled when connected
#endif
verbose = false; // verbose OFF
laserOnFlag = false;
testDataEnableFlag = false; // set by TestData button to turn on test data stream
cameraDataEnableFlag = false; // set by Camera Data button to turn on OpenCVcamera data stream
laserDisableFlag = false; // set by Laser On/Off button
scannerOnFlag = false; // set by Scanner On/Off button
tcpConnected = false; // tcp connected
serverReady = false;
calibrateFlag = false;
setWindowTitle(tr("MWARS SCANNER CONSOLE"));
// =================== start scannerserver comms ===============================
// a) UDP stream of co-ords and laser command from OpenCV Project mwars
// b) TCP connection to server in the scanner unit
// 1. connect to the TCP server in the laser scanner unit
emit connectScanner(); //runs connectToScanner
// ==================== timers ==================================
// start the keep alivetimer. Used to get response to update Console
keepServerAliveTimer->start(1000); //1000 = 1 sec
//start the test signal timer for testSignal()
// 1000 = 1 sec, 1 = 1mS
//testTimer->start(100); // 5 Hz
//testTimer->start(10); // 50 Hz
//testTimer->start(20); // 25 Hz
// testTimer->start(60); // 8 Hz
// testTimer->start(50); // 10 Hz
sendScanCmd(); // init scanner, slew to slider values
rectangleIsRunning = false;
}
CBasicListener::CBasicListener()
{
connect(this, SIGNAL(readyRead()), SLOT(OnReadyRead()));
}