View::View(QGraphicsScene *scene) :
QGraphicsView(scene), m_timer(this) ,m_delay(30){
qDebug()<<"in View now";
QPixmap bgPix(":/images/koskipuisto_pieni.jpg");
m_pix = bgPix;
setupWindow();
int h = height();
int y = qAbs(m_imageHeight-h)/2;
setSceneRect(0, y, width(), h);
m_sensors.append(InputController::QACCELEROMETER);
m_sensors.append(InputController::QORIENTATIONSENSOR);
m_sensors.append(InputController::QMAGNETOMETER);
m_sensors.append(InputController::QROTATIONSENSOR);
m_sensors.append(InputController::QTAPSENSOR);
m_sensors.append(InputController::QCOMPASS);
m_sensors.append(InputController::QKEYS);
m_menu = new QMenu(this);
createActions();
handleAction(NULL,InputController::QACCELEROMETER);
m_timer.setSingleShot(false);
m_timer.start(m_delay);
connect(&m_timer, SIGNAL(timeout()), this, SLOT(update()));
connect(this,SIGNAL(sceneRectChanged(QRectF)), this, SLOT(checkSensors(QRectF)));
}
void MonitorProcessor::updateVariables() {
hysteresis_flag = (hysteresis_CRN_steps > MAX_CLOSE_RANGE_HYSTERESIS);
cda.lockArea(MONITOR_AREA);
pCDAMonitor->monitor_hysteresis = hysteresis_flag;
cda.unlockArea(MONITOR_AREA);
collision_flag = checkSensors();
// flag_fn = checkFlagFN();
// printf("Variable:\nhysteresis=%d\ncollision=%d\nflag_fn =%d,hysteresis_CRN_steps=%d\n",
// hysteresis_flag, collision_flag, flag_fn, hysteresis_CRN_steps);
}
int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: buildIFace(); break;
case 1: onLineReceived((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 2: checkRelays(); break;
case 3: checkSensors(); break;
case 4: checkHiRes(); break;
default: ;
}
_id -= 5;
}
return _id;
}
void DirectionHandler::check(uint64_t now) {
checkSensors(now);
checkDirectionTimeout(now);
checkFutureDirectionTimeout(now);
checkCurrentDirectionTimeout(now);
}
int main(void) {
fprintf(stderr, "Beginning Structure Test\n");
//make stdin non blocking
int flags = fcntl(fileno(stdin), F_GETFL, 0);
flags |= O_NONBLOCK;
flags = fcntl(fileno(stdin), F_SETFL, flags);
char userInput;
// setPriority();
fprintf(stderr, "Connecting to sensors.\n");
startSensors();
printf("Here 3");
//start data collection and print threads, initialize necessary mutex's
startThreads();
fprintf(stderr, "Collecting data.\n");
data.outFile = fopen("/home/pi/Desktop/ArmTrack/ArmTrackData.bin", "wb");
data.errors = 0;
data.reads = 0;
struct timeval last;
struct timeval curr;
struct timeval temp;
gettimeofday(&curr, NULL); //update current time
while(read(fileno(stdin), &userInput, 1) < 0) {
last.tv_sec = curr.tv_sec; last.tv_usec = curr.tv_usec; //update last time
gettimeofday(&curr, NULL); //update current time
data.time += (curr.tv_sec - last.tv_sec) + (curr.tv_usec - last.tv_usec) * .000001; //increment by difference between last and current time
getData();
//signal print thread
while (data.controlValues[4] != 2) {};
pthread_mutex_lock(&threadLocks[4]);
data.controlValues[4] = 1;
pthread_cond_signal(&threadSignals[4]);
pthread_mutex_unlock(&threadLocks[4]);
checkSensors();
//wait for 25ms cycle length
if (data.EMG.id == -1) {
do {
gettimeofday(&temp, NULL);
} while ( (temp.tv_sec - curr.tv_sec) + (temp.tv_usec - curr.tv_usec) * .000001 < .024993);
}
if (data.time > 13) {
endSession();
return 1;
}
}
endSession();
return 1;
}
void relayPir::setPirFlag(bool pirFlag)
{
m_pirOnFlag = pirFlag;
checkSensors();
}
void relayPir::setLightTrigger(int light)
{
m_lightTrigger = light;
checkSensors();
}
void Vehicle::loop()
{
// TODO: check this loop for compatibility or suitability with 1 kHz
wifi->loop(); // ESP8266Wifi housekeeping
// Check for MQTT Messages
while(wifi->mqtt->messagesWaiting()) {
MqttMessage *msg = wifi->mqtt->nextMessage();
if (msg->topic == "vccs/blazer/command/setAuxMode") {
Serial.print("setAuxMode = ");
Serial.println(msg->payload);
if (msg->payload.equalsIgnoreCase("off")) auxPowerMode = AUX_OFF;
if (msg->payload.equalsIgnoreCase("on")) auxPowerMode = AUX_ON;
if (msg->payload.equalsIgnoreCase("auto")) auxPowerMode = AUX_AUTO;
}
delete msg;
}
// perform sensor checks per 10 ms (100 Hz)
// lastSensorCheck is set to 0 in constructor
if ((millis() - lastSensorCheck) > 10) {
checkSensors();
lastSensorCheck = millis();
}
// A report is deemed due. This is set in a Ticker
// timer callback
if (reportDue) {
reportDue = false;
// Construct and send report only if we have both a wifi connection
// and an MQTT connection
if ((WiFi.status() == WL_CONNECTED) && wifi->mqtt->connected()) {
String topic;
String payload;
// IO Status
// payload = "{ ";
// for ( int i = 0; i < NUM_IO; i++ ) {
// payload += String(i);
// payload += " : ";
// if (io[i].logic_state) payload += "1";
// else payload += "0";
// if (i < (NUM_IO - 1)) payload += " , ";
// }
// payload += " }";
// wifi->mqtt->publish(String("vehicles/" + String(config->vehicleNameShort) + "/io").c_str(), payload.c_str());
// Voltage, Supply (usually battery)
payload = String(voltageSupply, 1);
payload.toCharArray(buff, 10);
topic = "vehicles/";
topic += String(config->vehicleNameShort);
topic += "/voltage";
wifi->mqtt->publish(topic.c_str(), buff);
// Temperature, Onboard
// payload = String(sensors->getTempCByIndex(0), 1);
// payload.toCharArray(buff, 10);
// wifi->mqttc->pubsubc->publish("vehicles/blazer/temperature", buff);
// Acc Input Status
if (io[MCP_IN_ACC].enabled) {
topic = "vehicles/";
topic += String(config->vehicleNameShort);
topic += "/input-acc/status";
if (io[MCP_IN_ACC].logic_state)
wifi->mqtt->publish(topic.c_str(), "on");
else
wifi->mqtt->publish(topic.c_str(), "off");
}
// Power Status, AUX
if (statusOutputPowerAux) {
topic = "vehicles/";
topic += String(config->vehicleNameShort);
topic += "/input-acc/status";
wifi->mqtt->publish("vehicles/blazer/aux-power/status", "on");
// Power Status, AUX - Time Remaining
payload = String(powerAuxTimeUntilOffSecs);
payload.toCharArray(buff, 10);
wifi->mqtt->publish("vehicles/blazer/aux-power/time-remaining", buff);
}
else
wifi->mqtt->publish("vehicles/blazer/aux-power/status", "off");
}
}
}
