UdpServer::UdpServer(QObject *parent) :
QObject(parent)
{
mUdpSocket = new QUdpSocket(this);
mSerialPort = new SerialPort(this);
mTimer = new QTimer(this);
mTimer->setInterval(10);
mTimer->start();
mPortPath = "/dev/ttyO2";
mUdpPort = 27800;
mBaudrate = 115200;
mSendArray.clear();
mPayloadLength = 0;
mRxDataPtr = 0;
mCrcLow = 0;
mCrcHigh = 0;
connect(mUdpSocket, SIGNAL(readyRead()),
this, SLOT(readPendingDatagrams()));
connect(mSerialPort, SIGNAL(serial_port_error(int)), this, SLOT(serialPortError(int)));
connect(mSerialPort, SIGNAL(serial_data_available()), this, SLOT(serialDataAvilable()));
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
MagCal::MagCal(QWidget *parent) :
QWidget(parent),
ui(new Ui::MagCal)
{
ui->setupUi(this);
layout()->setContentsMargins(0, 0, 0, 0);
ui->magSampXyPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->magSampXzPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->magSampYzPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
ui->magSampXyPlot->yAxis->setLabel("XY");
ui->magSampXyPlot->addGraph();
ui->magSampXyPlot->graph()->setPen(QPen(Qt::red));
ui->magSampXyPlot->graph()->setName("Uncompensated");
ui->magSampXyPlot->graph()->setLineStyle(QCPGraph::lsNone);
ui->magSampXyPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCross, 4));
ui->magSampXyPlot->addGraph();
ui->magSampXyPlot->graph()->setPen(QPen(Qt::blue));
ui->magSampXyPlot->graph()->setName("Compensated");
ui->magSampXyPlot->graph()->setLineStyle(QCPGraph::lsNone);
ui->magSampXyPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCross, 4));
ui->magSampXzPlot->yAxis->setLabel("XZ");
ui->magSampXzPlot->addGraph();
ui->magSampXzPlot->graph()->setPen(QPen(Qt::red));
ui->magSampXzPlot->graph()->setName("Uncompensated");
ui->magSampXzPlot->graph()->setLineStyle(QCPGraph::lsNone);
ui->magSampXzPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCross, 4));
ui->magSampXzPlot->addGraph();
ui->magSampXzPlot->graph()->setPen(QPen(Qt::blue));
ui->magSampXzPlot->graph()->setName("Compensated");
ui->magSampXzPlot->graph()->setLineStyle(QCPGraph::lsNone);
ui->magSampXzPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCross, 4));
ui->magSampYzPlot->yAxis->setLabel("YZ");
ui->magSampYzPlot->addGraph();
ui->magSampYzPlot->graph()->setPen(QPen(Qt::red));
ui->magSampYzPlot->graph()->setName("Uncompensated");
ui->magSampYzPlot->graph()->setLineStyle(QCPGraph::lsNone);
ui->magSampYzPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCross, 4));
ui->magSampYzPlot->addGraph();
ui->magSampYzPlot->graph()->setPen(QPen(Qt::blue));
ui->magSampYzPlot->graph()->setName("Compensated");
ui->magSampYzPlot->graph()->setLineStyle(QCPGraph::lsNone);
ui->magSampYzPlot->graph()->setScatterStyle(QCPScatterStyle(QCPScatterStyle::ssCross, 4));
mTimer = new QTimer(this);
mTimer->start(20);
mMagReplot = false;
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
DefaultMainWindow::DefaultMainWindow(const char* title) : QWidget(NULL, NULL) {
setWindowTitle(title);
// create a timer waking us regularly
timer.reset(new QTimer(this));
timer->connect(timer.get(), SIGNAL(timeout()),
this, SLOT(timerSlot()));
timerIntervalMS = 0;
timer->start(timerIntervalMS);
//ImageDisplayManagerWidget* manager =
//new ImageDisplayManagerWidget(this, "image manager");
}
TimeLine::TimeLine(QWidget *parent) :
QLabel(parent)
{
this->setMaximumSize(640,20);
this->setMinimumSize(640,20);
this->privateData = new TimeLine::TimeLinePrivate;
this->privateData->isPause = false;
this->privateData->currentTime = -1;
QTimer* timer;
timer = new QTimer(this);
this->connect(timer,SIGNAL(timeout()),this,SLOT(timerSlot()));
timer->start(1000);
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
mJoystick = new Joystick(this);
mTimer = new QTimer(this);
mTimer->setInterval(30);
mTimer->start();
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
mCopterItemModel = new QStandardItemModel(0, 3, this);
mCopterItemModel->setHorizontalHeaderItem(0, new QStandardItem("ID"));
mCopterItemModel->setHorizontalHeaderItem(1, new QStandardItem("Actual pos"));
mCopterItemModel->setHorizontalHeaderItem(2, new QStandardItem("Perceived pos"));
ui->copterTableView->setModel(mCopterItemModel);
on_connectJoystickButton_clicked();
mRollKey = 0.0;
mPitchKey = 0.0;
mYawKey = 0.0;
// Add line segments to the copter simulator map
int segcnt = 1000;
mCopterSim.addLineSegment(segcnt++, -5, -5, 5, -5);
mCopterSim.addLineSegment(segcnt++, 5, -5, 8, 0);
mCopterSim.addLineSegment(segcnt++, 8, 0, 5, 5);
mCopterSim.addLineSegment(segcnt++, -5, 5, 5, 5);
mCopterSim.addLineSegment(segcnt++, -5, -5, -8, 0);
mCopterSim.addLineSegment(segcnt++, -8, 0, -5, 5);
// Add some anchors
mCopterSim.addAnchor(0, -8.0, -5.0, 1.0);
mCopterSim.addAnchor(1, -8.0, 5.0, 1.0);
mCopterSim.addAnchor(2, 8.0, 5.0, 1.0);
mCopterSim.addAnchor(3, 8.0, -5.0, 1.0);
qApp->installEventFilter(this);
}
bool ZmdUpdaterCore::qt_invoke( int _id, QUObject* _o )
{
switch ( _id - staticMetaObject()->slotOffset() ) {
case 0: catalogData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 1: identityData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 2: catalogSubData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 3: serviceData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 4: updateData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 5: patchData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 6: lockData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 7: infoData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 8: faultData((int)static_QUType_int.get(_o+1),(const QString&)static_QUType_QString.get(_o+2),(const QVariant&)static_QUType_QVariant.get(_o+3)); break;
case 9: transactData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 10: timerSlot(); break;
case 11: timerData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
case 12: abortData((const QValueList<QVariant>&)*((const QValueList<QVariant>*)static_QUType_ptr.get(_o+1)),(const QVariant&)static_QUType_QVariant.get(_o+2)); break;
default:
return QObject::qt_invoke( _id, _o );
}
return TRUE;
}
Console::Console(QObject *parent, Datas *datas) :
QObject(parent)
{
//Affectation
this->datas = datas;
//Création des widget
liste = new QListWidget();
line = new QLineEdit();
//Layout des widget
QVBoxLayout *layout = new QVBoxLayout;
layout->addWidget(liste);
layout->addWidget(line);
//Widget contenant le tout
QWidget *contenuDock = new QWidget;
contenuDock->setLayout(layout);
//Création du dock
dock = new QDockWidget();
dock->setWidget(contenuDock);
connect(line, SIGNAL(returnPressed()), this, SLOT(commande()));
connect(this, SIGNAL(newItem(QListWidgetItem*)), liste, SLOT(scrollToBottom()));
//Configuration de base
log_client = false;
log_serveur = false;
log_main = false;
log_collision = false;
log_collision_latence = false;
log_avion = false;
log_horloge = false;
logCollisionLatenceItem = new QListWidgetItem();
timerTest = new QTimer(this);
connect(timerTest, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
PacketInterface::PacketInterface(QObject *parent) :
QObject(parent)
{
mSendBuffer = new quint8[mMaxBufferLen + 20];
mRxState = 0;
mRxTimer = 0;
mSendCan = false;
mCanId = 0;
mIsLimitedMode = false;
// Packet state
mPayloadLength = 0;
mRxDataPtr = 0;
mCrcLow = 0;
mCrcHigh = 0;
// Firmware state
mFirmwareIsUploading = false;
mFirmwareState = 0;
mFimwarePtr = 0;
mFirmwareTimer = 0;
mFirmwareRetries = 0;
mFirmwareUploadStatus = "FW Upload Status";
mTimer = new QTimer(this);
mTimer->setInterval(10);
mTimer->start();
mHostAddress = QHostAddress("0.0.0.0");
mUdpPort = 0;
mUdpSocket = new QUdpSocket(this);
connect(mUdpSocket, SIGNAL(readyRead()),
this, SLOT(readPendingDatagrams()));
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
WaterCycle::WaterCycle(QObject *parent) : QObject(parent)
{
m_time = new QTime;
m_timer = new QTimer;
QSerialPort *serialPort = checkPort();
if (serialPort)
{
m_serialPort = serialPort;
if (!m_serialPort->isOpen())
m_serialPort->open(QIODevice::ReadWrite);
//connect(m_serialPort,SIGNAL(error(QSerialPort::SerialPortError)),SLOT(handleError(QSerialPort::SerialPortError)));
}
else
{
qDebug() << "Open serial port failed !";
}
m_bytesRead = "";
m_queryOrder = 1;
connect(m_timer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
KviIrcConnectionRequestQueue::~KviIrcConnectionRequestQueue()
{
disconnect(&m_timer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
KviIrcConnectionRequestQueue::KviIrcConnectionRequestQueue()
{
m_curType = Mode;
connect(&m_timer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
Logger::Logger(QObject *parent) :
QObject(parent)
{
mPort = new SerialPort(this);
mPacketInterface = new PacketInterface(this);
mValueFile = new QFile("Data/BLDC_Values");
mPrintFile = new QFile("Data/BLDC_Print");
mValueFile->open(QIODevice::WriteOnly | QIODevice::Text);
mPrintFile->open(QIODevice::WriteOnly | QIODevice::Text);
mValueStream = new QTextStream(mValueFile);
mPrintStream = new QTextStream(mPrintFile);
mPort->openPort("/dev/ttyACM0");
// Video
mVidW = 1280;
mVidH = 720;
mVidFps = 25.0;
mFAudioSamp = 44100;
mFrameGrabber = new FrameGrabber(mVidW, mVidH, mVidFps, 0, this);
mFrameGrabber->start(QThread::InheritPriority);
mPlotter = new FramePlotter(this);
mPlotter->start(QThread::InheritPriority);
mCoder = new VideoCoder(mVidW, mVidH, mVidFps, "Data/v_video.avi", this);
mCoder->start(QThread::InheritPriority);
// Audio recording
mTimer = 0;
mAudio = 0;
if (QAudioDeviceInfo::availableDevices(QAudio::AudioInput).size() > 0) {
mAudioFile.setFileName("Data/v_audio.raw");
mAudioFile.open(QIODevice::WriteOnly | QIODevice::Truncate);
QAudioFormat format;
// Set up the desired format, for example:
format.setSampleRate(mFAudioSamp);
format.setChannelCount(1);
format.setSampleSize(8);
format.setCodec("audio/pcm");
format.setByteOrder(QAudioFormat::LittleEndian);
format.setSampleType(QAudioFormat::UnSignedInt);
QAudioDeviceInfo info = QAudioDeviceInfo::defaultInputDevice();
if (!info.isFormatSupported(format)) {
qWarning() << "Default format not supported, trying to use the nearest.";
format = info.nearestFormat(format);
}
mAudio = new QAudioInput(format, this);
mAudio->setNotifyInterval(1000 / mVidFps);
mAudio->start(&mAudioFile);
} else {
mTimer = new QTimer(this);
mTimer->setInterval(1000 / mVidFps);
mTimer->start();
}
mConsoleReader = new ConsoleReader(this);
connect(mConsoleReader, SIGNAL(textReceived(QString)),
this, SLOT(consoleLineReceived(QString)));
connect(mPort, SIGNAL(serial_data_available()),
this, SLOT(serialDataAvailable()));
if (mTimer != 0) {
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
if (mAudio != 0) {
connect(mAudio, SIGNAL(notify()),
this, SLOT(audioNotify()));
// Lower the volume to avoid clipping. This seems to be passed to
// pulseaudio.
mAudio->setVolume(0.1);
}
connect(mPacketInterface, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(packetDataToSend(QByteArray&)));
connect(mPacketInterface, SIGNAL(valuesReceived(PacketInterface::MC_VALUES)),
this, SLOT(mcValuesReceived(PacketInterface::MC_VALUES)));
connect(mPacketInterface, SIGNAL(printReceived(QString)),
this, SLOT(printReceived(QString)));
connect(mPacketInterface, SIGNAL(samplesReceived(QByteArray)),
this, SLOT(samplesReceived(QByteArray)));
connect(mPacketInterface, SIGNAL(rotorPosReceived(double)),
this, SLOT(rotorPosReceived(double)));
connect(mPacketInterface, SIGNAL(experimentSamplesReceived(QVector<double>)),
this, SLOT(experimentSamplesReceived(QVector<double>)));
connect(mPlotter, SIGNAL(frameReady(QImage)),
mCoder, SLOT(setNextFrame(QImage)));
}
